JP6527655B2 - 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 The arm is provided on the side of the main body 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 inward of the main body, and the arm is moved to the arm Take the mounting part After the attaching step of attaching the enable switch to the control device and the attaching step, the operator holds the main body with a finger other than the index finger of the hand and moves the movable member to the second position with the index finger. It is characterized by comprising: an operation permitting step of pressing and maintaining; and an operation step of applying a 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 a finger other than the index finger of the hand, and presses the movable member with the index finger to a second position for maintenance. As a result, the enable switch is in the on position, and the robot operation is permitted. Here, the movable member is provided on the side portion of the main body 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 inward of the main body. Therefore, the operator can easily push the movable member to the second position with the forefinger while holding the main body of the operation device with a finger other than the hand forefinger.

  Thereafter, the worker applies a force to the main body of the control device to operate the arm. At this time, a force is mainly applied to the main body by four fingers other than the index finger to operate the arm of the robot, and the movable member can be easily maintained at the second position by the index finger. In particular, the index finger can perform relatively free and independent movements in all the fingers and can generate relatively large forces. Since only the forefinger is used to press the movable member, adjustment of the pressing force on the movable member is facilitated. And since the main body is gripped and operated by the remaining fingers, the gripping force and the operation force to the main body can be sufficiently secured. That is, it is possible to separate the force for gripping the body and operating the arm and the force for pressing 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, the movable member protrudes from the main body so as to intersect in the longitudinal direction of the main body, is swingable around an end on the main body side, and the operation permission step And a step of holding the movable member with a forefinger to maintain the worker from the side of the main body.

  The movable member protrudes from the main body so as to cross in the longitudinal direction, and is swingable around an end on the main body side. In the operation permitting step, the worker pulls (pushes) the movable member from the side of the main body with the index finger to maintain it. Therefore, the movable member can be pushed by the natural movement of the index finger, and the operability of the arm can be improved. Furthermore, since it becomes a movable member utilizing the principle of leverage, it can be operated even with a weak force. Being able to operate with a weak force means that the force to maintain the second position can be weak. And since it can be said that it is easy to adjust the magnitude of the force that it is sufficient to be weak, it can be said that it is very easy to operate in view of operating while balancing the force by tilting the main body in the up, down, left, and right directions. .

  In the third means, the movable member has a recess formed at the intermediate portion, and is moved from the first position to the third position by being pushed inward of the main body, and the operation permission is permitted. The step includes the step of the worker placing a forefinger in the recess and pushing and maintaining the movable member from the side of the main body with the forefinger.

  The movable member has a recess formed in the middle portion, and is moved from the first position to the third position by being pushed inward of the main body. In the operation permitting step, the operator places the forefinger in the recess and presses the movable member from the side of the main body with the forefinger to maintain the movable member. Therefore, the forefinger can be prevented from coming off the movable member, and the operability of the arm can be improved. Furthermore, it becomes easy to maintain the movable member at the second position regardless of which direction the worker is in, up, down, left, or right.

  In the fourth means, the main body is provided with a covering portion which extends from the outer side of the movable member to the side of the main body in the longitudinal direction of the main body and covers the side of the movable member The operation permitting step includes the step of the operator passing the index finger of the hand between the movable member and the cover.

  The main body is provided with a covering portion which extends from the outside of the movable member to the side of the main body in the longitudinal direction of the main body and covers the side of the movable member. In the operation permitting step, the worker passes the index finger of the hand between the movable member and the cover. Therefore, since the forefinger is separated from the other fingers by the cover portion, the force for operating the arm by gripping the main body and the force for pressing the movable member can be separated physically and consciously. Furthermore, since the finger other than the forefinger can be prevented from contacting the forefinger or the movable member, it can be effectively suppressed that the enable switch is turned off unintentionally. In particular, in an operating device for an arm that moves the main body up, down, left, and right, it is effective because the possibility of contact with other fingers is high.

  In the fifth means, the movable member has an annular portion opened in the circumferential direction of the main body, and is moved from the first position to the third position by being pushed in the internal direction of the main body. The operation permission step includes the step of the operator passing the forefinger through the annular portion and pressing the movable member from the side of the main body with the forefinger to maintain the movable member.

  The movable member has an annular portion that is open in the circumferential direction of the main body, and is moved from the first position to the third position by being pushed inward of the main body. In the operation permitting step, the operator causes the annular finger to pass the forefinger and presses and holds the movable member from the side of the main body with the forefinger. Therefore, the forefinger can be prevented from coming off the movable member, and the operability of the arm can be improved. Furthermore, since the forefinger is separated from the other fingers by the annular portion, the force for operating the arm by gripping the main body and the force for pushing the movable member can be separated physically and consciously.

  In the sixth means, at least one end of the portion excluding the movable member 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, and the operation process is performed The worker applies at least one of the middle finger portion and the little finger portion of the hand to the projection.

  At least one end of the portion excluding the movable member 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, at least one of the middle finger side portion and the little finger side portion of the hand is applied to the projection. Therefore, when moving the operating device to the middle finger or little finger 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 seventh 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.

  The eighth means is an operating device of an arm, which is connected to and moved by a rod-like main body grippable by the hand of an operator, 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, and the movable member is provided on a side portion of the main body at one end in the longitudinal direction of the main body And moving from the first position to the third position by being pushed inward of the main body.

  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 on the side portion of the main body 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 inward of the main body. Therefore, the operator can easily push the movable member to the second position with the forefinger while holding the main body of the operation device with four fingers other than the forefinger. Then, a force is applied to the main body mainly by four fingers other than the index finger to operate the arm of the robot, and the movable member can be easily maintained at the second position by the index finger. That is, it is possible to separate the force for gripping the body and operating the arm and the force for pressing 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 a ninth means, the movable member protrudes from the main body so as to intersect the longitudinal direction of the main body, and is swingable around an end on the main body side.

  The movable member protrudes from the main body so as to cross in the longitudinal direction, and is swingable around an end on the main body side. For this reason, the worker can pull and maintain the movable member with the index finger from the side of the main body. Therefore, the movable member can be pushed by the natural movement of the forefinger, and the operability of the arm can be improved.

  In a tenth means, the movable member has a recess formed at an intermediate portion, and is moved from the first position to the third position by being pushed inward of the main body.

  The movable member has a recess formed in the middle portion, and is moved from the first position to the third position by being pushed inward of the main body. For this reason, the worker can place the forefinger in the recess and press the movable member from the side of the main body with the forefinger to maintain it. Therefore, the forefinger can be prevented from coming off the movable member, and the operability of the arm can be improved.

  In the eleventh means, the main body is provided with a covering portion which extends from the both sides outside the movable member to the side of the main body in the longitudinal direction of the main body and covers the side of the movable member. There is.

  The main body is provided with a covering portion which extends from the outside of the movable member to the side of the main body in the longitudinal direction of the main body and covers the side of the movable member. Thus, the worker can pass the index finger of the hand between the movable member and the cover. Therefore, since the forefinger is separated from the other fingers by the cover portion, the force for operating the arm by gripping the main body and the force for pressing the movable member can be separated physically and consciously.

  In the twelfth means, the movable member has an annular portion opened in the circumferential direction of the main body, and is moved from the first position to the third position by being pushed in the internal direction of the main body. .

  The movable member has an annular portion that is open in the circumferential direction of the main body, and is moved from the first position to the third position by being pushed inward of the main body. For this reason, the worker can pass the forefinger through the ring portion and press and maintain the movable member with the forefinger from the side of the main body. Therefore, the forefinger can be prevented from coming off the movable member, and the operability of the arm can be improved. Furthermore, since the forefinger is separated from the other fingers by the annular portion, the force for operating the arm by gripping the main body and the force for pushing the movable member can be separated physically and consciously.

  In a thirteenth 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 a fourteenth means, at least one end of the portion excluding the movable member 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.

  According to the above configuration, at least one end of the portion excluding the movable member in the longitudinal direction of the main body is provided with a projecting portion which protrudes from the main body so as to intersect in the longitudinal direction. Therefore, when the operator grips the main body, at least one of the middle finger portion and the little finger portion can be applied to the protrusion. Therefore, when moving the operating device to the middle finger or little finger 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 fifteenth means, the attached portion can be rocked 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 sixteenth 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.

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 a movable member. The side view which shows the example of a change of a movable member. The perspective view which shows the example of a change 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 operating device 30 includes a main body 31, a lever 34 and an insertion portion 37.

  The main body 31 is formed in an elliptic cylindrical (rod-like) shape, and has a size that can be gripped by the operator's hand. 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 curved lever 34 is provided on the side of the main body 31 at one end 31 b in the longitudinal direction of the main body 31. The lever 34 (movable member) is at a predetermined angle with respect to the longitudinal direction of the main body 31, and protrudes from the main body 31 so as to intersect the longitudinal direction of the main body 31. The lever 34 is pivotable in the inside direction of the main body 31 around an end on the main body 31 side. Thereby, the operator can pull the lever 34 from the side of the main body 31 with the index finger. The lever 34 is moved beyond the first position in the non-moving state, the second position in the middle position, and the middle position by being pulled (pressed) by the forefinger of the operator's hand. It is possible to switch (move) to the third position in the second state.

  The main body 31 extends to the side of the main body 31 from both outer sides (upper and lower sides in FIG. 1) than the lever 34 in the longitudinal direction of the main body 31, and the front side of the lever 34 (side of the main body 31) A guard portion 32 which covers is formed. The guard portion 32 (cover portion) is formed in an annular shape (arc shape), and opens in the circumferential direction of the main body 31. The lever 34 is accommodated inside the guard portion 32, and a predetermined gap is formed between the guard portion 32 and the lever 34. Thus, the operator can insert the forefinger between the upper portion of the lever 34 and the guard portion 32, and the swing of the lever 34 is not hindered by the guard portion 32.

  An insertion portion 37 is attached to one end 31 b on the side where the lever 34 is provided in the longitudinal direction of the main body 31. That is, the lever 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 rotatably supported by a pin 33 attached to the main body 31. That is, the insertion portion 37 can swing with respect to the main body 31 centering on the pin 33 (the connection portion with 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 lever 34 is at the first position and the third position, and is turned on when the position of the lever 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”.

  Before or after attaching the insertion portion 37 to the arm 11, the operator swings the insertion portion 37 with respect to the main body 31 to adjust the angle between the arm 11 and the main body 31 (angle adjustment step). .

  After the mounting process, as shown in FIGS. 1 and 3, the operator grips the main body 31 with four fingers other than the index finger of the hand and passes the index finger between the upper portion of the lever 34 and the guard portion 32. Then, the lever 34 is swung with the index finger to the second position and maintained (operation permitting step). Specifically, the operator grips each recess 31a of the main body 31 with the little finger to the middle finger and the thumb and pulls the lever 34 from the side of the main body 31 with the index finger 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 index finger to operate the arm 11, and maintains the lever 34 in the second position by the index finger.

  The embodiment described above has the following advantages.

  In the operation permitting step, the operator holds the main body 31 with four fingers other than the index finger of the hand, and moves the lever 34 to the second position with the index finger to maintain the lever 34. As a result, the enable switch 40 is in the on position, and the operation of the robot 10 is permitted. Here, the lever 34 is provided on the side portion of the main body 31 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 pulled toward the inside of the main body 31. Therefore, the operator can easily move the lever 34 to the second position with the index finger while gripping the main body 31 of the operation device 30 with four fingers other than the index finger 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 index finger to operate the arm 11 of the robot 10, and the lever 34 can be easily maintained at the second position by the index finger. That is, the force for gripping the main body 31 to operate the arm 11 and the force for pulling the lever 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 lever 34 protrudes from the main body 31 so as to intersect the longitudinal direction of the main body 31, and is pivotable around an end on the main body 31 side. In the operation permitting step, the operator pulls the lever 34 from the side of the main body 31 with the index finger to maintain it. Therefore, the lever 34 can be pulled by the natural movement of the index finger, and the operability of the arm 11 can be improved. Furthermore, in an emergency, the lever 34 can be pulled quickly. Further, the operation device 30 can be operated with either the right hand or the left hand.

  The main body 31 is provided with a guard portion 32 which extends to the side of the main body 31 from both outer sides than the lever 34 in the longitudinal direction of the main body 31, and covers the front side of the lever 34. In the operation permitting step, the operator passes the index finger of the hand between the lever 34 and the guard portion 32. Therefore, since the forefinger is separated from the other fingers by the guard portion 32, it becomes easier to physically and consciously separate the force for operating the arm 11 by gripping the main body 31 and the force for pulling the lever 34.

  The insertion portion 37 can swing with respect to the main body 31 about the pin 33. Then, in the angle adjustment step, the insertion portion 37 is swung with respect to the main body 31 to adjust the angle between the arm 11 and the main body 31. Therefore, the operability of the arm 11 can be improved.

  The insertion portion 37 and the lever 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.

  In the operation process, when the operator applies a force to the main body 31 to operate the arm 11, the middle finger side portion of the hand can be applied to the guard portion 32 (protrusion portion). Therefore, when moving the operating device 30 to the middle finger side of the hand, a part of the hand can be applied to the guard portion 32 to apply a force. As a result, it is not necessary to hold the main body 31 strongly, and the physical burden on the worker can be alleviated, and the operability of the arm 11 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.

  The main body 31 is not limited to the elliptic cylindrical shape, but may be any columnar shape (rod shape) such as a cylindrical shape or a square columnar shape.

  -As shown in FIG. 4, the lever 134 extended from the recessed part 31a side to the insertion part 37 side is also employable. Also in this case, the lever 134 (movable member) can swing around the end on the main body 31 side. Then, the lever 134 is pulled (pressed) by the forefinger of the worker's hand, and the first position in the non-moved state, the second position in the moved state to the intermediate position, and the intermediate position are exceeded. It is switchable (movable) to the third position in the moved state.

  In place of the levers 34 and 134, as shown in FIG. 5, a rectangular plate-shaped button 234 may be employed. The button 234 (movable member) is also switchable (movable) from the first position to the third position by being pushed toward the inside of the main body 31 by the forefinger of the worker's hand. In the middle of the button 234 in the longitudinal direction of the main body 31, a recess 234a is formed. Then, in the operation permitting step, the operator places the forefinger in the recess 234a, and presses the button 234 with the forefinger from the side of the main body 31 to maintain it. Therefore, the forefinger can be prevented from coming off the button 234, and the operability of the arm 11 can be improved. In addition, the recessed part 234a can also be abbreviate | omitted. Further, the button 234 is not limited to a rectangular plate shape, and can be in any shape that can be pressed by the index finger, such as a disk shape.

  Instead of the levers 34 and 134, as shown in FIG. 6, a trigger 334 (movable member) may be employed. The trigger 334 has an annular portion 334 a opened in the circumferential direction of the main body 331, and is moved from the first position to the third position by being pushed in the inner direction of the main body 331. Then, in the operation permitting step, the worker passes the forefinger through the annular portion 334a and pulls the trigger 334 from the side of the main body 331 with the forefinger to maintain it. Therefore, the forefinger can be prevented from coming off the trigger 334, and the operability of the arm 11 can be improved. Furthermore, since the forefinger is separated from the other fingers by the annular portion 334a, the force for operating the arm 11 by gripping the main body 331 and the force for pulling the trigger 334 can be separated physically and consciously. Note that one end of the insertion portion 37 is fixed to one end 331 b of the main body 331 on which the trigger 334 is provided.

  As shown in FIG. 7, protrusions 431 c and 431 d may be provided at both ends of the portion excluding the lever 34 in the longitudinal direction of the main body 431 so as to project from the main body 431 so as to be orthogonal (cross) to the longitudinal direction . In this case, in the main body 431, a portion between the projecting portions 431c and 431d is a gripped portion 431e to be gripped by the worker.

  According to such a configuration, when the operator grips the gripped portion 431e, the middle finger side portion and the little finger side portion of the hand can be respectively applied to the projecting portions 431c and 431d. Therefore, even when the operation device 430 is moved to either the middle finger side or the little finger side of the hand, a part of the hand can be applied to the projecting portions 431 c and 431 d to apply a force. As a result, it is not necessary to hold the main body 431 strongly, and the physical burden on the worker can be alleviated, and the operability of the arm 11 can be improved. Note that one of the protruding portions 431c and 431d can be omitted. Even in such a case, when the operator applies force to the main body 431 to operate the arm 11 in the operation step, at least one of the middle finger side portion and the little finger side portion of the hand is the projection 431c or the projection 431d. Can be

  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. 8, the operating device 530 may include 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, 32 ... Guard part (cover part, protrusion part) 34 ... Lever (movable member), 37 ... Insertion Part (Attachment part) 37a: Output part 40: Enable switch 134: Lever (movable member) 234: Button (movable member) 234a: Recessed portion 331: Main body 331b: One end portion 334: Trigger Movable member), 334a: annular portion, 430: operating device, 431: main body, 431c: projecting portion, 431d: projecting portion, 431e: gripped portion, 437: suction disk (mounted portion), 530: operating device, 537: Flange (attachment portion), 537a ... pin (output portion).

Claims (15)

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 on a side portion of the main body 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 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 of holding the main body with a finger other than the index finger of the hand after the attaching step, pressing the movable member with the index finger to the second position, and maintaining 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: The movable member protrudes from the main body so as to intersect the longitudinal direction of the main body, and is swingable around an end on the main body side,
The method of operating an arm according to claim 1, wherein the operation permitting step includes the step of the operator pulling and maintaining the movable member with a forefinger from the side of the main body. The movable member has a recess formed at an intermediate portion, and is moved from the first position to the third position by being pushed toward the inside of the main body,
The method of operating an arm according to claim 1, wherein the operation permitting step includes the step of the operator placing a forefinger in the recess and pressing and holding the movable member from the side of the main body with the forefinger. The main body is provided with a covering portion which extends from the outer side of the movable member to the side of the main body in the longitudinal direction of the main body and covers the lateral side of the movable member.
The method of operating an arm according to any one of claims 1 to 3, wherein the operation permitting step includes the step of the worker passing a forefinger of a hand between the movable member and the cover. The movable member has an annular portion opened in the circumferential direction of the main body, and is moved from the first position to the third position by being pushed in the inner direction of the main body,
The method of operating an arm according to claim 1, wherein the operation permitting step includes a step in which the worker passes the forefinger through the annular portion and presses the movable member from the side of the main body with the forefinger to maintain the arm. At least one end of the portion excluding the movable member 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,
The method of operating an arm according to any one of claims 1 to 5, wherein the operation step includes the step of the operator applying at least one of a middle finger portion and a little finger portion of a 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 any one of claims 1 to 6, 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. A bar-like main body gripped by a finger other than the forefinger of the worker'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
Said movable member is provided on the side of the body at one longitudinal end of the body, which moves from the first position to the third position by only by being pushed toward the inside of the body the forefinger And
The attached device and the movable member are provided at the same end in the longitudinal direction of the main body .   The arm operating device according to claim 8, wherein the movable member protrudes from the main body so as to intersect the longitudinal direction of the main body, and is pivotable about an end on the main body side.   The arm operation device according to claim 8, wherein the movable member has a recess formed at an intermediate portion, and is moved from the first position to the third position by being pushed inward of the main body. .   The said main body is provided with the cover part which extends to the side of the said main body from the both sides outside the said movable member in the longitudinal direction of the said main body, and covers the said side side of the said movable member. The operating device of the arm according to any one of the above.   The movable member has an annular portion opened in the circumferential direction of the main body, and is moved from the first position to the third position by being pushed in the inner direction of the main body. Arm operating device. The at least one end portion of the portion excluding the movable member in the longitudinal direction of the body, in any one of said longitudinal claim protrusion protruding from the body so as to intersect is provided 8-12 The operating device of the described arm. The arm mounted device according to any one of claims 8 to 13 , 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 8 to 14 , wherein the output portion is connected to the control device by attaching the attached portion to the arm.

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