JP6527654B2 - Arm operating method and operating device - Google Patents

Description

  The present invention relates to an operating device that is attached to an arm of a robot and held by a worker to operate the arm, and an operating method of the arm using the operating device.

  Among such operating devices, there is one including an operating handle held by a worker and an enable switch gripped with the operating handle (see Patent Document 1). In the case of Patent Document 1, the enable switch is switched to two positions of on and off. Then, only when the enable switch is in the on position, the arm of the robot is operated based on the operation force of the worker.

JP, 2011-36964, A

  By the way, if it is going to apply the enabling switch which can be switched to three positions of off, on, and off to the thing of patent document 1 in order to improve safety more, the following problems will arise.

  That is, in the 3-position enable switch, the robot operation is permitted only when the worker presses the switch with a light force. For this reason, when a worker applies a force to the operation handle gripped when operating the arm, the enable switch may be strongly pressed or released, and the enable switch may be switched to the off position. As a result, the operation of the arm may stop unintentionally, and the operability of the arm may be reduced.

  The present invention has been made to solve these problems, and its main object is to reduce the operability of the arm in the operating device provided with the 3-position enable switch and the method of operating the arm using the operating device. It is to control what to do.

  The present invention adopts the following means in order to solve the above problems.

  The first means is a method in which the operator applies a force to the operating device to operate the arm of the robot, and the operating device is attached to the rod-like main body that can be gripped by the operator's hand and the arm A mounted portion to be attached, a first position in a non-moving state connected to the controller of the robot, a second position in a state moved to an intermediate position, and a second state moved beyond the intermediate position And an enable switch which is movable at three positions, the position of the movable member is turned off at the first position and the third position, and turned on at the second position, the movable member being movable An end portion of the main body in the longitudinal direction, which is moved from the first position to the third position by being pushed inward of the main body, and the attached portion is attached to the arm; Ine After the mounting step of connecting the sensor switch to the control device and the mounting step, the operator holds the main body with four fingers other than the thumb of the hand, and moves the movable member to the second position with the thumb It is characterized by comprising: an operation permitting step of pushing in and maintaining; and an operating step of applying force to the main body to operate the arm after the operation permitting step.

  In the mounting process, the mounting portion of the operating device is mounted on the arm of the robot, and the enable switch is connected to the controller of the robot. The enable switch is turned off at the first and third positions of the movable member and turned on at the second position. Since the enable switch is connected to the control device of the robot, the control device of the robot can permit the movement of the arm of the robot only when the enable switch is in the on position.

  After the attachment process, the operator holds the main body with four fingers other than the thumb of the hand, and pushes the movable member to the second position with the thumb to maintain it. As a result, the enable switch is in the on position, and the robot operation is permitted. Here, the movable member is provided at one end in the longitudinal direction of the main body, and is moved from the first position to the third position by being pushed in the inside direction of the main body. Therefore, the operator can easily push the movable member to the second position with the thumb while gripping the main body of the operation device with four fingers other than the thumb of the hand.

  Thereafter, the worker applies a force to the main body of the control device to operate the arm. At this time, a force is applied to the main body mainly by four fingers other than the thumb to operate the arm of the robot, and the thumb can easily maintain the movable member at the second position. Specifically, if the main body is gripped by four fingers other than the thumb, gripping sufficient for operating the arm can be performed. Therefore, it is possible to generate stress that moves the arm in the up, down, left, and right directions by four fingers other than the thumb, and the thumb does not have to contribute to stress generation. Thus, the thumb can be released from gripping the body and can focus on pushing the movable member of the enabling switch. That is, it is possible to separate the force for operating the arm by gripping the main body and the force for pushing the movable member of the enable switch. Therefore, when the operator operates the arm of the robot with the operating device, it is possible to suppress the unintentional turning off of the enable switch, and it is possible to suppress the decrease in the operability of the arm.

  In the second means, at least one end in the longitudinal direction of the main body is provided with a projecting portion which protrudes from the main body so as to intersect the longitudinal direction, and in the operation step, the operator takes a hand Applying at least one of the index finger side portion and the little finger side portion to the protrusion;

  At least one end in the longitudinal direction of the main body is provided with a protrusion which protrudes from the main body so as to intersect the longitudinal direction. Then, in the operation step, when the operator applies a force to the main body to operate the arm, the operator applies at least one of the index finger side portion and the little finger side portion of the hand to the protrusion. Therefore, when moving the operating device to the index finger side or the little finger side of the hand, a part of the hand can be applied to the protrusion to apply a force. As a result, it is not necessary to grip the main body strongly, and the physical burden on the worker can be reduced, and the operability of the arm can be improved. Further, the support by the protrusion stabilizes the finger gripping the main body, and the thumb is further released from the stress generation on the main body, and the force for pushing the movable member of the enable switch can be stabilized.

  In the third means, the attached portion is pivotable with respect to the main body about a connecting portion with the main body, and the pivoted portion is oscillated with respect to the main body, the arm Adjusting the angle between the and the body.

  The mounting portion is pivotable relative to the main body about a connecting portion with the main body. And according to the said process, a to-be-attached part is rock | fluctuated with respect to a main body, and the angle of an arm and a main body is adjusted. Therefore, the operability of the arm can be improved.

  In the fourth means, the movable member is provided on the bottom surface of the main body at one end in the longitudinal direction of the main body, and in the operation permitting step, the worker can move the movable member from the longitudinal direction of the main body Including pushing and maintaining the member with the thumb.

  The movable member is provided on the bottom surface of the main body at one end in the longitudinal direction of the main body, and the operator presses and holds the movable member with the thumb from the longitudinal direction of the main body. Therefore, the movable member can be pushed in by the natural movement of the thumb, and the operability of the arm can be improved. Furthermore, the direction of the gripping force vector generated from the four fingers gripping the main body is substantially orthogonal to the direction of the pressing force vector generated from the thumb pressing the movable member. For this reason, in view of the fact that the stress of movement applied to the main body is transmitted along the gripping force vector by the four fingers, the influence thereof hardly affects the pressing force vector by the thumb which is a direction substantially orthogonal thereto. Therefore, it is possible to more clearly separate the force for gripping the body and operating the arm and the force for pushing the movable member of the enable switch.

  In the fifth means, the movable member is provided on the side surface of the main body at one end in the longitudinal direction of the main body, and in the operation permitting step, the worker can move the movable member from the side of the main body Including pushing and maintaining the member with the thumb.

  A sixth means is an operating device of an arm, which is connected to and moved by a rod-shaped main body which can be gripped by an operator's hand, a mounting portion attached to the arm of the robot, and a control device of the robot A movable member movable to a first position in the absence state, a second position in the moved state to the intermediate position, and a third position in the moved state beyond the intermediate position, the position of the movable member being An enable switch which is turned off at the first position and the third position and turned on at the second position, the movable member is provided at one end of the main body in the longitudinal direction, and the internal direction of the main body It is characterized by moving from the said 1st position to the said 3rd position by being pushed in.

  According to the above configuration, the attached portion of the operating device is attached to the arm of the robot, and the main body of the operating device is gripped by the operator's hand. The operating device includes an enable switch which is turned off at the first position and the third position and turned on at the second position. Since the enable switch is connected to the control device of the robot, the control device of the robot can permit the movement of the arm of the robot only when the enable switch is in the on position. For this reason, the worker applies a force to the gripped main body to operate the robot arm while maintaining the position of the movable member at the second position.

  Here, the movable member is provided at one end in the longitudinal direction of the main body, and is moved from the first position to the third position by being pushed in the inside direction of the main body. Therefore, the operator can easily push the movable member to the second position with the thumb while gripping the main body of the operation device with four fingers other than the thumb of the hand. Then, a force is applied to the main body mainly by four fingers other than the thumb to operate the arm of the robot, and the thumb can easily maintain the movable member at the second position. That is, it is possible to separate the force for operating the arm by gripping the main body and the force for pushing the movable member of the enable switch. Therefore, when the operator operates the arm of the robot with the operating device, it is possible to suppress the unintentional turning off of the enable switch, and it is possible to suppress the decrease in the operability of the arm.

  In the seventh means, the attached portion and the movable member are provided at the same end in the longitudinal direction of the main body.

  According to the above configuration, the attached portion and the movable member are provided at the same end of the main body in the longitudinal direction. For this reason, the main body can be grasped by positioning the thumb on the arm side in a state where the attached portion is attached to the arm of the robot. Therefore, the operability of the arm can be improved as compared to the case where the little finger is positioned on the arm side and the main body is gripped.

  In an eighth means, at least one end in the longitudinal direction of the main body is provided with a protrusion which protrudes from the main body so as to intersect the longitudinal direction.

  According to the above configuration, at least one end portion in the longitudinal direction of the main body is provided with a projecting portion which protrudes from the main body so as to intersect the longitudinal direction. Therefore, when the operator grips the main body, at least one of the forefinger side portion and the little finger side portion of the hand can be applied to the projection. Therefore, when moving the operating device to the index finger side or the little finger side of the hand, a part of the hand can be applied to the protrusion to apply a force. As a result, it is not necessary to grip the main body strongly, and the physical burden on the worker can be reduced, and the operability of the arm can be improved.

  In the ninth means, in the both ends of the main body in the longitudinal direction, protrusions protruding from the main body are provided so as to intersect the longitudinal direction, and in the main body, portions between the protrusions are provided. Is a gripped portion to be gripped by the worker.

  According to the above configuration, the main body is provided at the both end portions in the longitudinal direction with the protrusions projecting from the main body so as to intersect the longitudinal direction. And the part between protrusion parts in the main body is a to-be-held part hold | gripped by the operator. Therefore, when the operator grips the gripped portion, the forefinger side portion and the little finger side portion of the hand can be respectively applied to the projecting portion. Therefore, even when the operating device is moved to either the index finger side or the little finger side of the hand, a part of the hand can be applied to the projection to apply a force. As a result, it is not necessary to grip the main body strongly, and the physical burden on the worker can be reduced, and the operability of the arm can be improved.

  In the tenth means, the attached portion is pivotable with respect to the main body about a connecting portion with the main body.

  According to the above configuration, the mounting portion is pivotable relative to the main body about the connecting portion with the main body. Therefore, the angle between the robot arm and the main body can be adjusted, and the operability of the arm can be improved.

  In the eleventh means, the attached portion has an output portion connected to the enable switch, and the output portion is connected to the control device by attaching the attached portion to the arm. .

  According to the above configuration, the attached portion has the output portion connected to the enable switch, and the attached portion is attached to the arm, whereby the output portion is connected to the control device. For this reason, the control device can grasp the state of the enable switch via the output unit of the mounting portion. Therefore, the attachment of the operating device to the arm and the connection of the enable switch to the control device can be performed at one time, and the efficiency of the work can be improved.

  In a twelfth means, the movable member is provided on the bottom surface of the main body at one end in the longitudinal direction of the main body.

  In a thirteenth means, the movable member is provided on the side surface of the main body at one end in the longitudinal direction of the main body.

The perspective view which shows the arm of a robot, and an operating device. The schematic diagram which shows the connection of the control apparatus of a robot, and an enable switch. The perspective view which shows the operator's hand holding the main body of an operating device. The perspective view which shows the example of a change of an operating device. The perspective view which shows the operator's hand holding the main body of an operating device. The perspective view which shows the other modification of an operating device. The perspective view which shows the other modification of an operating device. The perspective view which shows the other modification of an operating device. The perspective view which shows the other modification of an operating device.

It will be described below with reference to FIG surface with an embodiment. The present embodiment is embodied in an operating device attached to an arm and used in direct teaching of a robot.

  FIG. 1 is a perspective view showing an arm 11 and an operating device 30 of the robot 10. As shown in FIG.

  The robot 10 is a vertical articulated robot, and includes an arm 11 having six (plural) joints. Each joint of the arm 11 is provided with a motor, and the rotation of these motors drives the arm 11. Each motor is provided with an electromagnetic brake for braking its output shaft and an encoder for outputting a pulse signal according to the rotation angle of the output shaft. The robot 10 operates the arm 11 to perform work such as assembling of parts to the work and transfer of the work.

  The arm 11 has a rotating portion 11a and a hand portion 11b. A hand portion 11b is provided at the tip of the rotating portion 11a. The hand portion 11 b is rotatable with respect to the rotating portion 11 a with the axis J 1 as a rotation center.

  An insertion hole 12a is formed coaxially with the axis J1 in the rotating portion 11a. In the hand portion 11b, an insertion hole 12b is formed coaxially with an axis J2 perpendicular to the central axis. Note that one of the insertion hole 12a and the insertion hole 12b can be omitted.

  The controller device 30 includes a main body 31, a button 34, and an insertion portion 37.

  The main body 31 is formed in a cylindrical shape (rod shape) and has a size that can be gripped by the hand of the operator. On the surface of the main body 31, recessed portions 31a extending in the circumferential direction are formed at predetermined intervals in the longitudinal direction. This predetermined interval corresponds to the standard finger interval of the worker. These recessed portions 31a constitute a gripped portion which is gripped by the hand of the operator.

  A disk-shaped button 34 is provided at one end 31 b in the longitudinal direction of the main body 31, more specifically, the upper bottom surface (bottom surface) 31 c. The button 34 (movable member) can be pushed inward from the longitudinal direction of the main body 31. The button 34 is pushed by the thumb of the worker's hand to a first position in the non-moved state, a second position in the moved state to the intermediate position, and a second position in the moved state beyond the intermediate position. It is possible to switch to 3 positions (moveable).

  An insertion portion 37 is attached to one end 31 b on the side where the button 34 is provided in the longitudinal direction of the main body 31. That is, the button 34 and the insertion portion 37 are provided at one end 31 b on the same side in the longitudinal direction of the main body 31. The insertion portion 37 (attachment portion) is formed in a cylindrical shape, and one end thereof is fixed to one end 31 b of the main body 31. The insertion portion 37 is at a predetermined angle with respect to the main body 31. The insertion portion 37 is formed to be insertable into the insertion holes 12a and 12b.

  FIG. 2 is a schematic view showing the connection between the control device 20 of the robot 10 and the enable switch 40. As shown in FIG.

  The robot 10 is connected to the control device 20. The control device 20 includes a CPU, a ROM, a RAM, a storage device, a drive circuit, a position detection circuit, and the like. The ROM stores a system program, an operation program, and the like of the robot 10. The RAM stores parameter values and the like when executing these programs. The detection signal of each encoder is input to the position detection circuit. The position detection circuit detects the rotation angle of the motor provided at each joint based on the detection signal of each encoder. The CPU executes a preset operation program (program) to set the rotation angles (the postures of the arms 11) of the joints of the arm 11 to the target rotation angle based on the position information input from the position detection circuit. Feedback control to the target attitude).

  A teaching pendant 70 is connected to the control device 20. The teaching pendant 70 (operation device) includes a microcomputer including a CPU, a ROM, and a RAM, various manual operation keys, a display, and the like. The operator can manually operate the pendant 70 to create, correct, and register an operation program of the robot 10 and set various parameters. In the teaching for correcting the operation program, the operator directly teaches the teaching point (positional coordinate) through which the hand portion 11b of the arm 11 passes in operation using the operation device 30. Then, the operator can operate the robot 10 based on the taught operation program through the control device 20.

  The main body 31 incorporates an enable switch 40 and an emergency stop switch 44. The enable switch 40 is switched to three positions of off, on and off. The enable switch 40 is turned off when the position of the button 34 is at the first position and the third position, and is turned on when the position of the button 34 is at the second position. The emergency stop switch 44 is a normally closed switch, and is opened when the emergency stop button 35 is pressed. The emergency stop button 35 is provided on the main body 31 (not shown in FIG. 1). The circuit 38 of the enable switch 40 and the circuit 39 of the emergency stop switch 44 are connected to the output portion 37 a (terminal) of the insertion portion 37.

  The circuit 14 is connected from the control device 20 to the insertion holes 12a and 12b via the arm 11 of the robot 10. Then, the insertion portion 37 is inserted into the insertion hole 12 a or the insertion hole 12 b, whereby the output portion 37 a is connected to the circuit 14 in the arm 11. That is, by attaching the insertion portion 37 (operation device 30) to the arm 11, the circuits 38 and 39 of the switches 40 and 44 are connected to the control device 20. Therefore, the control device 20 can grasp the state of the enable switch 40 via the output unit 37a of the insertion unit 37. The control device 20 permits the operation of the arm 11 of the robot 10 only when the enable switch 40 is in the on position. The arm 11 is provided with a lock mechanism (not shown) for locking the insertion portion 37 inserted into the insertion holes 12a and 12b.

  Next, in direct teaching of the robot 10, a method of operating the arm 11 of the robot 10 using the operating device 30 will be described.

  First, the worker inserts the insertion portion 37 of the controller device 30 into the insertion hole 12a or the insertion hole 12b of the arm 11, and locks the insertion portion 37 by the lock mechanism. Thereby, the insertion portion 37 (operation device 30) is attached to the arm 11. At this time, the enable switch 40 and the emergency stop switch 44 are connected to the control device 20 by inserting the insertion portion 37 into the insertion hole 12 a or the insertion hole 12 b (attaching step). The connection between the switches 40 and 44 and the control device 20 is effective when the operation key of the teaching pendant 70 is switched from “Auto Mode” to “Manual Mode”.

  After the attachment process, as shown in FIGS. 1 and 3, the operator holds the main body 31 with four fingers other than the thumb of the hand and pushes the button 34 with the thumb to the second position to maintain it (operation Permitted process). More specifically, the operator grips each recess 31a of the main body 31 with the index finger from the little finger and presses the button 34 with the thumb from the longitudinal direction of the main body 31 to maintain it. In addition, on the arm 11 side, the thumb side is located instead of the small finger side of the hand. As a result, the enable switch 40 is in the on position, and the control device 20 permits the operation of the arm 11 of the robot 10. In this operation permitted state, the control device 20 applies a driving force to the arm 11 to resist the gravity, and the arm 11 is freely moved by the other force acting on the arm 11.

  After the operation permission process, the operator applies a force to the main body 31 to operate the arm 11 (operation process). At this time, the worker applies a force to the main body 31 mainly by four fingers other than the thumb to operate the arm 11 and maintains the button 34 in the second position by the thumb.

  The embodiment described above has the following advantages.

  In the operation permitting step, the operator holds the recessed portions 31a of the main body 31 with four fingers other than the thumb of the hand, and presses the button 34 with the thumb to the second position and maintains the same. As a result, the enable switch 40 is in the on position, and the operation of the robot 10 is permitted. Here, the button 34 is provided at one end 31 b in the longitudinal direction of the main body 31 and is moved from the first position to the third position by being pushed in the inside direction of the main body 31. For this reason, the operator can easily push the button 34 to the second position with the thumb while gripping each recess 31 a of the main body 31 with four fingers other than the thumb of the hand.

  In the operation process, the operator applies a force to the main body 31 of the operation device 30 to operate the arm 11. At this time, a force is mainly applied to the main body 31 by four fingers other than the thumb to operate the arm 11 of the robot 10, and the button 34 can be easily maintained at the second position by the thumb. That is, the force for gripping the main body 31 to operate the arm 11 and the force for pressing the button 34 of the enable switch 40 can be separated. Therefore, when the operator operates the arm 11 of the robot 10 with the operating device 30, it is possible to prevent the enable switch 40 from being switched off unintentionally, and to suppress the decrease in the operability of the arm 11. be able to.

  The button 34 is provided on the bottom surface 31 c of the main body 31 at one end 31 b in the longitudinal direction of the main body 31. For this reason, in the operation permitting step, the operator can press the button 34 with the thumb from the longitudinal direction of the main body 31 and maintain it. Therefore, the button 34 can be pushed in by the natural movement of the thumb, and the operability of the arm 11 can be improved. Further, the operation device 30 can be operated with either the right hand or the left hand.

  The insertion portion 37 and the button 34 are provided at one end 31 b on the same side in the longitudinal direction of the main body 31. Therefore, with the insertion portion 37 attached to the arm 11 of the robot 10, the thumb can be positioned on the arm 11 side to grip the main body 31. Therefore, the operability of the arm 11 can be improved as compared with the case where the little finger is positioned on the arm 11 side and the main body 31 is gripped.

  The insertion unit 37 has the output unit 37 a connected to the enable switch 40, and the output unit 37 a is connected to the control device 20 by attaching the insertion unit 37 to the arm 11. Therefore, the control device 20 can grasp the state of the enable switch 40 via the output unit 37a of the insertion unit 37. Therefore, the attachment of the operating device 30 to the arm 11 and the connection of the enable switch 40 to the control device 20 can be performed at once, and the efficiency of the work can be improved.

  The above embodiment can be modified as follows. About the same member as the above-mentioned embodiment, explanation is omitted by attaching the same numerals.

  As shown in FIG. 4, the button 134 (movable member) may be provided on the side surface 131 c of the main body 131 at one end 131 b of the main body 131 in the longitudinal direction. In this case, as shown in FIG. 5, in the operation permitting step, the worker may press and hold the button 134 from the side of the main body 131 with the thumb. In addition, although the main body 131 is square-prism shape, not only it but a main body can be made into arbitrary columnar shape. Although the shape of the button 134 is a rectangular plate, the shape of the button is not limited thereto, and the shape is arbitrary.

  Further, as shown in FIG. 4, the insertion portion 137 (attachment portion) may be swingable with respect to the main body 131 centering on the connection portion 137 a with the main body 131. Then, the operator may adjust the angle between the arm 11 and the main body 131 by swinging the insertion portion 137 with respect to the main body 131. As a result, the operability of the arm 11 can be improved.

  As shown in FIG. 6, protrusions 231 c and 231 d may be provided at both ends 231 a and 231 b in the longitudinal direction of the main body 231 so as to be orthogonal to (cross) the longitudinal direction. In this case, in the main body 231, a portion between the projecting portions 231c and 231d is a gripped portion 231e to be gripped by the worker.

  According to such a configuration, when the operator grips the gripped portion 231e, the forefinger side portion and the little finger side portion of the hand can be respectively applied to the projecting portions 231c and 231d. Therefore, when moving the operation device 230 to either the index finger side or the little finger side of the hand, a part of the hand can be applied to the projecting portions 231c and 231d to apply a force. As a result, it is not necessary to grip the main body 231 strongly, and the physical burden on the worker can be alleviated, and the operability of the arm 11 can be improved.

  Also, in the longitudinal direction of the main body 231, the insertion portion 237 and the button 234 can be provided at different ends. In this case, on the side of the arm 11, not the thumb side of the hand but the little finger side is located. In addition, although the insertion part 237 is square-pole shape, not only it but an insertion part can be made into arbitrary columnar shape.

  As shown in FIG. 7, guard portions 331 c may be provided so as to protrude from the both end portions 331 a and 331 b in the longitudinal direction so as to be orthogonal (cross) in the longitudinal direction in the main body 331. Also in this case, when the operator grips the main body 331, the forefinger side portion and the little finger side portion of the hand can be respectively applied to the guard portion 331c. Therefore, when moving the operation device 330 to either the index finger side or the little finger side of the hand, a part of the hand can be applied to the guard portion 331 c to apply a force. Furthermore, the force for gripping the main body 331 to operate the arm 11 and the force for pressing the button 34 of the enable switch 40 can be separated physically and consciously.

  Moreover, the insertion part 337 (attachment part) can also be provided in the intermediate part of the main body 331 in the longitudinal direction. Here, the insertion portion 337 is provided in the middle portion of the guard portion 331 c.

  As shown in FIG. 8, protrusions 431 c and 431 d protruding from both end portions 431 a and 431 b in the longitudinal direction in the main body 431 may protrude in different directions. In addition, one of the protruding portions 431c and 431d can be omitted. Also in this case, when the operator applies force to the main body 431 to operate the arm 11, at least one of the index finger side portion and the little finger side portion of the hand can be applied to the protrusion 431c or the protrusion 431d.

  The operating device 430 also includes a suction cup 437 (attachment portion) attached to the arm 11. The enable switch 40 is connected to the control device 20 by the code 438. In this case, the enable switch 40 may transmit a signal indicating that the switch is on or off to the control device 20. The enable switch 40 can also transmit a signal indicating that it is on or off to the control device 20 wirelessly. That is, the enable switch 40 and the control device 20 may be wirelessly connected.

  As shown in FIG. 9, the operating device 530 includes a flange 537 (attachment portion) attached to the arm 11. A screw hole 537 b is formed in the flange 537, and a screw can be inserted into the screw hole 537 b to fasten the flange 537 to the arm 11.

  Also, a pin 537 a (output unit) connected to the enable switch 40 is provided on the flange 537. Then, by fastening the arm 11 to the flange 537, the pin 537 a is connected to the control device 20. According to such a configuration, the operating device 530 can be more reliably attached to the arm 11, and the connection between the enable switch 40 and the control device 20 can be stabilized.

  In the embodiment described above, the operating device 30 is used for direct teaching of the robot 10. However, the operating device 30 can be used for a hand guide for guiding the hand portion 11b of the arm 11 while the robot 10 is working. In this case, an operation force sensor for detecting the magnitude and direction of the operation force by the operator may be attached to the insertion portion 37 or the like (attached portion), and the arm 11 may be operated based on the output of the operation force sensor .

  DESCRIPTION OF SYMBOLS 10 ... Robot, 11 ... Arm, 20 ... Control device, 30 ... Operation device, 31 ... Main body, 31b ... One end part, 31c ... Upper bottom face (bottom face) 34 ... Button (movable member), 37 ... Insertion part (Attachment) Parts) 37a output part 40 enable switch 131 main body 131b one end 131c side face 134 button (movable member) 137 insertion part (attachment part) 137a connection part 230 ... operating device, body 231, end portion 231b, end portion 231c, projection portion 231d, projection portion 231e, gripped portion 234, button (movable member), insertion portion (attachment portion) ), 330: operating device, 331: main body, 331a: end, 331b: end, 331c: guard part (projecting part), 337: inserting part (attachment part), 430: operating device, 431: main body, 431 ... ends, 431b ... end, 431 c ... protrusions 431 d ... protruding portion, 437 ... sucker (mounted portion), 530 ... operating device 537 ... flange (mounted portion) 537a ... pin (output unit).

Claims (12)

A method in which an operator applies a force to an operating device to operate an arm of a robot,
The operating device is
A rod-like main body that can be gripped by the worker's hand,
A mounting portion attached to the arm;
It is connected to the control device of the robot and can be moved to a first position in a non-moving state, a second position in a moved state to an intermediate position, and a third position in a moved state beyond the intermediate position. An enable switch having a movable member, the position of the movable member being turned off at the first position and the third position, and turned on at the second position;
Equipped with
The movable member is provided at one end of the main body in the longitudinal direction, and is moved from the first position to the third position by being pushed inward of the main body,
The attached portion and the movable member are provided at the same end in the longitudinal direction of the main body,
Attaching the attached portion to the arm and connecting the enable switch to the control device;
An operation permitting step in which the operator holds the main body with four fingers other than the thumb of the hand after the attaching step, and pushes the movable member to the second position by the thumb to maintain the movable member;
After the operation permitting step, an operation step in which the operator applies a force to the main body to operate the arm;
A method of operating an arm comprising: At least one end in the longitudinal direction of the main body is provided with a protrusion projecting from the main body so as to intersect the longitudinal direction,
The method according to claim 1, wherein the operating step includes the step of the operator applying at least one of a forefinger side portion and a little finger side portion of the hand to the projection. The attached portion is pivotable relative to the main body about a connecting portion with the main body,
The method of operating an arm according to claim 1, further comprising: a step of swinging the attached portion with respect to the main body to adjust an angle between the arm and the main body. The movable member is provided on the bottom surface of the main body at one end in the longitudinal direction of the main body,
The method according to any one of claims 1 to 3, wherein the operation permitting step includes the step of the operator pressing the movable member with a thumb from the longitudinal direction of the main body and maintaining the movable member. The movable member is provided on the side surface of the main body at one end in the longitudinal direction of the main body,
The method according to any one of claims 1 to 3, wherein the operation permitting step includes the step of the operator pressing the movable member with a thumb from the side of the main body and maintaining the movable member. A rod-shaped main body that can be gripped by an operator's hand,
A mounting portion attached to a robot arm;
It is connected to the control device of the robot and can be moved to a first position in a non-moving state, a second position in a moved state to an intermediate position, and a third position in a moved state beyond the intermediate position. An enable switch having a movable member, the position of the movable member being turned off at the first position and the third position, and turned on at the second position;
Equipped with
The movable member is provided at one end of the main body in the longitudinal direction , and is moved from the first position to the third position by being pushed inward of the main body ,
The attached device and the movable member are provided at the same end in the longitudinal direction of the main body . The arm operation device according to claim 6, wherein a protrusion protruding from the main body is provided at at least one end in the longitudinal direction of the main body so as to intersect the longitudinal direction. At both ends in the longitudinal direction of the main body, protrusions which project from the main body are provided so as to intersect the longitudinal direction,
The arm operation device according to claim 6 or 7 , wherein a portion between the protrusions in the main body is a gripped portion gripped by a worker. The operating device for an arm according to any one of claims 6 to 8 , wherein the attached portion is swingable with respect to the main body about a connecting portion with the main body. The attached portion has an output portion connected to the enable switch,
The operating device for an arm according to any one of claims 6 to 9 , wherein the output portion is connected to the control device by attaching the attached portion to the arm. The arm movable device according to any one of claims 6 to 10 , wherein the movable member is provided on a bottom surface of the main body at one end in a longitudinal direction of the main body. The arm movable device according to any one of claims 6 to 10 , wherein the movable member is provided on a side surface of the main body at one end in the longitudinal direction of the main body.

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