WO2018155181A1 - Teaching operation terminal and teaching operation system - Google Patents

Teaching operation terminal and teaching operation system Download PDF

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Publication number
WO2018155181A1
WO2018155181A1 PCT/JP2018/004143 JP2018004143W WO2018155181A1 WO 2018155181 A1 WO2018155181 A1 WO 2018155181A1 JP 2018004143 W JP2018004143 W JP 2018004143W WO 2018155181 A1 WO2018155181 A1 WO 2018155181A1
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WO
WIPO (PCT)
Prior art keywords
robot
teaching operation
teaching
operation terminal
switch
Prior art date
Application number
PCT/JP2018/004143
Other languages
French (fr)
Japanese (ja)
Inventor
大輔 南雲
Original Assignee
日本電産サンキョー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017033015A external-priority patent/JP2018138316A/en
Priority claimed from JP2017033016A external-priority patent/JP2018138317A/en
Application filed by 日本電産サンキョー株式会社 filed Critical 日本電産サンキョー株式会社
Publication of WO2018155181A1 publication Critical patent/WO2018155181A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • the present invention relates to a teaching operation terminal used for teaching operation of a robot.
  • the present invention also relates to a teaching operation system including this teaching operation terminal.
  • a teaching operation terminal used for teaching operation of a robot is known (for example, see Patent Document 1).
  • the teaching operation terminal described in Patent Document 1 includes an LCD display, an emergency stop switch, and an enable switch.
  • the LCD display is arranged at the center of the surface of the teaching operation terminal.
  • the emergency stop switch is disposed obliquely above the LCD display, and the enable switch is disposed on the back surface of the teaching operation terminal.
  • a plurality of keys (switches) are arranged on both the left and right sides and the lower side of the LCD display.
  • a grip portion for gripping the teaching operation terminal is provided in the vicinity of the enable switch.
  • a first problem of the present invention is that an operator who performs the teaching operation of the robot can easily operate with one hand holding the teaching operation terminal in the teaching operation terminal used for the teaching operation of the robot. It is to provide a possible teaching operation terminal. Moreover, this invention is providing the teaching operation system provided with this teaching operation terminal.
  • a second problem of the present invention is that when an abnormality occurs in the teaching operation terminal used in the teaching operation of the robot, an abnormality of the robot is notified to an operator who performs the teaching operation of the robot.
  • An object of the present invention is to provide a teaching operation terminal that can be recognized quickly.
  • a teaching operation terminal of the present invention is a teaching operation terminal used for teaching operation of a robot, and a gripping unit gripped by one hand of an operator who performs teaching operation of the robot; Switching between an operation member consisting of a joystick or a cross key and operated by the operator's thumb and operating the robot, and a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the robot cannot be operated by the operation member
  • An operation switch of an operation member operated by an operator is disposed closer to the distal end side of the teaching operation terminal than the gripping portion, and a side on which the operation unit of the operation member is disposed is arranged on the teaching operation terminal.
  • the operation part of the enable switch operated by the operator is arranged on the back side of the teaching operation terminal, It is arranged on the axis of the joystick or the axis of the cross key, and the angle formed by the axis of the joystick or the cross key and the pushing direction of the enable switch is 60 ° or more and 90 ° or less. .
  • the teaching operation terminal of the present invention includes a gripping unit that is gripped by one hand of an operator who performs teaching operation of a robot.
  • the operation portion of the operation member operated by the operator's thumb is disposed on the front side of the teaching operation terminal from the grip portion and on the front side of the teaching operation terminal, and the operation portion of the enable switch is And arranged on the back side of the teaching operation terminal and on the axis of the joystick or the axis of the cross key.
  • the angle formed between the axis of the joystick or the axis of the cross key and the pressing direction of the enable switch is 60 ° or more and 90 ° or less.
  • an operator holding the grip part with one hand can easily push the operation part of the enable switch with the index finger or middle finger of one hand holding the grip part, It is possible to easily operate the operation portion of the operation member with the thumb of one hand holding the portion. Therefore, according to the present invention, the operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal.
  • the angle formed by the axis line of the joystick or the cross key and the pushing direction of the enable switch is approximately 75 °.
  • the teaching operation terminal is provided with an emergency stop switch for emergency stop of the robot, and the operation part of the emergency stop switch operated by the operator is arranged on the tip side of the teaching operation terminal with respect to the operation part of the operation member. It is preferable. If comprised in this way, it will become difficult for the operator's thumb who is operating the operation part of an operation member to contact the operation part of an emergency stop switch. Therefore, it is possible to prevent erroneous operation of the emergency stop switch when performing the teaching operation of the robot.
  • the teaching operation terminal includes a light emitting unit for informing at least one of the state of the robot and the state of the teaching operation terminal, and the light emitting unit includes an operation unit of the operation member and an operation unit of the emergency stop switch. It is preferable to arrange
  • the teaching operation terminal includes a first slide switch that switches a coordinate system when the robot is operated by the operation member, and a second switch that switches at least one of the operation location and the operation direction of the robot operated by the operation member.
  • the first slide switch operating unit, the second slide switch operating unit, and the push button operating unit operated by an operator are provided with a slide switch and a push button for recording the current position of the robot. It is preferable that the operation member is disposed between the operation portion and the grip portion.
  • the operator who performs the teaching operation of the robot uses the thumb that operates the operation unit of the operation member to operate the operation unit of the first slide switch, the operation unit of the second slide switch, and the push button.
  • the operation unit can be operated. Therefore, even if the first slide switch, the second slide switch, and the push button are provided in the teaching operation terminal, the operator who performs the teaching operation of the robot can use the teaching operation terminal with one hand holding the teaching operation terminal. Can be easily operated.
  • the front side surface of the teaching operation terminal of the gripping part is formed in a convex curved surface
  • the back side surface of the gripping operation terminal is formed in a concave curved surface, and the teaching operation of the gripping unit is performed.
  • the curvature radius of the surface on the front side of the terminal is equal to the curvature radius of the surface on the back side of the teaching operation terminal of the grip portion. If comprised in this way, it will become easy for an operator to hold
  • the teaching operation terminal of the present invention can be used in a teaching operation system including a tablet terminal having a display device and an input device and installed with robot teaching software.
  • a teaching operation system including a tablet terminal having a display device and an input device and installed with robot teaching software.
  • an operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal.
  • this teaching operation system it becomes possible to perform teaching operation of the robot using a general-purpose tablet terminal in which software for robot teaching is installed.
  • a teaching operation terminal includes a gripping unit that is gripped by an operator who performs a teaching operation of the robot in the teaching operation terminal used for the teaching operation of the robot, It is characterized by a built-in vibration motor that notifies the robot of abnormalities.
  • the teaching operation terminal of the present invention has a built-in vibration motor that notifies the abnormality of the robot. Therefore, according to the present invention, when an abnormality occurs in the robot during the teaching operation, the vibration motor built in the teaching operation terminal is vibrated to vibrate the gripping portion held by the operator who performs the robot teaching operation. Is possible. Therefore, according to the present invention, when an abnormality occurs in the robot during the teaching operation, it is possible to promptly recognize the abnormality of the robot by the operator who performs the teaching operation of the robot.
  • the vibration motor is preferably built in the gripping portion. If comprised in this way, when abnormality will generate
  • the teaching operation terminal has a built-in buzzer for notifying the abnormality of the robot. If comprised in this way, when abnormality will generate
  • the teaching operation terminal includes an operation member for operating the robot, an enable switch for switching between a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the operation of the robot by the operation member is disabled.
  • An emergency stop switch for emergency stop of the robot, a first circuit board to which the operation member, the enable switch and the emergency stop switch are electrically connected, and a vibration motor are formed separately from the first circuit board.
  • the second circuit board is preferably provided.
  • This configuration makes it difficult for vibration generated by the vibration motor to be transmitted to the first circuit board to which the operation member, the enable switch, and the emergency stop switch are electrically connected. Accordingly, it is possible to reduce the influence of vibration generated by the vibration motor on the operation member and the like. Also, with this configuration, the first circuit board and the second circuit board are provided in the teaching operation terminal as compared with the case where the first circuit board and the second circuit board are integrally formed. And will be easier to place.
  • the teaching operation terminal switches, for example, at least one of the first slide switch for switching the coordinate system when the robot is operated by the operation member, and the operation location and the operation direction of the robot operated by the operation member.
  • the vibration generated by the vibration motor is not easily transmitted to the first circuit board to which the first slide switch, the second slide switch, and the push button are electrically connected. Therefore, it is possible to reduce the influence of the vibration generated by the vibration motor on the first slide switch, the second slide switch, and the push button.
  • the second circuit board is built in the holding part. If comprised in this way, when abnormality will generate
  • the teaching operation terminal has a built-in buzzer for notifying the abnormality of the robot, and the buzzer is mounted on the second circuit board. If comprised in this way, when abnormality will generate
  • the operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal. Further, the teaching operation terminal of the present invention makes it possible to promptly recognize the abnormality of the robot by the operator who performs the teaching operation of the robot when the abnormality occurs in the robot during the teaching operation.
  • FIG. 1 is a block diagram of a robot system in which a teaching operation terminal according to an embodiment of the present invention is used. It is a perspective view of the robot shown in FIG. It is a perspective view of the teaching operation terminal shown in FIG. It is a side view of the teaching operation terminal shown in FIG. It is sectional drawing of the teaching operation terminal shown in FIG.
  • FIG. 1 is a block diagram of a robot system 3 in which a teaching operation terminal 1 according to an embodiment of the present invention is used.
  • FIG. 2 is a perspective view of the robot 2 shown in FIG.
  • the teaching operation terminal 1 of this embodiment is a terminal used for teaching operation of the robot 2.
  • This teaching operation terminal 1 is used in a robot system 3 including a robot 2.
  • the robot system 3 includes a controller 4 that controls the robot 2 in addition to the teaching operation terminal 1 and the robot 2, and a tablet terminal (tablet PC) that is used together with the teaching operation terminal 1 when performing the teaching operation of the robot 2.
  • the teaching operation terminal 1, the robot 2, and the tablet terminal 5 are electrically connected to the controller 4.
  • Robot 2 is a vertical articulated robot. Specifically, the robot 2 is a 6-axis vertical articulated robot. As shown in FIG. 2, the robot 2 includes a support member 8 that constitutes the base end portion of the robot 2, six joint portions 9, two arms 10, and a tip member that constitutes the distal end portion of the robot 2. 11. The support member 8 is fixed to the floor on which the robot 2 is installed.
  • the joint portion 9 includes a motor, a speed reducer coupled to the output shaft of the motor, and a case body in which the motor and the speed reducer are accommodated.
  • the arm 10 is formed in an elongated cylindrical shape.
  • the six joint portions 9 and the two arms 10 are configured so that the robot 2 can move from the directly-facing posture shown in FIG. 2A to the posture shown in FIG. And are connected.
  • the joint portion 9 arranged on the most proximal side of the robot 2 is rotatably connected to the support member 8, and the joint portion 9 is rotatable with the vertical direction as the axis direction of rotation. Yes.
  • the tip member 11 is rotatably connected to a joint portion 9 disposed on the most tip side of the robot 2.
  • a predetermined end effector (not shown) can be attached to the tip member 11.
  • the end effector is, for example, a gripping mechanism that grips a predetermined conveyance target or a processing tool that processes a predetermined processing target.
  • the tablet terminal 5 includes a display device 14 such as a liquid crystal display and an input device 15 such as a touch panel or a keyboard.
  • the tablet terminal 5 is connected to the controller 4 via, for example, a LAN cable.
  • Software for teaching the robot 2 is installed in the tablet terminal 5, and the tablet terminal 5 is used together with the teaching operation terminal 1 when performing the teaching operation of the robot 2 as described above.
  • the setting of the teaching operation of the robot 2, the change of the setting of the teaching operation, and the like are performed by the tablet terminal 5.
  • the teaching operation terminal 1 of the present embodiment can be held with one hand by a worker who performs the teaching operation of the robot 2, and the worker can, for example, use a tablet terminal 5 placed on a predetermined table. Is operated with one hand while holding the teaching operation terminal 1 with the other hand.
  • a teaching operation system 16 is configured by the teaching operation terminal 1 and the tablet terminal 5.
  • FIG. 3 is a perspective view of the teaching operation terminal 1 shown in FIG.
  • FIG. 4 is a side view of the teaching operation terminal 1 shown in FIG.
  • FIG. 5 is a cross-sectional view of the teaching operation terminal 1 shown in FIG.
  • the teaching operation terminal 1 enables the operation member 20 for operating the robot 2 and switching between a servo-on state where the operation member 20 can operate the robot 2 and a servo-off state where the operation member 20 cannot operate the robot 2.
  • a switch 21 and an emergency stop switch 22 for emergency stop of the robot 2 are provided.
  • the teaching operation terminal 1 includes a plurality of light emitting units 23 for notifying the state of the robot 2 and the state of the teaching operation terminal 1.
  • the teaching operation terminal 1 of the present embodiment includes three light emitting units 23.
  • the teaching operation terminal 1 includes a slide switch 24 as a first slide switch that switches a coordinate system when the robot 2 is operated by the operation member 20, and an operation location and an operation direction of the robot 2 operated by the operation member 20.
  • a slide switch 25 serving as a second slide switch for switching at least one of them and a push button 26 for recording the current position of the robot 2 are provided.
  • the teaching operation terminal 1 is provided with a buzzer 30 and a vibration motor 31 for notifying the abnormality of the robot 2 and two circuit boards 32 and 33.
  • the buzzer 30, the vibration motor 31, and the circuit boards 32 and 33 are accommodated in the casing 27 of the teaching operation terminal 1. That is, the buzzer 30, the vibration motor 31, and the circuit boards 32 and 33 are built in the teaching operation terminal 1.
  • the circuit board 32 of this embodiment is a first circuit board
  • the circuit board 33 is a second circuit board.
  • the operation member 20, the emergency stop switch 22, the slide switches 24 and 25, and the push button 26 are arranged on the front side of the teaching operation terminal 1. That is, the operation member 20, the emergency stop switch 22, the slide switches 24 and 25, and the push button 26 are disposed on the front side of the housing 27. Specifically, the operation unit 20a of the operation member 20 operated by the operator who performs the teaching operation of the robot 2, the operation unit 22a of the emergency stop switch 22, the operation unit 24a of the slide switch 24, and the operation unit 25a of the slide switch 25. The operation part 26 a of the push button 26 is disposed on the front side of the housing 27.
  • the light emitting unit 23 is also arranged on the front side of the housing 27. Specifically, the light emitting unit 23 is arranged so that the light from the light emitting unit 23 can be seen from the front side of the housing 27.
  • the enable switch 21 is disposed on the back side of the teaching operation terminal 1. That is, the enable switch 21 is disposed on the back side of the housing 27.
  • an operation unit 21 a of the enable switch 21 operated by an operator who performs the teaching operation of the robot 2 is disposed on the back side of the housing 27.
  • the base end portion of the housing 27 is a grip portion 27 a that is gripped by one hand of an operator who performs the teaching operation of the robot 2.
  • the gripper 27a is gripped by the operator's middle finger, ring finger, little finger, and palm. Alternatively, the grip portion 27a is gripped by the operator's ring finger and little finger and the palm of the hand.
  • the distal end portion of the housing 27 is a switch arrangement portion 27b where the operation member 20, the emergency stop switch 22 and the like are arranged.
  • the housing 27 includes a gripping portion 27a and a switch placement portion 27b. A cable (not shown) of the teaching operation terminal 1 connected to the controller 4 is drawn from the base end of the housing 27.
  • the front side (Z1 direction side in FIG. 4) of the teaching operation terminal 1 is referred to as “upper” side
  • the opposite side (back side of the teaching operation terminal 1, Z2 direction side in FIG. 4) is referred to as “lower” side
  • the base end side (X1 direction side in FIG. 4) of the teaching operation terminal 1 orthogonal to the vertical direction is the “rear” side
  • the opposite side (tip side of the teaching operation terminal 1, X2 direction side in FIG. 4) is “ The front side.
  • the Y direction in FIG. 4 orthogonal to the up and down direction and the left and right direction is referred to as “left and right direction”.
  • the switch arrangement portion 27b protrudes obliquely downward and forward from the front upper end portion of the grip portion 27a.
  • a bottom surface (lowermost surface) 27c of the switch placement portion 27b formed on the front end side of the switch placement portion 27b is a plane orthogonal to the vertical direction.
  • a bottom surface (lowermost surface) 27d of the grip portion 27a formed on the rear end side of the grip portion 27a is a plane orthogonal to the vertical direction.
  • the bottom surface 27c and the bottom surface 27d are disposed on the same plane.
  • An upper surface (front surface of the teaching operation terminal 1) 27e of the grip portion 27a is formed in a convex curved surface, and a lower surface (surface on the back side of the teaching operation terminal 1) 27f of the grip portion 27a excluding the bottom surface 27d is The concave curved surface is formed.
  • the upper surface 27e is formed in a convex curved surface having an arc shape when viewed from the left and right direction
  • the lower surface 27f is formed in a concave curved surface having an arc shape when viewed from the left and right direction. Is formed.
  • the curvature radius of the upper surface 27e is equal to the curvature radius of the lower surface 27f.
  • the operation member 20 is a joystick.
  • the main body 20b of the operation member 20 which is a joystick is mounted on the upper surface of the circuit board 32 as shown in FIG.
  • the operation part 20a of the operation member 20 is disposed in front of the grip part 27a (that is, the front end side of the teaching operation terminal 1).
  • the operation unit 20a is arranged at the center position in the left-right direction of the switch arrangement unit 27b.
  • the axis L of the operation member 20 that is a joystick is orthogonal to the left-right direction.
  • the axis L is inclined so as to go to the rear side as it goes down.
  • the operation member 20 is operated by the operator's thumb. Specifically, the operation unit 20a is operated by the operator's thumb.
  • the operation member 20 is operated in a mode in which the robot 2 is analog-operated by the operation member 20 (analog operation mode) and a mode in which the robot 2 is operated by frame operation (digital operation) by the operation member 20 (digital operation mode).
  • the function of switching the operation mode of the member 20 is also achieved.
  • the operation mode of the operation member 20 is switched from the analog operation mode to the digital operation mode, or from the digital operation mode to the analog operation mode.
  • the operation portion 21a of the enable switch 21 protrudes obliquely downward and forward from the front lower end portion of the grip portion 27a.
  • the operation unit 21 a is disposed at the center position in the left-right direction of the housing 27.
  • the lower end of the operation unit 21a is disposed above the bottom surfaces 27c and 27d.
  • the enable switch 21 is disposed so that the operation unit 21a is pushed obliquely upward and rearward.
  • the operation portion 21 a is disposed on the axis L of the operation member 20.
  • the angle ⁇ formed by the pressing direction of the enable switch 21 (that is, the pressing direction of the operation portion 21a, the direction indicated by the arrow V in FIG. 4) and the axis L is 60 ° or more and 90 ° or less. In this embodiment, the angle ⁇ is approximately 75 °.
  • the enable switch 21 is operated by the operator's index finger (or middle finger). When the enable switch 21 is not pushed (that is, when the operation unit 21a is not pushed), the servo is turned off. When the operation unit 21a is pushed in the pushing direction V, the servo is turned on. When the operation unit 21a is strongly pushed in the pushing direction V, the servo-on state is switched to the servo-off state. That is, the enable switch 21 is a three-position enable switch.
  • the operation unit 22a of the emergency stop switch 22 is disposed in front of the operation unit 20a of the operation member 20 (that is, the tip side of the teaching operation terminal 1).
  • the operation unit 22a is arranged at the center position in the left-right direction of the switch arrangement unit 27b.
  • the emergency stop switch 22 is arranged so that the operation portion 22a is pushed toward the diagonally lower rear side.
  • the slide switch 24 is a three-contact slide switch, and the switch body 24b of the slide switch 24 is mounted on the upper surface of the circuit board 32 as shown in FIG.
  • the slide switch 24 has a function of switching the coordinate system when the robot 2 is operated by the operation member 20 to any one of the three coordinate systems of the first coordinate system, the second coordinate system, and the third coordinate system.
  • the first coordinate system is a coordinate system that represents the position of the tip member 11 using the rotational coordinates of the motors of the six joint portions 9 constituting the robot 2.
  • the second coordinate system includes a coordinate in the vertical direction (z coordinate), a coordinate in the x direction orthogonal to the vertical direction (x coordinate), a coordinate in the y direction orthogonal to the vertical direction and the x direction (y coordinate),
  • It is a coordinate system that represents the position of the tip member 11 using rotational coordinates.
  • the third coordinate system is a coordinate system that represents the position of the end effector attached to the tip member 11 using the same six coordinates as the second coordinates.
  • the slide switch 25 is a three-contact slide switch similar to the slide switch 24, and the switch body (not shown) of the slide switch 25 is mounted on the upper surface of the circuit board 32.
  • the slide switch 25 has a function of switching at least one of the operation location and the operation direction of the robot 2 operated by the operation member 20. Specifically, when the coordinate system of the robot 2 is set to the first coordinate system, the slide switch 25 is disposed second from the proximal end side with the motor of the joint portion 9 disposed on the most proximal end side.
  • the first mode in which the motor of the joint portion 9 is rotated by the operating member 20, the motor of the joint portion 9 arranged third from the base end side, and the motor of the joint portion 9 arranged fourth from the base end side Are rotated by the operating member 20, and the operating member 20 rotates the motor of the joint portion 9 arranged fifth from the proximal end side and the motor of the joint portion 9 arranged most distally. Switch to one of the three modes.
  • the slide switch 25 is configured to operate the tip member 11 in the x direction and the y direction by the operation member 20 and the operation member.
  • the second mode in which the distal end member 11 is operated in the z direction by 20 and the motor of the joint portion 9 disposed second from the distal end side is rotated, and the motor and the proximal end of the joint portion 9 disposed closest to the distal end side
  • the mode is switched to one of the third mode in which the motor of the joint portion 9 arranged on the side is rotated by the operation member 20.
  • the slide switch 25 uses the operation member 20 to operate the end effector in the x direction and the y direction, and the operation member 20.
  • the second mode in which the end effector is operated in the z direction and the motor of the joint portion 9 disposed second from the distal end side is rotated, and the motor of the joint portion 9 disposed closest to the distal end side and the proximal end side
  • the mode is switched to any one of the third mode in which the motor of the joint portion 9 to be arranged is rotated by the operation member 20.
  • the button body 26b of the push button 26 is mounted on the upper surface of the circuit board 32 as shown in FIG. As described above, the push button 26 has a function of recording (teaching) the current position of the robot 2. When the operation unit 26 a of the push button 26 is pressed, the current position of the robot 2 is recorded.
  • the push button 26 performs the function of recording (teaching) the current position of the robot 2, and when the operation unit 26a of the push button 26 is pressed, the current position of the robot 2 is recorded.
  • the operation part 26a of the push button 26 is arranged in a state sandwiched between the operation part 24a of the slide switch 24 and the operation part 25a of the slide switch 25 in the left-right direction.
  • the operation unit 24a of the slide switch 24, the operation unit 25a of the slide switch 25, and the operation unit 26a of the push button 26 are arranged in the switch arrangement unit 27b.
  • the operation unit 26a is arranged at the center position in the left-right direction of the switch arrangement unit 27b.
  • the operation unit 24a, the operation unit 25a, and the operation unit 26a are disposed between the operation unit 20a of the operation member 20 and the gripping unit 27a.
  • the light emitting unit 23 includes a light source 23 a and a light guide member 23 b.
  • the light source 23 a is an LED (light emitting diode) and is mounted on the upper surface of the circuit board 32.
  • the light guide member 23 b is disposed on the upper side of the light source 23 a and functions to guide the light emitted from the light source 23 a to the front side of the housing 27.
  • One of the three light emitting units 23 is lit in a predetermined color or blinks to indicate whether it is in a servo-on state or a servo-off state. 2 indicates that an overrun that operates out of the specified range has occurred, or indicates that an error has occurred.
  • one of the light emitting units 23 is lit in a predetermined color or blinks, so that the operation mode of the operation member 20 is an analog operation mode or digital. Whether the operation mode is selected or that the slide positions of the slide switches 24 and 25 are unknown is displayed.
  • the remaining one light emitting unit 23 displays the on / off state of the power source of the teaching operation terminal 1 by lighting in a predetermined color.
  • the three light emitting units 23 are arranged so as to be adjacent in the left-right direction. Further, the three light emitting units 23 are arranged in the switch arrangement unit 27b. The light emitting unit 23 arranged at the center in the left-right direction among the three light emitting units 23 is arranged at the center position in the left-right direction of the switch arrangement unit 27b. Further, the three light emitting units 23 are disposed between the operation unit 20 a of the operation member 20 and the operation unit 22 a of the emergency stop switch 22. That is, the three light emitting units 23 are arranged on the front side (the tip side of the teaching operation terminal 1) of the operation member 20 with respect to the operation unit 20a.
  • the buzzer 30 and the vibration motor 31 have a function of notifying the abnormality of the robot 2 as described above.
  • the buzzer 30 generates an alarm when a predetermined error occurs during the teaching operation of the robot 2.
  • the vibration motor 31 vibrates, for example, when an overrun occurs in which the robot 2 moves outside a specified range.
  • the vibration motor 31 vibrates when the robot 2 comes into contact with other components disposed around the robot 2, for example.
  • the buzzer 30 also sounds when the operation unit 26a of the push button 26 is pressed. That is, the buzzer 30 also sounds when the current position of the robot 2 is recorded. Moreover, the magnitude of the alarm generated by the buzzer 30 may be changed or the magnitude and intensity of vibration of the vibration motor 31 may be changed according to the type and degree of abnormality that has occurred in the robot 2.
  • the circuit board 32 and the circuit board 33 are rigid boards such as a glass epoxy board, and are formed in a rectangular flat plate shape, for example.
  • the circuit board 32 and the circuit board 33 are formed separately.
  • the outer shape of the circuit board 32 is larger than the outer shape of the circuit board 33.
  • the enable switch 21 is electrically connected to the circuit board 32 via a cable (not shown), and the emergency stop switch 22 is electrically connected via a cable (not shown).
  • a buzzer 30 and a vibration motor 31 are mounted on the circuit board 33. Specifically, the buzzer 30 and the vibration motor 31 are mounted on the lower surface of the circuit board 33. In this embodiment, the vibration motor 31 is disposed in front of the buzzer 30.
  • the circuit board 32 is fixed inside the housing 27.
  • the circuit board 32 is disposed on the upper end side inside the housing 27. That is, the circuit board 32 is disposed on the front side of the teaching operation terminal 1.
  • the rear end portion of the circuit board 32 is disposed inside the grip portion 27a, and most of the circuit board 32 excluding the rear end portion is disposed inside the switch arrangement portion 27b.
  • the circuit board 32 formed in a flat plate shape is arranged so as to be parallel to the left-right direction. When viewed from the left-right direction, the circuit board 32 is inclined so as to go downward as it goes to the front side.
  • the circuit board 33 is fixed inside the housing 27.
  • the circuit board 33 is disposed on the lower end side inside the housing 27. That is, the circuit board 33 is arranged on the back side of the teaching operation terminal 1.
  • the circuit board 33 is disposed inside the grip portion 27a. That is, the circuit board 33 is built in the holding part 27a. Specifically, the circuit board 33 is built in the grip portion 27 a on the back side of the teaching operation terminal 1. Further, since the circuit board 33 is built in the gripping part 27a, the buzzer 30 and the vibration motor 31 mounted on the circuit board 33 are also built in the gripping part 27a.
  • the circuit board 33 formed in a flat plate shape is arranged so as to be parallel to the left-right direction. When viewed from the left-right direction, the circuit board 33 is inclined so as to go downward as it goes to the front side.
  • the circuit board 32 and the circuit board 33 are disposed substantially in parallel.
  • the base end portion of the casing 27 of the teaching operation terminal 1 is the grip portion 27 a that is gripped with one hand of the operator who performs the teaching operation of the robot 2.
  • the operation unit 20a of the operation member 20 operated by the operator's thumb is arranged on the front side of the teaching operation terminal 1 and also on the front side of the teaching operation terminal 1 from the grasping unit 27a.
  • the operation unit 21 a of the switch 21 is disposed on the back side of the teaching operation terminal 1 and is disposed on the axis L of the operation member 20.
  • the angle ⁇ formed by the pressing direction V of the enable switch 21 and the axis L is 60 ° or more and 90 ° or less. Specifically, the angle ⁇ is approximately 75 °.
  • an operator holding the grip portion 27a with one hand can easily press the operation portion 21a of the enable switch 21 with the index finger (or middle finger) of one hand holding the grip portion 27a.
  • the operation portion 20a of the operation member 20 can be easily operated with the thumb of one hand holding the grip portion 27a. Therefore, in this embodiment, the operator who performs the teaching operation of the robot 2 can easily operate the teaching operation terminal 1 with one hand holding the teaching operation terminal 1.
  • the operation part 22a of the emergency stop switch 22 is arranged on the distal end side of the teaching operation terminal 1 with respect to the operation part 20a of the operation member 20. Therefore, in this embodiment, the thumb of the operator who is operating the operation unit 20 a of the operation member 20 is less likely to come into contact with the operation unit 22 a of the emergency stop switch 22. Therefore, in this embodiment, it is possible to prevent erroneous operation of the emergency stop switch 22 when the teaching operation of the robot 2 is being performed.
  • the operation unit 20a of the operation member 20 is operated to the operation unit of the emergency stop switch 22. It becomes possible to keep 22a away. Therefore, in this embodiment, the thumb of the operator who is operating the operation unit 20 a of the operation member 20 is less likely to come into contact with the operation unit 22 a of the emergency stop switch 22.
  • the three light emitting units 23 are arranged on the distal end side of the teaching operation terminal 1 with respect to the operation unit 20a of the operation member 20. Therefore, in this embodiment, the light emitting unit 23 is not covered with the thumb of the operator who operates the operation unit 20a of the operation member 20. Therefore, in this embodiment, the operation member 20 can be operated while grasping the state of the robot 2 and the state of the teaching operation terminal 1 based on the light emission state of the light emitting unit 23.
  • the operation unit 24a of the slide switch 24, the operation unit 25a of the slide switch 25, and the operation unit 26a of the push button 26 are disposed between the operation unit 20a of the operation member 20 and the gripping unit 27a. Therefore, in this embodiment, the operator who performs the teaching operation of the robot 2 can operate the operation unit 24a, the operation unit 25a, and the operation unit 26a using the thumb that operates the operation unit 20a of the operation member 20. Become. Therefore, in this embodiment, even if the slide switches 24 and 25 and the push button 26 are provided in the teaching operation terminal 1, the operator who performs the teaching operation of the robot 2 teaches with one hand holding the teaching operation terminal 1. The operation terminal 1 can be easily operated.
  • the radius of curvature of the upper surface 27e of the grip portion 27a formed in a convex curved surface is equal to the radius of curvature of the lower surface 27f of the grip portion 27a formed in a concave curved surface. Therefore, in this embodiment, the operator can easily grip the grip portion 27a with one hand. Further, in this embodiment, when the teaching operation of the robot 2 is performed, the tablet terminal 5 installed with the robot teaching software is used together with the teaching operation terminal 1, so that the general-purpose tablet terminal 5 is used. The teaching operation of the robot 2 can be performed using
  • a vibration motor 31 for notifying the abnormality of the robot 2 is built in the teaching operation terminal 1. Therefore, in the present embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, the gripper 27a that is gripped by the operator who performs the teaching operation of the robot 2 by vibrating the vibration motor 31 built in the teaching operation terminal 1 is vibrated. Can be vibrated. Therefore, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible to promptly recognize the abnormality of the robot 2 by the operator who performs the teaching operation of the robot 2.
  • the vibration motor 31 since the vibration motor 31 is built in the grip portion 27 a, the vibration motor 31 directly vibrates the grip portion 27 a gripped by the operator when an abnormality occurs in the robot 2 during the teaching operation. Can be made. Therefore, in this embodiment, when an abnormality occurs in the robot 2 during the teaching operation, the gripping unit 27a can be vibrated more greatly or more strongly by the vibration motor 31. As a result, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible for the operator to recognize the abnormality of the robot 2 more quickly.
  • the buzzer 30 for notifying the abnormality of the robot 2 since the buzzer 30 for notifying the abnormality of the robot 2 is built in the teaching operation terminal 1, the buzzer 30 built in the teaching operation terminal 1 when an abnormality occurs in the robot 2 during the teaching operation. Can generate an alarm. Therefore, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible for the operator to recognize the abnormality of the robot 2 more quickly.
  • the operation member 20, the enable switch 21, the emergency stop switch 22, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 are electrically connected, the buzzer 30, and the vibration motor 31.
  • the circuit board 33 to be mounted is formed separately. Therefore, in this embodiment, the vibration generated by the buzzer 30 and the vibration motor 31 is not easily transmitted to the circuit board 32. As a result, the vibration generated by the buzzer 30 and the vibration motor 31 is controlled by the operation member 20, the enable switch 21, and the emergency switch. Transmission to the stop switch 22, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 becomes difficult. Therefore, in this embodiment, it is possible to reduce the influence of vibration generated by the buzzer 30 and the vibration motor 31 on the operation member 20, the light emitting unit 23, the slide switches 24 and 25, and the push button 26.
  • the housing 27 can be reduced in size.
  • the operation member 20 may be a cross key.
  • the operation portion 21a of the enable switch 21 is arranged on the axis of the operation member 20 (that is, the axis of the cross key), and the pushing direction V of the enable switch 21 and the axis of the cross key are The formed angle ⁇ is 60 ° or more and 90 ° or less. Even in this case, the operator who performs the teaching operation of the robot 2 can easily operate the teaching operation terminal 1 with one hand holding the teaching operation terminal 1 in the same manner as described above. .
  • the radius of curvature of the upper surface 27e of the grip portion 27a and the radius of curvature of the lower surface 27f of the grip portion 27a may be different. Further, at least one of the upper surface 27e and the lower surface 27f may be formed in a planar shape.
  • the robot 2 may be a vertical articulated robot other than six axes, or a horizontal articulated robot. The robot 2 may be a robot other than the vertical articulated robot and the horizontal articulated robot.
  • the operation unit 21 a of the enable switch 21 can be disposed on the left and right side surfaces of the teaching operation terminal 1. Further, using a teaching operation terminal formed in a substantially U shape (a U-shape) and having the same function as the teaching operation terminal 1 and a tablet terminal 5 fitted in the teaching operation terminal 1, the robot 2 It is also possible to perform a teaching operation.
  • the circuit board 33 may be built in the switch arrangement portion 27b.
  • the buzzer 30 and the vibration motor 31 may be built in the switch arrangement portion 27b.
  • either the buzzer 30 or the vibration motor 31 may be built in the switch arrangement portion 27b.
  • either one or both of the buzzer 30 and the vibration motor 31 may be mounted on the circuit board 32.
  • the teaching operation terminal 1 may not include the buzzer 30.
  • the operation member 20 may be a cross key.
  • the robot 2 may be a vertical articulated robot other than six axes, or a horizontal articulated robot.
  • the robot 2 may be a robot other than the vertical articulated robot and the horizontal articulated robot.
  • the robot 2 includes the teaching operation terminal that is formed in a substantially U shape (U-shape) and has the same function as the teaching operation terminal 1 and the tablet terminal 5 that is fitted in the teaching operation terminal.
  • the teaching operation may be performed.
  • the teaching operation terminal 1 may include a display device such as a liquid crystal display and an input device such as a touch panel. In this case, the teaching operation terminal 1 may be held with both hands of the operator. In this case, the tablet terminal 5 becomes unnecessary.

Abstract

Provided is a teaching operation terminal for use in a robot teaching operation, with which an operator performing a robot teaching operation can easily carry out the operation using one hand that is gripping the teaching operation terminal, and which is capable of promptly allowing the operator to recognize when an abnormality of the robot has occurred. A teaching operation terminal 1 is provided with a grip portion 27a gripped by one hand of the operator, an operating member 20 which is operated by the thumb of the operator and activates the robot, and an enable switch 21. An operating portion 20a of the operating member 20 operated by the operator is disposed further to a distal end side of the teaching operation terminal 1 than the grip portion 27a and on a top side of the teaching operation terminal 1, and an operating portion 21a of the enable switch 21 operated by the operator is disposed on the reverse side of the teaching operation terminal 1 and on an axial line L of the operating member 20. A vibration motor 31 for notifying an abnormality of the robot is built into the teaching operation terminal 1.

Description

教示操作端末および教示操作システムTeaching operation terminal and teaching operation system
　本発明は、ロボットの教示操作に使用される教示操作端末に関する。また、本発明は、この教示操作端末を備える教示操作システムに関する。 The present invention relates to a teaching operation terminal used for teaching operation of a robot. The present invention also relates to a teaching operation system including this teaching operation terminal.
　従来、ロボットの教示操作に使用される教示操作端末が知られている（たとえば、特許文献１参照）。特許文献１に記載の教示操作端末は、ＬＣＤディスプレイと非常停止スイッチとイネーブルスイッチとを備えている。ＬＣＤディスプレイは、教示操作端末の表面中央に配置されている。非常停止スイッチは、ＬＣＤディスプレイの斜め上方に配置され、イネーブルスイッチは、教示操作端末の背面に配置されている。ＬＣＤディスプレイの左右の両側および下側には、複数のキー（スイッチ）が配置されている。また、イネーブルスイッチの近傍には、教示操作端末を把持するための把持部が設けられている。 Conventionally, a teaching operation terminal used for teaching operation of a robot is known (for example, see Patent Document 1). The teaching operation terminal described in Patent Document 1 includes an LCD display, an emergency stop switch, and an enable switch. The LCD display is arranged at the center of the surface of the teaching operation terminal. The emergency stop switch is disposed obliquely above the LCD display, and the enable switch is disposed on the back surface of the teaching operation terminal. A plurality of keys (switches) are arranged on both the left and right sides and the lower side of the LCD display. In addition, a grip portion for gripping the teaching operation terminal is provided in the vicinity of the enable switch.
特開２０１１－８８２４１号公報JP 2011-88241 A
　特許文献１に記載の教示操作端末の場合、ロボットの教示操作を行う作業者は、一方の手で教示操作端末の把持部を把持するとともにイネーブルスイッチを押しながら、他方の手で各種のスイッチを操作してロボットを動作させている。すなわち、この教示操作端末の場合、作業者は、教示操作端末を把持している片手で教示操作端末を操作することはできない。そのため、この教示操作端末の場合、ロボットの教示操作を行う作業者の両手が塞がってしまう。 In the case of the teaching operation terminal described in Patent Document 1, an operator who performs the teaching operation of the robot grips the gripping portion of the teaching operation terminal with one hand and presses various switches with the other hand while pressing the enable switch. The robot is operated to operate. That is, in the case of this teaching operation terminal, the operator cannot operate the teaching operation terminal with one hand holding the teaching operation terminal. Therefore, in the case of this teaching operation terminal, both hands of the operator who performs the teaching operation of the robot are blocked.
　そこで、本発明の第１の課題は、ロボットの教示操作に使用される教示操作端末において、ロボットの教示操作を行う作業者が、教示操作端末を把持している片手で容易に操作することが可能な教示操作端末を提供することにある。また、本発明は、この教示操作端末を備える教示操作システムを提供することにある。 Therefore, a first problem of the present invention is that an operator who performs the teaching operation of the robot can easily operate with one hand holding the teaching operation terminal in the teaching operation terminal used for the teaching operation of the robot. It is to provide a possible teaching operation terminal. Moreover, this invention is providing the teaching operation system provided with this teaching operation terminal.
　また、特許文献１に記載された教示操作端末等の場合、一般に、教示操作中のロボットに異常が発生すると、ＬＣＤディスプレイ等の表示装置に異常が発生したことが表示され、ロボットの教示操作を行う作業者は、表示装置の表示を見て、教示操作中のロボットに異常が発生したことを認識する。そのため、特許文献１に記載された教示操作端末等では、たとえば、ロボットの教示操作を行う作業者が表示装置から目を離しているときにロボットに異常が発生すると、ロボットの異常を作業者に速やかに認識させることはできない。 In the case of the teaching operation terminal described in Patent Document 1, generally, when an abnormality occurs in the robot during the teaching operation, the fact that the abnormality has occurred is displayed on a display device such as an LCD display. The worker who performs the operation recognizes that an abnormality has occurred in the robot during the teaching operation by looking at the display on the display device. Therefore, in the teaching operation terminal or the like described in Patent Document 1, for example, if an abnormality occurs in the robot when the operator who performs the teaching operation of the robot keeps an eye on the display device, the abnormality of the robot is notified to the operator. It cannot be recognized promptly.
　そこで、本発明の第２の課題は、ロボットの教示操作に使用される教示操作端末において、教示操作中のロボットに異常が発生したときに、ロボットの教示操作を行う作業者にロボットの異常を速やかに認識させることが可能な教示操作端末を提供することにある。 Accordingly, a second problem of the present invention is that when an abnormality occurs in the teaching operation terminal used in the teaching operation of the robot, an abnormality of the robot is notified to an operator who performs the teaching operation of the robot. An object of the present invention is to provide a teaching operation terminal that can be recognized quickly.
　上記の第１の課題を解決するため、本発明の教示操作端末は、ロボットの教示操作に使用される教示操作端末において、ロボットの教示操作を行う作業者の片手で把持される把持部と、ジョイスティックまたは十字キーからなり作業者の親指で操作されるとともにロボットを動作させる操作部材と、操作部材によるロボットの動作が可能となるサーボオン状態と操作部材によるロボットの動作ができなくなるサーボオフ状態との切替を行うイネーブルスイッチとを備え、作業者によって操作される操作部材の操作部は、把持部よりも教示操作端末の先端側に配置され、操作部材の操作部が配置される側を教示操作端末の表側とすると、作業者によって操作されるイネーブルスイッチの操作部は、教示操作端末の裏側に配置されるとともに、ジョイスティックの軸線上または十字キーの軸線上に配置され、ジョイスティックの軸線または十字キーの軸線と、イネーブルスイッチの押込み方向とがなす角度は、６０°以上９０°以下となっていることを特徴とする。 In order to solve the above first problem, a teaching operation terminal of the present invention is a teaching operation terminal used for teaching operation of a robot, and a gripping unit gripped by one hand of an operator who performs teaching operation of the robot; Switching between an operation member consisting of a joystick or a cross key and operated by the operator's thumb and operating the robot, and a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the robot cannot be operated by the operation member An operation switch of an operation member operated by an operator is disposed closer to the distal end side of the teaching operation terminal than the gripping portion, and a side on which the operation unit of the operation member is disposed is arranged on the teaching operation terminal. If the front side, the operation part of the enable switch operated by the operator is arranged on the back side of the teaching operation terminal, It is arranged on the axis of the joystick or the axis of the cross key, and the angle formed by the axis of the joystick or the cross key and the pushing direction of the enable switch is 60 ° or more and 90 ° or less. .
　本発明の教示操作端末は、ロボットの教示操作を行う作業者の片手で把持される把持部を備えている。また、本発明では、作業者の親指で操作される操作部材の操作部は、把持部より教示操作端末の先端側に配置されるとともに教示操作端末の表側に配置され、イネーブルスイッチの操作部は、教示操作端末の裏側に配置されるとともにジョイスティックの軸線上または十字キーの軸線上に配置されている。さらに、本発明では、ジョイスティックの軸線または十字キーの軸線と、イネーブルスイッチの押込み方向とがなす角度は、６０°以上９０°以下となっている。 The teaching operation terminal of the present invention includes a gripping unit that is gripped by one hand of an operator who performs teaching operation of a robot. In the present invention, the operation portion of the operation member operated by the operator's thumb is disposed on the front side of the teaching operation terminal from the grip portion and on the front side of the teaching operation terminal, and the operation portion of the enable switch is And arranged on the back side of the teaching operation terminal and on the axis of the joystick or the axis of the cross key. Furthermore, in the present invention, the angle formed between the axis of the joystick or the axis of the cross key and the pressing direction of the enable switch is 60 ° or more and 90 ° or less.
　そのため、本発明では、把持部を片手で把持している作業者が、把持部を把持している片手の人差し指や中指等でイネーブルスイッチの操作部を容易に押すことが可能になるとともに、把持部を把持している片手の親指で操作部材の操作部を容易に操作することが可能になる。したがって、本発明では、ロボットの教示操作を行う作業者が、教示操作端末を把持している片手で教示操作端末を容易に操作することが可能になる。 Therefore, according to the present invention, an operator holding the grip part with one hand can easily push the operation part of the enable switch with the index finger or middle finger of one hand holding the grip part, It is possible to easily operate the operation portion of the operation member with the thumb of one hand holding the portion. Therefore, according to the present invention, the operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal.
　本発明において、ジョイスティックの軸線または十字キーの軸線と、イネーブルスイッチの押込み方向とがなす角度は、略７５°となっていることが好ましい。このように構成すると、把持部を片手で把持している作業者が、把持部を把持している片手の人差し指や中指等でイネーブルスイッチをより容易に押すことが可能になるとともに、把持部を把持している片手の親指で操作部材をより容易に操作することが可能になる。したがって、ロボットの教示操作を行う作業者が、教示操作端末を把持している片手で教示操作端末をより容易に操作することが可能になる。 In the present invention, it is preferable that the angle formed by the axis line of the joystick or the cross key and the pushing direction of the enable switch is approximately 75 °. With this configuration, an operator holding the grip part with one hand can more easily press the enable switch with the index finger or middle finger of one hand holding the grip part, and It becomes possible to more easily operate the operation member with the thumb of one hand holding. Therefore, the operator who performs the teaching operation of the robot can more easily operate the teaching operation terminal with one hand holding the teaching operation terminal.
　本発明において、教示操作端末は、ロボットを非常停止させる非常停止スイッチを備え、作業者によって操作される非常停止スイッチの操作部は、操作部材の操作部よりも教示操作端末の先端側に配置されていることが好ましい。このように構成すると、操作部材の操作部を操作している作業者の親指が非常停止スイッチの操作部に接触しにくくなる。したがって、ロボットの教示操作を行っているときの、非常停止スイッチの誤操作を防止することが可能になる。 In the present invention, the teaching operation terminal is provided with an emergency stop switch for emergency stop of the robot, and the operation part of the emergency stop switch operated by the operator is arranged on the tip side of the teaching operation terminal with respect to the operation part of the operation member. It is preferable. If comprised in this way, it will become difficult for the operator's thumb who is operating the operation part of an operation member to contact the operation part of an emergency stop switch. Therefore, it is possible to prevent erroneous operation of the emergency stop switch when performing the teaching operation of the robot.
　本発明において、教示操作端末は、ロボットの状態および教示操作端末の状態の少なくともいずれか一方を知らせるための発光部を備え、発光部は、操作部材の操作部と非常停止スイッチの操作部との間に配置されていることが好ましい。このように構成すると、操作部材の操作部を操作する作業者の親指によって発光部が覆われるのを防止することが可能になる。したがって、発光部の発光状態に基づいて、ロボットの状態や教示操作端末の状態を把握しながら、操作部材を操作することが可能になる。また、このように構成すると、操作部材の操作部から非常停止スイッチの操作部を遠ざけることが可能になる。したがって、操作部材の操作部を操作している作業者の親指が非常停止スイッチの操作部により接触しにくくなる。 In the present invention, the teaching operation terminal includes a light emitting unit for informing at least one of the state of the robot and the state of the teaching operation terminal, and the light emitting unit includes an operation unit of the operation member and an operation unit of the emergency stop switch. It is preferable to arrange | position between. If comprised in this way, it will become possible to prevent that a light emission part is covered with the thumb of the operator who operates the operation part of an operation member. Therefore, the operation member can be operated while grasping the state of the robot and the state of the teaching operation terminal based on the light emission state of the light emitting unit. Moreover, if comprised in this way, it will become possible to keep the operation part of an emergency stop switch away from the operation part of an operation member. Therefore, it is difficult for the operator's thumb operating the operating part of the operating member to come into contact with the operating part of the emergency stop switch.
　本発明において、教示操作端末は、操作部材によってロボットを動作させる際の座標系を切り替える第１のスライドスイッチと、操作部材によって動作するロボットの動作箇所および動作方向の少なくともいずれか一方を切り替える第２のスライドスイッチと、ロボットの現在位置を記録するための押ボタンとを備え、作業者によって操作される第１のスライドスイッチの操作部、第２のスライドスイッチの操作部および押ボタン操作部は、操作部材の操作部と把持部との間に配置されていることが好ましい。 In the present invention, the teaching operation terminal includes a first slide switch that switches a coordinate system when the robot is operated by the operation member, and a second switch that switches at least one of the operation location and the operation direction of the robot operated by the operation member. The first slide switch operating unit, the second slide switch operating unit, and the push button operating unit operated by an operator are provided with a slide switch and a push button for recording the current position of the robot. It is preferable that the operation member is disposed between the operation portion and the grip portion.
　このように構成すると、ロボットの教示操作を行う作業者は、操作部材の操作部を操作する親指を使って、第１のスライドスイッチの操作部、第２のスライドスイッチの操作部および押ボタンの操作部を操作することが可能になる。したがって、第１のスライドスイッチ、第２のスライドスイッチおよび押ボタンが教示操作端末に設けられていても、ロボットの教示操作を行う作業者は、教示操作端末を把持している片手で教示操作端末を容易に操作することが可能になる。 With this configuration, the operator who performs the teaching operation of the robot uses the thumb that operates the operation unit of the operation member to operate the operation unit of the first slide switch, the operation unit of the second slide switch, and the push button. The operation unit can be operated. Therefore, even if the first slide switch, the second slide switch, and the push button are provided in the teaching operation terminal, the operator who performs the teaching operation of the robot can use the teaching operation terminal with one hand holding the teaching operation terminal. Can be easily operated.
　本発明において、把持部の、教示操作端末の表側の面は、凸曲面状に形成され、把持部の、教示操作端末の裏側の面は、凹曲面状に形成され、把持部の、教示操作端末の表側の面の曲率半径と、把持部の、教示操作端末の裏側の面の曲率半径とが等しくなっていることが好ましい。このように構成すると、作業者は片手で把持部を把持しやすくなる。 In the present invention, the front side surface of the teaching operation terminal of the gripping part is formed in a convex curved surface, and the back side surface of the gripping operation terminal is formed in a concave curved surface, and the teaching operation of the gripping unit is performed. It is preferable that the curvature radius of the surface on the front side of the terminal is equal to the curvature radius of the surface on the back side of the teaching operation terminal of the grip portion. If comprised in this way, it will become easy for an operator to hold | grip a holding part with one hand.
　本発明の教示操作端末は、表示装置および入力装置を有するとともにロボットの教示用のソフトウエアがインストールされたタブレット端末を備える教示操作システムに用いることができる。この教示操作システムでは、ロボットの教示操作を行う作業者が、教示操作端末を把持している片手で教示操作端末を容易に操作することが可能になる。また、この教示操作システムでは、ロボット教示用のソフトウエアがインストールされた汎用のタブレット端末を利用して、ロボットの教示操作を行うことが可能になる。 The teaching operation terminal of the present invention can be used in a teaching operation system including a tablet terminal having a display device and an input device and installed with robot teaching software. In this teaching operation system, an operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal. Further, in this teaching operation system, it becomes possible to perform teaching operation of the robot using a general-purpose tablet terminal in which software for robot teaching is installed.
　上記の第２の課題を解決するため、本発明の教示操作端末は、ロボットの教示操作に使用される教示操作端末において、ロボットの教示操作を行う作業者に把持される把持部を備えるとともに、ロボットの異常を知らせる振動モータが内蔵されていることを特徴とする。 In order to solve the second problem, a teaching operation terminal according to the present invention includes a gripping unit that is gripped by an operator who performs a teaching operation of the robot in the teaching operation terminal used for the teaching operation of the robot, It is characterized by a built-in vibration motor that notifies the robot of abnormalities.
　本発明の教示操作端末には、ロボットの異常を知らせる振動モータが内蔵されている。そのため、本発明では、教示操作中のロボットに異常が発生したときに、教示操作端末に内蔵された振動モータを振動させて、ロボットの教示操作を行う作業者が把持する把持部を振動させることが可能になる。したがって、本発明では、教示操作中のロボットに異常が発生したときに、ロボットの教示操作を行う作業者にロボットの異常を速やかに認識させることが可能になる。 The teaching operation terminal of the present invention has a built-in vibration motor that notifies the abnormality of the robot. Therefore, according to the present invention, when an abnormality occurs in the robot during the teaching operation, the vibration motor built in the teaching operation terminal is vibrated to vibrate the gripping portion held by the operator who performs the robot teaching operation. Is possible. Therefore, according to the present invention, when an abnormality occurs in the robot during the teaching operation, it is possible to promptly recognize the abnormality of the robot by the operator who performs the teaching operation of the robot.
　本発明において、振動モータは、把持部に内蔵されていることが好ましい。このように構成すると、教示操作中のロボットに異常が発生したときに、作業者が把持する把持部を振動モータによって直接的に振動させることが可能になる。したがって、教示操作中のロボットに異常が発生したときに、振動モータによって把持部をより大きく振動させたり、より強く振動させたりすることが可能になる。その結果、教示操作中のロボットに異常が発生したときに、作業者にロボットの異常をより速やかに認識させることが可能になる。 In the present invention, the vibration motor is preferably built in the gripping portion. If comprised in this way, when abnormality will generate | occur | produce in the robot in teaching operation, it will become possible to vibrate the holding part which an operator holds directly with a vibration motor. Therefore, when an abnormality occurs in the robot during the teaching operation, the gripping portion can be vibrated more greatly or more strongly by the vibration motor. As a result, when an abnormality occurs in the robot during the teaching operation, it becomes possible for the operator to recognize the abnormality of the robot more quickly.
　本発明において、教示操作端末には、ロボットの異常を知らせるブザーが内蔵されていることが好ましい。このように構成すると、教示操作中のロボットに異常が発生したときに、教示操作端末に内蔵されたブザーで警報を発生させることが可能になる。したがって、教示操作中のロボットに異常が発生したときに、作業者にロボットの異常をより速やかに認識させることが可能になる。 In the present invention, it is preferable that the teaching operation terminal has a built-in buzzer for notifying the abnormality of the robot. If comprised in this way, when abnormality will generate | occur | produce in the robot in teaching operation, it will become possible to generate an alarm with the buzzer built in the teaching operation terminal. Therefore, when an abnormality occurs in the robot during the teaching operation, it is possible to make the operator recognize the abnormality of the robot more quickly.
　本発明において、教示操作端末は、ロボットを動作させる操作部材と、操作部材によるロボットの動作が可能となるサーボオン状態と操作部材によるロボットの動作ができなくなるサーボオフ状態との切替を行うイネーブルスイッチと、ロボットを非常停止させる非常停止スイッチと、操作部材、イネーブルスイッチおよび非常停止スイッチが電気的に接続される第１の回路基板と、第１の回路基板と別体で形成されるとともに振動モータが実装される第２の回路基板とを備えていることが好ましい。 In the present invention, the teaching operation terminal includes an operation member for operating the robot, an enable switch for switching between a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the operation of the robot by the operation member is disabled. An emergency stop switch for emergency stop of the robot, a first circuit board to which the operation member, the enable switch and the emergency stop switch are electrically connected, and a vibration motor are formed separately from the first circuit board. The second circuit board is preferably provided.
　このように構成すると、操作部材、イネーブルスイッチおよび非常停止スイッチが電気的に接続される第１の回路基板に、振動モータで発生する振動が伝達されにくくなる。したがって、振動モータで発生する振動が操作部材等に及ぼす影響を低減することが可能になる。また、このように構成すると、第１の回路基板と第２の回路基板とが一体で形成されている場合と比較して、教示操作端末の内部に第１の回路基板と第２の回路基板とを配置しやすくなる。 This configuration makes it difficult for vibration generated by the vibration motor to be transmitted to the first circuit board to which the operation member, the enable switch, and the emergency stop switch are electrically connected. Accordingly, it is possible to reduce the influence of vibration generated by the vibration motor on the operation member and the like. Also, with this configuration, the first circuit board and the second circuit board are provided in the teaching operation terminal as compared with the case where the first circuit board and the second circuit board are integrally formed. And will be easier to place.
　本発明において、教示操作端末は、たとえば、操作部材によってロボットを動作させる際の座標系を切り替える第１のスライドスイッチと、操作部材によって動作するロボットの動作箇所および動作方向の少なくともいずれか一方を切り替える第２のスライドスイッチと、ロボットの現在位置を記録するための押ボタンとを備え、第１のスライドスイッチ、第２のスライドスイッチおよび押ボタンは、第１の回路基板に電気的に接続されている。 In the present invention, the teaching operation terminal switches, for example, at least one of the first slide switch for switching the coordinate system when the robot is operated by the operation member, and the operation location and the operation direction of the robot operated by the operation member. A second slide switch and a push button for recording the current position of the robot, wherein the first slide switch, the second slide switch, and the push button are electrically connected to the first circuit board; Yes.
　この場合には、第１のスライドスイッチ、第２のスライドスイッチおよび押ボタンが電気的に接続される第１の回路基板に、振動モータで発生する振動が伝達されにくくなる。したがって、振動モータで発生する振動が、第１のスライドスイッチ、第２のスライドスイッチおよび押ボタンに及ぼす影響を低減することが可能になる。 In this case, the vibration generated by the vibration motor is not easily transmitted to the first circuit board to which the first slide switch, the second slide switch, and the push button are electrically connected. Therefore, it is possible to reduce the influence of the vibration generated by the vibration motor on the first slide switch, the second slide switch, and the push button.
　本発明において、第２の回路基板は、把持部に内蔵されていることが好ましい。このように構成すると、教示操作中のロボットに異常が発生したときに、作業者が把持する把持部を振動モータによって直接的に振動させることが可能になる。したがって、教示操作中のロボットに異常が発生したときに、振動モータによって把持部をより大きく振動させたり、より強く振動させたりすることが可能になる。その結果、教示操作中のロボットに異常が発生したときに、作業者にロボットの異常をより速やかに認識させることが可能になる。 In the present invention, it is preferable that the second circuit board is built in the holding part. If comprised in this way, when abnormality will generate | occur | produce in the robot in teaching operation, it will become possible to vibrate the holding part which an operator holds directly with a vibration motor. Therefore, when an abnormality occurs in the robot during the teaching operation, the gripping portion can be vibrated more greatly or more strongly by the vibration motor. As a result, when an abnormality occurs in the robot during the teaching operation, it becomes possible for the operator to recognize the abnormality of the robot more quickly.
　本発明において、教示操作端末には、ロボットの異常を知らせるブザーが内蔵され、ブザーは、第２の回路基板に実装されていることが好ましい。このように構成すると、教示操作中のロボットに異常が発生したときに、教示操作端末に内蔵されたブザーで警報を発生させることが可能になる。したがって、教示操作中のロボットに異常が発生したときに、作業者にロボットの異常をより速やかに認識させることが可能になる。また、このように構成すると、第１の回路基板に、ブザーで発生する振動が伝達されにくくなる。したがって、ブザーで発生する振動が操作部材等に及ぼす影響を低減することが可能になる。 In the present invention, it is preferable that the teaching operation terminal has a built-in buzzer for notifying the abnormality of the robot, and the buzzer is mounted on the second circuit board. If comprised in this way, when abnormality will generate | occur | produce in the robot in teaching operation, it will become possible to generate an alarm with the buzzer built in the teaching operation terminal. Therefore, when an abnormality occurs in the robot during the teaching operation, it is possible to make the operator recognize the abnormality of the robot more quickly. Also, with this configuration, vibration generated by the buzzer is not easily transmitted to the first circuit board. Therefore, it is possible to reduce the influence of vibration generated by the buzzer on the operation member and the like.
　以上のように、本発明では、ロボットの教示操作を行う作業者が、教示操作端末を把持している片手で教示操作端末を容易に操作することが可能になる。また、本発明の教示操作端末では、教示操作中のロボットに異常が発生したときに、ロボットの教示操作を行う作業者にロボットの異常を速やかに認識させることが可能になる。 As described above, according to the present invention, the operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal. Further, the teaching operation terminal of the present invention makes it possible to promptly recognize the abnormality of the robot by the operator who performs the teaching operation of the robot when the abnormality occurs in the robot during the teaching operation.
本発明の実施の形態にかかる教示操作端末が使用されるロボットシステムのブロック図である。1 is a block diagram of a robot system in which a teaching operation terminal according to an embodiment of the present invention is used. 図１に示すロボットの斜視図である。It is a perspective view of the robot shown in FIG. 図１に示す教示操作端末の斜視図である。It is a perspective view of the teaching operation terminal shown in FIG. 図３に示す教示操作端末の側面図である。It is a side view of the teaching operation terminal shown in FIG. 図３に示す教示操作端末の断面図である。It is sectional drawing of the teaching operation terminal shown in FIG.
　以下、図面を参照しながら、本発明の実施の形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　（ロボットシステムの概略構成）
　図１は、本発明の実施の形態にかかる教示操作端末１が使用されるロボットシステム３のブロック図である。図２は、図１に示すロボット２の斜視図である。 (Schematic configuration of the robot system)
FIG. 1 is a block diagram of a robot system 3 in which a teaching operation terminal 1 according to an embodiment of the present invention is used. FIG. 2 is a perspective view of the robot 2 shown in FIG.
　本形態の教示操作端末１は、ロボット２の教示操作に使用される端末である。この教示操作端末１は、ロボット２を備えるロボットシステム３で使用される。ロボットシステム３は、教示操作端末１およびロボット２に加えて、ロボット２を制御するコントローラ４と、ロボット２の教示操作を行う際に教示操作端末１と一緒に使用されるタブレット端末（タブレットＰＣ）５とを備えている。教示操作端末１、ロボット２およびタブレット端末５は、コントローラ４に電気的に接続されている。 The teaching operation terminal 1 of this embodiment is a terminal used for teaching operation of the robot 2. This teaching operation terminal 1 is used in a robot system 3 including a robot 2. The robot system 3 includes a controller 4 that controls the robot 2 in addition to the teaching operation terminal 1 and the robot 2, and a tablet terminal (tablet PC) that is used together with the teaching operation terminal 1 when performing the teaching operation of the robot 2. And 5. The teaching operation terminal 1, the robot 2, and the tablet terminal 5 are electrically connected to the controller 4.
　ロボット２は、垂直多関節ロボットである。具体的には、ロボット２は、６軸の垂直多関節ロボットである。ロボット２は、図２に示すように、ロボット２の基端部分を構成する支持部材８と、６個の関節部９と、２本のアーム１０と、ロボット２の先端部分を構成する先端部材１１とを備えている。支持部材８は、ロボット２が設置される床面に固定されている。関節部９は、モータと、モータの出力軸に連結される減速機と、モータおよび減速機が収容されるケース体とを備えている。アーム１０は、細長い円筒状に形成されている。 Robot 2 is a vertical articulated robot. Specifically, the robot 2 is a 6-axis vertical articulated robot. As shown in FIG. 2, the robot 2 includes a support member 8 that constitutes the base end portion of the robot 2, six joint portions 9, two arms 10, and a tip member that constitutes the distal end portion of the robot 2. 11. The support member 8 is fixed to the floor on which the robot 2 is installed. The joint portion 9 includes a motor, a speed reducer coupled to the output shaft of the motor, and a case body in which the motor and the speed reducer are accommodated. The arm 10 is formed in an elongated cylindrical shape.
　ロボット２では、たとえば、図２（Ａ）に示す正対姿勢から図２（Ｂ）に示す姿勢へのロボット２の動作が可能となるように、６個の関節部９と２本のアーム１０とが連結されている。ロボット２の最も基端側に配置される関節部９は、支持部材８に回動可能に連結されており、この関節部９は、上下方向を回動の軸方向として回動可能となっている。先端部材１１は、ロボット２の最も先端側に配置される関節部９に回動可能に連結されている。先端部材１１には、所定のエンドエフェクタ（図示省略）が取付可能となっている。このエンドエフェクタは、たとえば、所定の搬送対象物を把持する把持機構や、所定の加工対象物を加工する加工工具である。 In the robot 2, for example, the six joint portions 9 and the two arms 10 are configured so that the robot 2 can move from the directly-facing posture shown in FIG. 2A to the posture shown in FIG. And are connected. The joint portion 9 arranged on the most proximal side of the robot 2 is rotatably connected to the support member 8, and the joint portion 9 is rotatable with the vertical direction as the axis direction of rotation. Yes. The tip member 11 is rotatably connected to a joint portion 9 disposed on the most tip side of the robot 2. A predetermined end effector (not shown) can be attached to the tip member 11. The end effector is, for example, a gripping mechanism that grips a predetermined conveyance target or a processing tool that processes a predetermined processing target.
　タブレット端末５は、液晶ディスプレイ等の表示装置１４と、タッチパネルまたはキーボード等の入力装置１５とを備えている。このタブレット端末５は、たとえば、ＬＡＮケーブルを介してコントローラ４に接続されている。タブレット端末５には、ロボット２の教示用のソフトウエアがインストールされており、タブレット端末５は、上述のように、ロボット２の教示操作を行う際に教示操作端末１と一緒に使用される。ロボット２の教示操作の設定や教示操作の設定の変更等は、タブレット端末５で行われる。 The tablet terminal 5 includes a display device 14 such as a liquid crystal display and an input device 15 such as a touch panel or a keyboard. The tablet terminal 5 is connected to the controller 4 via, for example, a LAN cable. Software for teaching the robot 2 is installed in the tablet terminal 5, and the tablet terminal 5 is used together with the teaching operation terminal 1 when performing the teaching operation of the robot 2 as described above. The setting of the teaching operation of the robot 2, the change of the setting of the teaching operation, and the like are performed by the tablet terminal 5.
　本形態の教示操作端末１は、ロボット２の教示操作を行う作業者が片手で把持することが可能となっており、作業者は、たとえば、所定の台の上に載置されたタブレット端末５を一方の手で操作しながら、他方の手で教示操作端末１を把持して操作する。本形態では、教示操作端末１とタブレット端末５とによって、教示操作システム１６が構成されている。 The teaching operation terminal 1 of the present embodiment can be held with one hand by a worker who performs the teaching operation of the robot 2, and the worker can, for example, use a tablet terminal 5 placed on a predetermined table. Is operated with one hand while holding the teaching operation terminal 1 with the other hand. In this embodiment, a teaching operation system 16 is configured by the teaching operation terminal 1 and the tablet terminal 5.
　（教示操作端末の構成）
　図３は、図１に示す教示操作端末１の斜視図である。図４は、図３に示す教示操作端末１の側面図である。図５は、図３に示す教示操作端末１の断面図である。 (Configuration of teaching operation terminal)
FIG. 3 is a perspective view of the teaching operation terminal 1 shown in FIG. FIG. 4 is a side view of the teaching operation terminal 1 shown in FIG. FIG. 5 is a cross-sectional view of the teaching operation terminal 1 shown in FIG.
　教示操作端末１は、ロボット２を動作させる操作部材２０と、操作部材２０によるロボット２の動作が可能となるサーボオン状態と操作部材２０によるロボット２の動作ができなくなるサーボオフ状態との切替を行うイネーブルスイッチ２１と、ロボット２を非常停止させる非常停止スイッチ２２とを備えている。また、教示操作端末１は、ロボット２の状態および教示操作端末１の状態を知らせるための複数の発光部２３を備えている。本形態の教示操作端末１は、３個の発光部２３を備えている。 The teaching operation terminal 1 enables the operation member 20 for operating the robot 2 and switching between a servo-on state where the operation member 20 can operate the robot 2 and a servo-off state where the operation member 20 cannot operate the robot 2. A switch 21 and an emergency stop switch 22 for emergency stop of the robot 2 are provided. In addition, the teaching operation terminal 1 includes a plurality of light emitting units 23 for notifying the state of the robot 2 and the state of the teaching operation terminal 1. The teaching operation terminal 1 of the present embodiment includes three light emitting units 23.
　また、教示操作端末１は、操作部材２０によってロボット２を動作させる際の座標系を切り替える第１のスライドスイッチとしてのスライドスイッチ２４と、操作部材２０によって動作するロボット２の動作箇所および動作方向の少なくともいずれか一方を切り替える第２のスライドスイッチとしてのスライドスイッチ２５と、ロボット２の現在位置を記録するための押ボタン２６とを備えている。 In addition, the teaching operation terminal 1 includes a slide switch 24 as a first slide switch that switches a coordinate system when the robot 2 is operated by the operation member 20, and an operation location and an operation direction of the robot 2 operated by the operation member 20. A slide switch 25 serving as a second slide switch for switching at least one of them and a push button 26 for recording the current position of the robot 2 are provided.
　さらに、教示操作端末１は、ロボット２の異常を知らせるブザー３０および振動モータ３１と、２枚の回路基板３２、３３とを備えている。ブザー３０、振動モータ３１および回路基板３２、３３は、教示操作端末１の筐体２７に収容されている。すなわち、ブザー３０、振動モータ３１および回路基板３２、３３は、教示操作端末１に内蔵されている。本形態の回路基板３２は、第１の回路基板であり、回路基板３３は、第２の回路基板である。 Further, the teaching operation terminal 1 is provided with a buzzer 30 and a vibration motor 31 for notifying the abnormality of the robot 2 and two circuit boards 32 and 33. The buzzer 30, the vibration motor 31, and the circuit boards 32 and 33 are accommodated in the casing 27 of the teaching operation terminal 1. That is, the buzzer 30, the vibration motor 31, and the circuit boards 32 and 33 are built in the teaching operation terminal 1. The circuit board 32 of this embodiment is a first circuit board, and the circuit board 33 is a second circuit board.
　操作部材２０、非常停止スイッチ２２、スライドスイッチ２４、２５および押ボタン２６は、教示操作端末１の表側に配置されている。すなわち、操作部材２０、非常停止スイッチ２２、スライドスイッチ２４、２５および押ボタン２６は、筐体２７の表側に配置されている。具体的には、ロボット２の教示操作を行う作業者によって操作される操作部材２０の操作部２０ａ、非常停止スイッチ２２の操作部２２ａ、スライドスイッチ２４の操作部２４ａ、スライドスイッチ２５の操作部２５ａおよび押ボタン２６の操作部２６ａが筐体２７の表側に配置されている。 The operation member 20, the emergency stop switch 22, the slide switches 24 and 25, and the push button 26 are arranged on the front side of the teaching operation terminal 1. That is, the operation member 20, the emergency stop switch 22, the slide switches 24 and 25, and the push button 26 are disposed on the front side of the housing 27. Specifically, the operation unit 20a of the operation member 20 operated by the operator who performs the teaching operation of the robot 2, the operation unit 22a of the emergency stop switch 22, the operation unit 24a of the slide switch 24, and the operation unit 25a of the slide switch 25. The operation part 26 a of the push button 26 is disposed on the front side of the housing 27.
　また、発光部２３も、筐体２７の表側に配置されている。具体的には、筐体２７の表側から発光部２３の光が見えるように発光部２３が配置されている。一方、イネーブルスイッチ２１は、教示操作端末１の裏側に配置されている。すなわち、イネーブルスイッチ２１は、筐体２７の裏側に配置されている。具体的には、ロボット２の教示操作を行う作業者によって操作されるイネーブルスイッチ２１の操作部２１ａが筐体２７の裏側に配置されている。 The light emitting unit 23 is also arranged on the front side of the housing 27. Specifically, the light emitting unit 23 is arranged so that the light from the light emitting unit 23 can be seen from the front side of the housing 27. On the other hand, the enable switch 21 is disposed on the back side of the teaching operation terminal 1. That is, the enable switch 21 is disposed on the back side of the housing 27. Specifically, an operation unit 21 a of the enable switch 21 operated by an operator who performs the teaching operation of the robot 2 is disposed on the back side of the housing 27.
　筐体２７の基端部分は、ロボット２の教示操作を行う作業者の片手で把持される把持部２７ａとなっている。把持部２７ａは、作業者の中指、薬指および小指と、手のひらとによって把持される。あるいは、把持部２７ａは、作業者の薬指および小指と、手のひらとによって把持される。筐体２７の先端部分は、操作部材２０および非常停止スイッチ２２等が配置されるスイッチ配置部２７ｂとなっている。筐体２７は、把持部２７ａとスイッチ配置部２７ｂとによって構成されている。コントローラ４に接続される教示操作端末１のケーブル（図示省略）は、筐体２７の基端から引き出されている。 The base end portion of the housing 27 is a grip portion 27 a that is gripped by one hand of an operator who performs the teaching operation of the robot 2. The gripper 27a is gripped by the operator's middle finger, ring finger, little finger, and palm. Alternatively, the grip portion 27a is gripped by the operator's ring finger and little finger and the palm of the hand. The distal end portion of the housing 27 is a switch arrangement portion 27b where the operation member 20, the emergency stop switch 22 and the like are arranged. The housing 27 includes a gripping portion 27a and a switch placement portion 27b. A cable (not shown) of the teaching operation terminal 1 connected to the controller 4 is drawn from the base end of the housing 27.
　以下の説明では、教示操作端末１の表側（図４のＺ１方向側）を「上」側とし、その反対側（教示操作端末１の裏側、図４のＺ２方向側）を「下」側とし、上下方向に直交する教示操作端末１の基端側（図４のＸ１方向側）を「後ろ」側とし、その反対側（教示操作端末１の先端側、図４のＸ２方向側）を「前」側とする。また、上下方向と左右方向とに直交する図４のＹ方向を「左右方向」とする。 In the following description, the front side (Z1 direction side in FIG. 4) of the teaching operation terminal 1 is referred to as “upper” side, and the opposite side (back side of the teaching operation terminal 1, Z2 direction side in FIG. 4) is referred to as “lower” side. The base end side (X1 direction side in FIG. 4) of the teaching operation terminal 1 orthogonal to the vertical direction is the “rear” side, and the opposite side (tip side of the teaching operation terminal 1, X2 direction side in FIG. 4) is “ The front side. Further, the Y direction in FIG. 4 orthogonal to the up and down direction and the left and right direction is referred to as “left and right direction”.
　スイッチ配置部２７ｂは、把持部２７ａの前上端部から斜め下前方に向かって突出している。スイッチ配置部２７ｂの前端側に形成されるスイッチ配置部２７ｂの底面（最下面）２７ｃは、上下方向に直交する平面となっている。把持部２７ａの後端側に形成される把持部２７ａの底面（最下面）２７ｄは、上下方向に直交する平面となっている。底面２７ｃと底面２７ｄとは、同一平面上に配置されている。 The switch arrangement portion 27b protrudes obliquely downward and forward from the front upper end portion of the grip portion 27a. A bottom surface (lowermost surface) 27c of the switch placement portion 27b formed on the front end side of the switch placement portion 27b is a plane orthogonal to the vertical direction. A bottom surface (lowermost surface) 27d of the grip portion 27a formed on the rear end side of the grip portion 27a is a plane orthogonal to the vertical direction. The bottom surface 27c and the bottom surface 27d are disposed on the same plane.
　把持部２７ａの上面（教示操作端末１の表側の面）２７ｅは、凸曲面状に形成され、把持部２７ａの、底面２７ｄを除いた部分の下面（教示操作端末１の裏側の面）２７ｆは、凹曲面状に形成されている。具体的には、上面２７ｅは、左右方向から見たときの形状が円弧状となる凸曲面状に形成され、下面２７ｆは、左右方向から見たときの形状が円弧状となる凹曲面状に形成されている。上面２７ｅの曲率半径と下面２７ｆの曲率半径とは等しくなっている。 An upper surface (front surface of the teaching operation terminal 1) 27e of the grip portion 27a is formed in a convex curved surface, and a lower surface (surface on the back side of the teaching operation terminal 1) 27f of the grip portion 27a excluding the bottom surface 27d is The concave curved surface is formed. Specifically, the upper surface 27e is formed in a convex curved surface having an arc shape when viewed from the left and right direction, and the lower surface 27f is formed in a concave curved surface having an arc shape when viewed from the left and right direction. Is formed. The curvature radius of the upper surface 27e is equal to the curvature radius of the lower surface 27f.
　操作部材２０は、ジョイスティックである。ジョイスティックである操作部材２０の本体部２０ｂは、図５に示すように、回路基板３２の上面に実装されている。操作部材２０の操作部２０ａは、把持部２７ａよりも前側（すなわち、教示操作端末１の先端側）に配置されている。また、操作部２０ａは、スイッチ配置部２７ｂの左右方向の中心位置に配置されている。ジョイスティックである操作部材２０の軸線Ｌは、左右方向に直交している。また、軸線Ｌは、下側に向かうにしたがって後ろ側に向かうように傾斜している。操作部材２０は、作業者の親指によって操作される。具体的には、操作部２０ａが作業者の親指によって操作される。 The operation member 20 is a joystick. The main body 20b of the operation member 20 which is a joystick is mounted on the upper surface of the circuit board 32 as shown in FIG. The operation part 20a of the operation member 20 is disposed in front of the grip part 27a (that is, the front end side of the teaching operation terminal 1). The operation unit 20a is arranged at the center position in the left-right direction of the switch arrangement unit 27b. The axis L of the operation member 20 that is a joystick is orthogonal to the left-right direction. The axis L is inclined so as to go to the rear side as it goes down. The operation member 20 is operated by the operator's thumb. Specifically, the operation unit 20a is operated by the operator's thumb.
　本形態の操作部材２０は、操作部材２０によってロボット２をアナログ操作するモード（アナログ操作モード）と、操作部材２０によってロボット２をコマ送り操作（デジタル操作）するモード（デジタル操作モード）とに操作部材２０の操作モードを切り替える機能も果たしている。操作部材２０が軸線Ｌの方向に押されると、アナログ操作モードからデジタル操作モードに、あるいは、デジタル操作モードからアナログ操作モードに操作部材２０の操作モードが切り替わる。 The operation member 20 according to the present embodiment is operated in a mode in which the robot 2 is analog-operated by the operation member 20 (analog operation mode) and a mode in which the robot 2 is operated by frame operation (digital operation) by the operation member 20 (digital operation mode). The function of switching the operation mode of the member 20 is also achieved. When the operation member 20 is pushed in the direction of the axis L, the operation mode of the operation member 20 is switched from the analog operation mode to the digital operation mode, or from the digital operation mode to the analog operation mode.
　イネーブルスイッチ２１の操作部２１ａは、把持部２７ａの前下端部から斜め下前方に向かって突出している。操作部２１ａは、筺体２７の左右方向の中心位置に配置されている。操作部２１ａの下端は、底面２７ｃ、２７ｄよりも上側に配置されている。イネーブルスイッチ２１は、斜め上後ろ側に向かって操作部２１ａが押されるように配置されている。図４に示すように、操作部２１ａは、操作部材２０の軸線Ｌ上に配置されている。イネーブルスイッチ２１の押込み方向（すなわち、操作部２１ａの押込み方向、図４の矢印Ｖで示す方向）と軸線Ｌとがなす角度θは、６０°以上９０°以下となっている。本形態では、角度θは、略７５°となっている。 The operation portion 21a of the enable switch 21 protrudes obliquely downward and forward from the front lower end portion of the grip portion 27a. The operation unit 21 a is disposed at the center position in the left-right direction of the housing 27. The lower end of the operation unit 21a is disposed above the bottom surfaces 27c and 27d. The enable switch 21 is disposed so that the operation unit 21a is pushed obliquely upward and rearward. As shown in FIG. 4, the operation portion 21 a is disposed on the axis L of the operation member 20. The angle θ formed by the pressing direction of the enable switch 21 (that is, the pressing direction of the operation portion 21a, the direction indicated by the arrow V in FIG. 4) and the axis L is 60 ° or more and 90 ° or less. In this embodiment, the angle θ is approximately 75 °.
　イネーブルスイッチ２１は、作業者の人差し指（または中指）によって操作される。イネーブルスイッチ２１が押されていないとき（すなわち、操作部２１ａが押されていないとき）には、サーボオフ状態となっており、操作部２１ａが押込み方向Ｖに押されると、サーボオン状態に切り替わる。また、操作部２１ａが押込み方向Ｖに強く押し込まれると、サーボオン状態からサーボオフ状態に切り替わる。すなわち、イネーブルスイッチ２１は、３ポジションイネーブルスイッチである。 The enable switch 21 is operated by the operator's index finger (or middle finger). When the enable switch 21 is not pushed (that is, when the operation unit 21a is not pushed), the servo is turned off. When the operation unit 21a is pushed in the pushing direction V, the servo is turned on. When the operation unit 21a is strongly pushed in the pushing direction V, the servo-on state is switched to the servo-off state. That is, the enable switch 21 is a three-position enable switch.
　非常停止スイッチ２２の操作部２２ａは、操作部材２０の操作部２０ａよりも前側（すなわち、教示操作端末１の先端側）に配置されている。また、操作部２２ａは、スイッチ配置部２７ｂの左右方向の中心位置に配置されている。非常停止スイッチ２２は、斜め下後ろ側に向かって操作部２２ａが押されるように配置されている。 The operation unit 22a of the emergency stop switch 22 is disposed in front of the operation unit 20a of the operation member 20 (that is, the tip side of the teaching operation terminal 1). The operation unit 22a is arranged at the center position in the left-right direction of the switch arrangement unit 27b. The emergency stop switch 22 is arranged so that the operation portion 22a is pushed toward the diagonally lower rear side.
　スライドスイッチ２４は、３接点のスライドスイッチであり、スライドスイッチ２４のスイッチ本体２４ｂは、図５に示すように、回路基板３２の上面に実装されている。スライドスイッチ２４は、操作部材２０によってロボット２を動作させる際の座標系を第１座標系と第２座標系と第３座標系との３つの座標系のいずれかに切り替える機能を果たしている。第１座標系は、ロボット２を構成する６個の関節部９のモータの回転座標を用いて、先端部材１１の位置を表す座標系である。第２座標系は、鉛直方向の座標（ｚ座標）と、鉛直方向に直交するｘ方向の座標（ｘ座標）と、鉛直方向とｘ方向とに直交するｙ方向の座標（ｙ座標）と、最も先端側に配置される関節部９のモータの回転座標と、先端側から２番目に配置される関節部９のモータの回転座標と、最も基端側に配置される関節部９のモータの回転座標とを用いて先端部材１１の位置を表す座標系である。第３座標系は、第２座標と同じ６個の座標を用いて、先端部材１１に取り付けられるエンドエフェクタの位置を表す座標系である。 The slide switch 24 is a three-contact slide switch, and the switch body 24b of the slide switch 24 is mounted on the upper surface of the circuit board 32 as shown in FIG. The slide switch 24 has a function of switching the coordinate system when the robot 2 is operated by the operation member 20 to any one of the three coordinate systems of the first coordinate system, the second coordinate system, and the third coordinate system. The first coordinate system is a coordinate system that represents the position of the tip member 11 using the rotational coordinates of the motors of the six joint portions 9 constituting the robot 2. The second coordinate system includes a coordinate in the vertical direction (z coordinate), a coordinate in the x direction orthogonal to the vertical direction (x coordinate), a coordinate in the y direction orthogonal to the vertical direction and the x direction (y coordinate), The rotation coordinates of the motor of the joint portion 9 arranged on the most distal side, the rotation coordinates of the motor of the joint portion 9 arranged second from the distal end side, and the motor of the motor of the joint portion 9 arranged on the most proximal side. It is a coordinate system that represents the position of the tip member 11 using rotational coordinates. The third coordinate system is a coordinate system that represents the position of the end effector attached to the tip member 11 using the same six coordinates as the second coordinates.
　スライドスイッチ２５は、スライドスイッチ２４と同様の３接点のスライドスイッチであり、スライドスイッチ２５のスイッチ本体（図示省略）は、回路基板３２の上面に実装されている。スライドスイッチ２５は、上述のように、操作部材２０によって動作するロボット２の動作箇所および動作方向の少なくともいずれか一方を切り替える機能を果たしている。具体的には、ロボット２の座標系が第１座標系に設定されている場合、スライドスイッチ２５は、最も基端側に配置される関節部９のモータと基端側から２番目に配置される関節部９のモータとを操作部材２０によって回転させる第１モードと、基端側から３番目に配置される関節部９のモータと基端側から４番目に配置される関節部９のモータとを操作部材２０によって回転させる第２モードと、基端側から５番目に配置される関節部９のモータと最も先端側に配置される関節部９のモータとを操作部材２０によって回転させる第３モードとのいずれかのモードに切り替える。 The slide switch 25 is a three-contact slide switch similar to the slide switch 24, and the switch body (not shown) of the slide switch 25 is mounted on the upper surface of the circuit board 32. As described above, the slide switch 25 has a function of switching at least one of the operation location and the operation direction of the robot 2 operated by the operation member 20. Specifically, when the coordinate system of the robot 2 is set to the first coordinate system, the slide switch 25 is disposed second from the proximal end side with the motor of the joint portion 9 disposed on the most proximal end side. The first mode in which the motor of the joint portion 9 is rotated by the operating member 20, the motor of the joint portion 9 arranged third from the base end side, and the motor of the joint portion 9 arranged fourth from the base end side Are rotated by the operating member 20, and the operating member 20 rotates the motor of the joint portion 9 arranged fifth from the proximal end side and the motor of the joint portion 9 arranged most distally. Switch to one of the three modes.
　また、ロボット２の座標系が第２座標系に設定されている場合には、スライドスイッチ２５は、操作部材２０によってｘ方向とｙ方向とに先端部材１１を動作させる第１モードと、操作部材２０によってｚ方向に先端部材１１を動作させるとともに先端側から２番目に配置される関節部９のモータを回転させる第２モードと、最も先端側に配置される関節部９のモータと最も基端側に配置される関節部９のモータとを操作部材２０によって回転させる第３モードとのいずれかのモードに切り替える。 Further, when the coordinate system of the robot 2 is set to the second coordinate system, the slide switch 25 is configured to operate the tip member 11 in the x direction and the y direction by the operation member 20 and the operation member. The second mode in which the distal end member 11 is operated in the z direction by 20 and the motor of the joint portion 9 disposed second from the distal end side is rotated, and the motor and the proximal end of the joint portion 9 disposed closest to the distal end side The mode is switched to one of the third mode in which the motor of the joint portion 9 arranged on the side is rotated by the operation member 20.
　また、ロボット２の座標系が第３座標系に設定されている場合には、スライドスイッチ２５は、操作部材２０によってｘ方向とｙ方向とにエンドエフェクタを動作させる第１モードと、操作部材２０によってｚ方向にエンドエフェクタを動作させるとともに先端側から２番目に配置される関節部９のモータを回転させる第２モードと、最も先端側に配置される関節部９のモータと最も基端側に配置される関節部９のモータとを操作部材２０によって回転させる第３モードとのいずれかのモードに切り替える。 Further, when the coordinate system of the robot 2 is set to the third coordinate system, the slide switch 25 uses the operation member 20 to operate the end effector in the x direction and the y direction, and the operation member 20. The second mode in which the end effector is operated in the z direction and the motor of the joint portion 9 disposed second from the distal end side is rotated, and the motor of the joint portion 9 disposed closest to the distal end side and the proximal end side The mode is switched to any one of the third mode in which the motor of the joint portion 9 to be arranged is rotated by the operation member 20.
　押ボタン２６のボタン本体２６ｂは、図５に示すように、回路基板３２の上面に実装されている。押ボタン２６は、上述のように、ロボット２の現在位置を記録する（教示する）機能を果たしており、押ボタン２６の操作部２６ａが押されると、ロボット２の現在位置が記録される。 The button body 26b of the push button 26 is mounted on the upper surface of the circuit board 32 as shown in FIG. As described above, the push button 26 has a function of recording (teaching) the current position of the robot 2. When the operation unit 26 a of the push button 26 is pressed, the current position of the robot 2 is recorded.
　押ボタン２６は、上述のように、ロボット２の現在位置を記録する（教示する）機能を果たしており、押ボタン２６の操作部２６ａが押されると、ロボット２の現在位置が記録される。押ボタン２６の操作部２６ａは、左右方向において、スライドスイッチ２４の操作部２４ａとスライドスイッチ２５の操作部２５ａとの間に挟まれた状態で配置されている。スライドスイッチ２４の操作部２４ａ、スライドスイッチ２５の操作部２５ａおよび押ボタン２６の操作部２６ａは、スイッチ配置部２７ｂに配置されている。操作部２６ａは、スイッチ配置部２７ｂの左右方向の中心位置に配置されている。また、操作部２４ａ、操作部２５ａおよび操作部２６ａは、操作部材２０の操作部２０ａと把持部２７ａとの間に配置されている。 As described above, the push button 26 performs the function of recording (teaching) the current position of the robot 2, and when the operation unit 26a of the push button 26 is pressed, the current position of the robot 2 is recorded. The operation part 26a of the push button 26 is arranged in a state sandwiched between the operation part 24a of the slide switch 24 and the operation part 25a of the slide switch 25 in the left-right direction. The operation unit 24a of the slide switch 24, the operation unit 25a of the slide switch 25, and the operation unit 26a of the push button 26 are arranged in the switch arrangement unit 27b. The operation unit 26a is arranged at the center position in the left-right direction of the switch arrangement unit 27b. The operation unit 24a, the operation unit 25a, and the operation unit 26a are disposed between the operation unit 20a of the operation member 20 and the gripping unit 27a.
　発光部２３は、図５に示すように、光源２３ａと導光部材２３ｂとを備えている。光源２３ａは、ＬＥＤ（発光ダイオード）であり、回路基板３２の上面に実装されている。導光部材２３ｂは、光源２３ａの上側に配置されており、光源２３ａから射出された光を筐体２７の表側に導く機能を果たしている。 As shown in FIG. 5, the light emitting unit 23 includes a light source 23 a and a light guide member 23 b. The light source 23 a is an LED (light emitting diode) and is mounted on the upper surface of the circuit board 32. The light guide member 23 b is disposed on the upper side of the light source 23 a and functions to guide the light emitted from the light source 23 a to the front side of the housing 27.
　３個の発光部２３のうちの１個の発光部２３は、所定の色で点灯したり、点滅したりすること等によって、サーボオン状態であるのかそれともサーボオフ状態であるのかを表示したり、ロボット２が規定の範囲外まで動作するオーバーランが発生していることを表示したり、エラーが発生していることを表示したりする。残りの２個の発光部２３のうちの１個の発光部２３は、所定の色で点灯したり、点滅したりすること等によって、操作部材２０の操作モードがアナログ操作モードであるのかそれともデジタル操作モードであるのかを表示したり、スライドスイッチ２４、２５のスライド位置が不明であることを表示したりする。残りの１個の発光部２３は、所定の色で点灯すること等によって、教示操作端末１の電源のオンオフ状態を表示する。 One of the three light emitting units 23 is lit in a predetermined color or blinks to indicate whether it is in a servo-on state or a servo-off state. 2 indicates that an overrun that operates out of the specified range has occurred, or indicates that an error has occurred. Of the remaining two light emitting units 23, one of the light emitting units 23 is lit in a predetermined color or blinks, so that the operation mode of the operation member 20 is an analog operation mode or digital. Whether the operation mode is selected or that the slide positions of the slide switches 24 and 25 are unknown is displayed. The remaining one light emitting unit 23 displays the on / off state of the power source of the teaching operation terminal 1 by lighting in a predetermined color.
　３個の発光部２３は、左右方向で隣り合うように配置されている。また、３個の発光部２３は、スイッチ配置部２７ｂに配置されている。３個の発光部２３のうちの左右方向の中心に配置される発光部２３は、スイッチ配置部２７ｂの左右方向の中心位置に配置されている。また、３個の発光部２３は、操作部材２０の操作部２０ａと非常停止スイッチ２２の操作部２２ａとの間に配置されている。すなわち、３個の発光部２３は、操作部材２０の操作部２０ａよりも前側（教示操作端末１の先端側）に配置されている。 The three light emitting units 23 are arranged so as to be adjacent in the left-right direction. Further, the three light emitting units 23 are arranged in the switch arrangement unit 27b. The light emitting unit 23 arranged at the center in the left-right direction among the three light emitting units 23 is arranged at the center position in the left-right direction of the switch arrangement unit 27b. Further, the three light emitting units 23 are disposed between the operation unit 20 a of the operation member 20 and the operation unit 22 a of the emergency stop switch 22. That is, the three light emitting units 23 are arranged on the front side (the tip side of the teaching operation terminal 1) of the operation member 20 with respect to the operation unit 20a.
　ブザー３０および振動モータ３１は、上述のように、ロボット２の異常を知らせる機能を果たしている。ブザー３０は、たとえば、ロボット２の教示操作を行っているときに所定のエラーが発生すると警報を発生させる。振動モータ３１は、たとえば、ロボット２が規定の範囲外まで動作するオーバーランが発生すると振動する。また、振動モータ３１は、たとえば、ロボット２の周辺に配置される他の構成部材にロボット２が接触すると振動する。 The buzzer 30 and the vibration motor 31 have a function of notifying the abnormality of the robot 2 as described above. For example, the buzzer 30 generates an alarm when a predetermined error occurs during the teaching operation of the robot 2. The vibration motor 31 vibrates, for example, when an overrun occurs in which the robot 2 moves outside a specified range. In addition, the vibration motor 31 vibrates when the robot 2 comes into contact with other components disposed around the robot 2, for example.
　なお、ブザー３０は、押ボタン２６の操作部２６ａが押されたときにも鳴る。すなわち、ブザー３０は、ロボット２の現在位置が記録されたときにも鳴る。また、ロボット２に生じた異常の種類や程度に応じて、ブザー３０が発生させる警報の大きさを変えても良いし、振動モータ３１の振動の大きさや強さを変えても良い。 The buzzer 30 also sounds when the operation unit 26a of the push button 26 is pressed. That is, the buzzer 30 also sounds when the current position of the robot 2 is recorded. Moreover, the magnitude of the alarm generated by the buzzer 30 may be changed or the magnitude and intensity of vibration of the vibration motor 31 may be changed according to the type and degree of abnormality that has occurred in the robot 2.
　回路基板３２および回路基板３３は、ガラスエポキシ基板等のリジッド基板であり、たとえば、矩形の平板状に形成されている。回路基板３２と回路基板３３とは別体で形成されている。回路基板３２の外形は、回路基板３３の外形よりも大きくなっている。上述のように、回路基板３２には、操作部材２０の本体部２０ｂと、発光部２３の光源２３ａと、スライドスイッチ２４のスイッチ本体２４ｂと、スライドスイッチ２５のスイッチ本体と、押ボタン２６のボタン本体２６ｂとが実装されており、回路基板３２には、操作部材２０と発光部２３とスライドスイッチ２４、２５と押ボタン２６とが電気的に接続されて
いる。 The circuit board 32 and the circuit board 33 are rigid boards such as a glass epoxy board, and are formed in a rectangular flat plate shape, for example. The circuit board 32 and the circuit board 33 are formed separately. The outer shape of the circuit board 32 is larger than the outer shape of the circuit board 33. As described above, on the circuit board 32, the main body 20 b of the operation member 20, the light source 23 a of the light emitting unit 23, the switch main body 24 b of the slide switch 24, the switch main body of the slide switch 25, and the button of the push button 26. The main body 26 b is mounted, and the operation member 20, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 are electrically connected to the circuit board 32.
　また、回路基板３２には、イネーブルスイッチ２１が図示を省略するケーブルを介して電気的に接続されるとともに、非常停止スイッチ２２が図示を省略するケーブルを介して電気的に接続されている。回路基板３３には、ブザー３０と振動モータ３１とが実装されている。具体的には、回路基板３３の下面に、ブザー３０と振動モータ３１とが実装されている。本形態では、振動モータ３１は、ブザー３０よりも前側に配置されている。 The enable switch 21 is electrically connected to the circuit board 32 via a cable (not shown), and the emergency stop switch 22 is electrically connected via a cable (not shown). A buzzer 30 and a vibration motor 31 are mounted on the circuit board 33. Specifically, the buzzer 30 and the vibration motor 31 are mounted on the lower surface of the circuit board 33. In this embodiment, the vibration motor 31 is disposed in front of the buzzer 30.
　回路基板３２は、筺体２７の内部に固定されている。この回路基板３２は、筺体２７の内部の上端側に配置されている。すなわち、回路基板３２は、教示操作端末１の表面側に配置されている。また、回路基板３２の後端部分は、把持部２７ａの内部に配置され、回路基板３２の、後端部分を除いた大半部分は、スイッチ配置部２７ｂの内部に配置されている。平板状に形成される回路基板３２は、左右方向と平行になるように配置されている。左右方向から見ると、回路基板３２は、前側に向かうにしたがって下側へ向かうように傾斜している。 The circuit board 32 is fixed inside the housing 27. The circuit board 32 is disposed on the upper end side inside the housing 27. That is, the circuit board 32 is disposed on the front side of the teaching operation terminal 1. The rear end portion of the circuit board 32 is disposed inside the grip portion 27a, and most of the circuit board 32 excluding the rear end portion is disposed inside the switch arrangement portion 27b. The circuit board 32 formed in a flat plate shape is arranged so as to be parallel to the left-right direction. When viewed from the left-right direction, the circuit board 32 is inclined so as to go downward as it goes to the front side.
　回路基板３３は、筺体２７の内部に固定されている。この回路基板３３は、筐体２７の内部の下端側に配置されている。すなわち、回路基板３３は、教示操作端末１の裏面側に配置されている。また、回路基板３３は、把持部２７ａの内部に配置されている。すなわち、回路基板３３は、把持部２７ａに内蔵されている。具体的には、回路基板３３は、教示操作端末１の裏面側で把持部２７ａに内蔵されている。また、回路基板３３が把持部２７ａに内蔵されているため、回路基板３３に実装されるブザー３０および振動モータ３１も把持部２７ａに内蔵されている。平板状に形成される回路基板３３は、左右方向と平行になるように配置されている。左右方向から見ると、回路基板３３は、前側に向かうにしたがって下側へ向かうように傾斜している。回路基板３２と回路基板３３とは、略平行に配置されている。 The circuit board 33 is fixed inside the housing 27. The circuit board 33 is disposed on the lower end side inside the housing 27. That is, the circuit board 33 is arranged on the back side of the teaching operation terminal 1. The circuit board 33 is disposed inside the grip portion 27a. That is, the circuit board 33 is built in the holding part 27a. Specifically, the circuit board 33 is built in the grip portion 27 a on the back side of the teaching operation terminal 1. Further, since the circuit board 33 is built in the gripping part 27a, the buzzer 30 and the vibration motor 31 mounted on the circuit board 33 are also built in the gripping part 27a. The circuit board 33 formed in a flat plate shape is arranged so as to be parallel to the left-right direction. When viewed from the left-right direction, the circuit board 33 is inclined so as to go downward as it goes to the front side. The circuit board 32 and the circuit board 33 are disposed substantially in parallel.
　（本形態の主な効果）
　以上説明したように、本形態では、教示操作端末１の筐体２７の基端部分は、ロボット２の教示操作を行う作業者の片手で把持される把持部２７ａとなっている。また、本形態では、作業者の親指で操作される操作部材２０の操作部２０ａは、把持部２７ａより教示操作端末１の先端側に配置されるとともに教示操作端末１の表側に配置され、イネーブルスイッチ２１の操作部２１ａは、教示操作端末１の裏側に配置されるとともに操作部材２０の軸線Ｌ上に配置されている。さらに、本形態では、イネーブルスイッチ２１の押込み方向Ｖと軸線Ｌとがなす角度θが６０°以上９０°以下となっている。具体的には、角度θは、略７５°となっている。 (Main effects of this form)
As described above, in the present embodiment, the base end portion of the casing 27 of the teaching operation terminal 1 is the grip portion 27 a that is gripped with one hand of the operator who performs the teaching operation of the robot 2. Further, in this embodiment, the operation unit 20a of the operation member 20 operated by the operator's thumb is arranged on the front side of the teaching operation terminal 1 and also on the front side of the teaching operation terminal 1 from the grasping unit 27a. The operation unit 21 a of the switch 21 is disposed on the back side of the teaching operation terminal 1 and is disposed on the axis L of the operation member 20. Furthermore, in this embodiment, the angle θ formed by the pressing direction V of the enable switch 21 and the axis L is 60 ° or more and 90 ° or less. Specifically, the angle θ is approximately 75 °.
　そのため、本形態では、把持部２７ａを片手で把持している作業者が、把持部２７ａを把持している片手の人差し指（または中指）でイネーブルスイッチ２１の操作部２１ａを容易に押すことが可能になるとともに、把持部２７ａを把持している片手の親指で操作部材２０の操作部２０ａを容易に操作することが可能になる。したがって、本形態では、ロボット２の教示操作を行う作業者が、教示操作端末１を把持している片手で教示操作端末１を容易に操作することが可能になる。 Therefore, in this embodiment, an operator holding the grip portion 27a with one hand can easily press the operation portion 21a of the enable switch 21 with the index finger (or middle finger) of one hand holding the grip portion 27a. In addition, the operation portion 20a of the operation member 20 can be easily operated with the thumb of one hand holding the grip portion 27a. Therefore, in this embodiment, the operator who performs the teaching operation of the robot 2 can easily operate the teaching operation terminal 1 with one hand holding the teaching operation terminal 1.
　本形態では、非常停止スイッチ２２の操作部２２ａは、操作部材２０の操作部２０ａよりも教示操作端末１の先端側に配置されている。そのため、本形態では、操作部材２０の操作部２０ａを操作している作業者の親指が非常停止スイッチ２２の操作部２２ａに接触しにくくなる。したがって、本形態では、ロボット２の教示操作を行っているときの、非常停止スイッチ２２の誤操作を防止することが可能になる。 In this embodiment, the operation part 22a of the emergency stop switch 22 is arranged on the distal end side of the teaching operation terminal 1 with respect to the operation part 20a of the operation member 20. Therefore, in this embodiment, the thumb of the operator who is operating the operation unit 20 a of the operation member 20 is less likely to come into contact with the operation unit 22 a of the emergency stop switch 22. Therefore, in this embodiment, it is possible to prevent erroneous operation of the emergency stop switch 22 when the teaching operation of the robot 2 is being performed.
　特に本形態では、操作部材２０の操作部２０ａと非常停止スイッチ２２の操作部２２ａとの間に発光部２３が配置されているため、操作部材２０の操作部２０ａから非常停止スイッチ２２の操作部２２ａを遠ざけることが可能になる。したがって、本形態では、操作部材２０の操作部２０ａを操作している作業者の親指が非常停止スイッチ２２の操作部２２ａにより接触しにくくなる。 In particular, in this embodiment, since the light emitting unit 23 is disposed between the operation unit 20a of the operation member 20 and the operation unit 22a of the emergency stop switch 22, the operation unit 20a of the operation member 20 is operated to the operation unit of the emergency stop switch 22. It becomes possible to keep 22a away. Therefore, in this embodiment, the thumb of the operator who is operating the operation unit 20 a of the operation member 20 is less likely to come into contact with the operation unit 22 a of the emergency stop switch 22.
　本形態では、３個の発光部２３は、操作部材２０の操作部２０ａよりも教示操作端末１の先端側に配置されている。そのため、本形態では、操作部材２０の操作部２０ａを操作する作業者の親指によって発光部２３が覆われることがない。したがって、本形態では、発光部２３の発光状態に基づいて、ロボット２の状態や教示操作端末１の状態を把握しながら、操作部材２０を操作することが可能になる。 In this embodiment, the three light emitting units 23 are arranged on the distal end side of the teaching operation terminal 1 with respect to the operation unit 20a of the operation member 20. Therefore, in this embodiment, the light emitting unit 23 is not covered with the thumb of the operator who operates the operation unit 20a of the operation member 20. Therefore, in this embodiment, the operation member 20 can be operated while grasping the state of the robot 2 and the state of the teaching operation terminal 1 based on the light emission state of the light emitting unit 23.
　本形態では、スライドスイッチ２４の操作部２４ａ、スライドスイッチ２５の操作部２５ａおよび押ボタン２６の操作部２６ａは、操作部材２０の操作部２０ａと把持部２７ａとの間に配置されている。そのため、本形態では、ロボット２の教示操作を行う作業者は、操作部材２０の操作部２０ａを操作する親指を使って、操作部２４ａ、操作部２５ａおよび操作部２６ａを操作することが可能になる。したがって、本形態では、スライドスイッチ２４、２５および押ボタン２６が教示操作端末１に設けられていても、ロボット２の教示操作を行う作業者が、教示操作端末１を把持している片手で教示操作端末１を容易に操作することが可能になる。 In this embodiment, the operation unit 24a of the slide switch 24, the operation unit 25a of the slide switch 25, and the operation unit 26a of the push button 26 are disposed between the operation unit 20a of the operation member 20 and the gripping unit 27a. Therefore, in this embodiment, the operator who performs the teaching operation of the robot 2 can operate the operation unit 24a, the operation unit 25a, and the operation unit 26a using the thumb that operates the operation unit 20a of the operation member 20. Become. Therefore, in this embodiment, even if the slide switches 24 and 25 and the push button 26 are provided in the teaching operation terminal 1, the operator who performs the teaching operation of the robot 2 teaches with one hand holding the teaching operation terminal 1. The operation terminal 1 can be easily operated.
　本形態では、凸曲面状に形成される把持部２７ａの上面２７ｅの曲率半径と、凹曲面状に形成される把持部２７ａの下面２７ｆの曲率半径とが等しくなっている。そのため、本形態では、作業者が片手で把持部２７ａを把持しやすくなる。また、本形態では、ロボット２の教示操作を行う際に教示操作端末１と一緒に使用されるのが、ロボット教示用のソフトウエアがインストールされたタブレット端末５であるため、汎用のタブレット端末５を利用して、ロボット２の教示操作を行うことが可能になる。 In this embodiment, the radius of curvature of the upper surface 27e of the grip portion 27a formed in a convex curved surface is equal to the radius of curvature of the lower surface 27f of the grip portion 27a formed in a concave curved surface. Therefore, in this embodiment, the operator can easily grip the grip portion 27a with one hand. Further, in this embodiment, when the teaching operation of the robot 2 is performed, the tablet terminal 5 installed with the robot teaching software is used together with the teaching operation terminal 1, so that the general-purpose tablet terminal 5 is used. The teaching operation of the robot 2 can be performed using
　本形態では、ロボット２の異常を知らせる振動モータ３１が教示操作端末１に内蔵されている。そのため、本形態では、教示操作中のロボット２に異常が発生したときに教示操作端末１に内蔵された振動モータ３１を振動させて、ロボット２の教示操作を行う作業者が把持する把持部２７ａを振動させることが可能になる。したがって、本形態では、教示操作中のロボット２に異常が発生したときに、ロボット２の教示操作を行う作業者にロボット２の異常を速やかに認識させることが可能になる。 In this embodiment, a vibration motor 31 for notifying the abnormality of the robot 2 is built in the teaching operation terminal 1. Therefore, in the present embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, the gripper 27a that is gripped by the operator who performs the teaching operation of the robot 2 by vibrating the vibration motor 31 built in the teaching operation terminal 1 is vibrated. Can be vibrated. Therefore, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible to promptly recognize the abnormality of the robot 2 by the operator who performs the teaching operation of the robot 2.
　特に本形態では、振動モータ３１が把持部２７ａに内蔵されているため、教示操作中のロボット２に異常が発生したときに、作業者が把持する把持部２７ａを振動モータ３１によって直接的に振動させることができる。したがって、本形態では、教示操作中のロボット２に異常が発生したときに、振動モータ３１によって把持部２７ａをより大きく振動させたり、より強く振動させたりすることが可能になる。その結果、本形態では、教示操作中のロボット２に異常が発生したときに、作業者にロボット２の異常をより速やかに認識させることが可能になる。 In particular, in this embodiment, since the vibration motor 31 is built in the grip portion 27 a, the vibration motor 31 directly vibrates the grip portion 27 a gripped by the operator when an abnormality occurs in the robot 2 during the teaching operation. Can be made. Therefore, in this embodiment, when an abnormality occurs in the robot 2 during the teaching operation, the gripping unit 27a can be vibrated more greatly or more strongly by the vibration motor 31. As a result, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible for the operator to recognize the abnormality of the robot 2 more quickly.
　また、本形態では、ロボット２の異常を知らせるブザー３０が教示操作端末１に内蔵されているため、教示操作中のロボット２に異常が発生したときに、教示操作端末１に内蔵されたブザー３０で警報を発生させることができる。したがって、本形態では、教示操作中のロボット２に異常が発生したときに、作業者にロボット２の異常をより速やかに認識させることが可能になる。 Further, in this embodiment, since the buzzer 30 for notifying the abnormality of the robot 2 is built in the teaching operation terminal 1, the buzzer 30 built in the teaching operation terminal 1 when an abnormality occurs in the robot 2 during the teaching operation. Can generate an alarm. Therefore, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible for the operator to recognize the abnormality of the robot 2 more quickly.
　本形態では、操作部材２０とイネーブルスイッチ２１と非常停止スイッチ２２と発光部２３とスライドスイッチ２４、２５と押ボタン２６とが電気的に接続される回路基板３２と、ブザー３０および振動モータ３１が実装される回路基板３３とが別体で形成されている。そのため、本形態では、ブザー３０や振動モータ３１で発生する振動が回路基板３２に伝達されにくくなり、その結果、ブザー３０や振動モータ３１で発生する振動が、操作部材２０、イネーブルスイッチ２１、非常停止スイッチ２２、発光部２３、スライドスイッチ２４、２５および押ボタン２６に伝達されにくくなる。したがって、本形態では、ブザー３０や振動モータ３１で発生する振動が、操作部材２０、発光部２３、スライドスイッチ２４、２５および押ボタン２６に及ぼす影響を低減することが可能になる。 In this embodiment, the operation member 20, the enable switch 21, the emergency stop switch 22, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 are electrically connected, the buzzer 30, and the vibration motor 31. The circuit board 33 to be mounted is formed separately. Therefore, in this embodiment, the vibration generated by the buzzer 30 and the vibration motor 31 is not easily transmitted to the circuit board 32. As a result, the vibration generated by the buzzer 30 and the vibration motor 31 is controlled by the operation member 20, the enable switch 21, and the emergency switch. Transmission to the stop switch 22, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 becomes difficult. Therefore, in this embodiment, it is possible to reduce the influence of vibration generated by the buzzer 30 and the vibration motor 31 on the operation member 20, the light emitting unit 23, the slide switches 24 and 25, and the push button 26.
　また、本形態では、回路基板３２と回路基板３３とが別体で形成されているため、回路基板３２と回路基板３３とが一体で形成されている場合と比較して、筐体２７の内部に回路基板３２、３３を配置しやすくなる。したがって、本形態では、筐体２７を小型化することが可能になる。 In this embodiment, since the circuit board 32 and the circuit board 33 are formed separately, the interior of the housing 27 is compared with the case where the circuit board 32 and the circuit board 33 are formed integrally. It becomes easy to arrange the circuit boards 32 and 33 on the board. Therefore, in this embodiment, the housing 27 can be reduced in size.
　（他の実施の形態）
　上述した形態は、本発明の好適な形態の一例ではあるが、これに限定されるものではなく本発明の要旨を変更しない範囲において種々変形実施が可能である。 (Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.
　上述した形態において、操作部材２０は、十字キーであっても良い。この場合であっても、イネーブルスイッチ２１の操作部２１ａは、操作部材２０の軸線（すなわち、十字キーの軸線）上に配置されており、イネーブルスイッチ２１の押込み方向Ｖと十字キーの軸線とがなす角度θは、６０°以上９０°以下となっている。この場合であっても、上述した形態と同様に、ロボット２の教示操作を行う作業者が、教示操作端末１を把持している片手で教示操作端末１を容易に操作することが可能になる。 In the embodiment described above, the operation member 20 may be a cross key. Even in this case, the operation portion 21a of the enable switch 21 is arranged on the axis of the operation member 20 (that is, the axis of the cross key), and the pushing direction V of the enable switch 21 and the axis of the cross key are The formed angle θ is 60 ° or more and 90 ° or less. Even in this case, the operator who performs the teaching operation of the robot 2 can easily operate the teaching operation terminal 1 with one hand holding the teaching operation terminal 1 in the same manner as described above. .
　上述した形態において、把持部２７ａの上面２７ｅの曲率半径と把持部２７ａの下面２７ｆの曲率半径とが異なっていても良い。また、上面２７ｅおよび下面２７ｆの少なくともいずれか一方が平面状に形成されていても良い。また、上述した形態において、ロボット２は、６軸以外の垂直多関節ロボットであっても良いし、水平多関節ロボットであっても良い。また、ロボット２は、垂直多関節ロボットおよび水平多関節ロボット以外のロボットであっても良い。 In the embodiment described above, the radius of curvature of the upper surface 27e of the grip portion 27a and the radius of curvature of the lower surface 27f of the grip portion 27a may be different. Further, at least one of the upper surface 27e and the lower surface 27f may be formed in a planar shape. In the above-described form, the robot 2 may be a vertical articulated robot other than six axes, or a horizontal articulated robot. The robot 2 may be a robot other than the vertical articulated robot and the horizontal articulated robot.
　なお、上述した形態において、教示操作端末１の左右の側面にイネーブルスイッチ２１の操作部２１ａを配置することも可能である。また、略Ｕ形状（コの字状）に形成されるとともに教示操作端末１と同様の機能を備える教示操作端末と、この教示操作端末に嵌め込まれたタブレット端末５とを用いて、ロボット２の教示操作を行うことも可能である。 In the above-described embodiment, the operation unit 21 a of the enable switch 21 can be disposed on the left and right side surfaces of the teaching operation terminal 1. Further, using a teaching operation terminal formed in a substantially U shape (a U-shape) and having the same function as the teaching operation terminal 1 and a tablet terminal 5 fitted in the teaching operation terminal 1, the robot 2 It is also possible to perform a teaching operation.
　上述した形態において、回路基板３３は、スイッチ配置部２７ｂに内蔵されていても良い。すなわち、ブザー３０および振動モータ３１は、スイッチ配置部２７ｂに内蔵されていても良い。また、ブザー３０および振動モータ３１のいずれか一方がスイッチ配置部２７ｂに内蔵されていても良い。また、上述した形態において、ブザー３０および振動モータ３１のいずれか一方、または、両方が回路基板３２に実装されていても良い。 In the above-described form, the circuit board 33 may be built in the switch arrangement portion 27b. In other words, the buzzer 30 and the vibration motor 31 may be built in the switch arrangement portion 27b. Further, either the buzzer 30 or the vibration motor 31 may be built in the switch arrangement portion 27b. In the above-described embodiment, either one or both of the buzzer 30 and the vibration motor 31 may be mounted on the circuit board 32.
　上述した形態において、教示操作端末１は、ブザー３０を備えていなくても良い。また、上述した形態において、操作部材２０は、十字キーであっても良い。さらに、上述した形態において、ロボット２は、６軸以外の垂直多関節ロボットであっても良いし、水平多関節ロボットであっても良い。また、ロボット２は、垂直多関節ロボットおよび水平多関節ロボット以外のロボットであっても良い。 In the above-described form, the teaching operation terminal 1 may not include the buzzer 30. In the embodiment described above, the operation member 20 may be a cross key. Further, in the above-described form, the robot 2 may be a vertical articulated robot other than six axes, or a horizontal articulated robot. The robot 2 may be a robot other than the vertical articulated robot and the horizontal articulated robot.
　上述した形態において、略Ｕ形状（コの字状）に形成されるとともに教示操作端末１と同様の機能を備える教示操作端末と、この教示操作端末に嵌め込まれたタブレット端末５とによって、ロボット２の教示操作が行われても良い。また、上述した形態において、教示操作端末１は、液晶ディスプレイ等の表示装置とタッチパネル等の入力装置とを備えていても良い。この場合には、教示操作端末１は、作業者の両手で把持されても良い。また、この場合には、タブレット端末５が不要になる。 In the above-described form, the robot 2 includes the teaching operation terminal that is formed in a substantially U shape (U-shape) and has the same function as the teaching operation terminal 1 and the tablet terminal 5 that is fitted in the teaching operation terminal. The teaching operation may be performed. In the embodiment described above, the teaching operation terminal 1 may include a display device such as a liquid crystal display and an input device such as a touch panel. In this case, the teaching operation terminal 1 may be held with both hands of the operator. In this case, the tablet terminal 5 becomes unnecessary.
　１　教示操作端末
　２　ロボット
　５　タブレット端末
　１４　表示装置
　１５　入力装置
　１６　教示操作システム
　２０　操作部材
　２０ａ　操作部材の操作部
　２１　イネーブルスイッチ
　２１ａ　イネーブルスイッチの操作部
　２２　非常停止スイッチ
　２２ａ　非常停止スイッチの操作部
　２３　発光部
　２４　スライドスイッチ（第１のスライドスイッチ）
　２４ａ　スライドスイッチの操作部（第１のスライドスイッチの操作部）
　２５　スライドスイッチ（第２のスライドスイッチ）
　２５ａ　スライドスイッチの操作部（第２のスライドスイッチの操作部）
　２６　押ボタン
　２６ａ　押ボタンの操作部
　２７ａ　把持部
　２７ｅ　上面（把持部の、教示操作端末の表側の面）
　２７ｆ　下面（把持部の、教示操作端末の裏側の面）
　３０　ブザー
　３１　振動モータ
　３２　回路基板（第１の回路基板）
　３３　回路基板（第２の回路基板）
　Ｌ　操作部材の軸線（ジョイスティックの軸線）
　Ｖ　イネーブルスイッチの押込み方向
　θ　操作部材の軸線とイネーブルスイッチの押込み方向とがなす角度 DESCRIPTION OF SYMBOLS 1 Teaching operation terminal 2 Robot 5 Tablet terminal 14 Display device 15 Input device 16 Teaching operation system 20 Operation member 20a Operation member operation part 21 Enable switch 21a Enable switch operation part 22 Emergency stop switch 22a Emergency stop switch operation part 23 Light emission Part 24 Slide switch (first slide switch)
24a Slide switch operation section (first slide switch operation section)
25 Slide switch (second slide switch)
25a Slide switch operation section (second slide switch operation section)
26 Push button 26a Push button operation part 27a Gripping part 27e Upper surface (surface on the front side of the teaching operation terminal of the grip part)
27f Lower surface (the surface on the back side of the teaching operation terminal of the grip portion)
30 Buzzer 31 Vibration motor 32 Circuit board (first circuit board)
33 Circuit board (second circuit board)
L Operation member axis (joystick axis)
V Push-in direction of enable switch θ Angle formed by axis of operation member and push-in direction of enable switch

Claims (14)

  1. 　ロボットの教示操作に使用される教示操作端末において、
    　前記ロボットの教示操作を行う作業者の片手で把持される把持部と、ジョイスティックまたは十字キーからなり前記作業者の親指で操作されるとともに前記ロボットを動作させる操作部材と、前記操作部材による前記ロボットの動作が可能となるサーボオン状態と前記操作部材による前記ロボットの動作ができなくなるサーボオフ状態との切替を行うイネーブルスイッチとを備え、
    　前記作業者によって操作される前記操作部材の操作部は、前記把持部よりも前記教示操作端末の先端側に配置され、
    　前記操作部材の操作部が配置される側を前記教示操作端末の表側とすると、
    　前記作業者によって操作される前記イネーブルスイッチの操作部は、前記教示操作端末の裏側に配置されるとともに、前記ジョイスティックの軸線上または前記十字キーの軸線上に配置され、
    　前記ジョイスティックの軸線または前記十字キーの軸線と、前記イネーブルスイッチの押込み方向とがなす角度は、６０°以上９０°以下となっていることを特徴とする教示操作端末。     In the teaching operation terminal used for teaching operation of the robot,
    A gripping part that is gripped with one hand of an operator who performs the teaching operation of the robot, an operation member that is composed of a joystick or a cross key and is operated with the thumb of the operator and operates the robot, and the robot by the operation member An enable switch for switching between a servo-on state in which the operation of the robot can be performed and a servo-off state in which the operation of the robot cannot be performed by the operation member,
    The operation portion of the operation member operated by the operator is disposed on the tip side of the teaching operation terminal with respect to the grip portion,
    When the side on which the operation part of the operation member is arranged is the front side of the teaching operation terminal,
    The operation portion of the enable switch operated by the operator is disposed on the back side of the teaching operation terminal, and is disposed on the axis of the joystick or the axis of the cross key.
    The teaching operation terminal characterized in that an angle formed between the axis of the joystick or the axis of the cross key and the pushing direction of the enable switch is not less than 60 ° and not more than 90 °.
  2. 　前記ジョイスティックの軸線または前記十字キーの軸線と、前記イネーブルスイッチの押込み方向とがなす角度は、略７５°となっていることを特徴とする請求項１記載の教示操作端末。 The teaching operation terminal according to claim 1, wherein an angle formed by the axis of the joystick or the axis of the cross key and the pressing direction of the enable switch is approximately 75 °.
  3. 　前記ロボットを非常停止させる非常停止スイッチを備え、
    　前記作業者によって操作される前記非常停止スイッチの操作部は、前記操作部材の操作部よりも前記教示操作端末の先端側に配置されていることを特徴とする請求項１または２記載の教示操作端末。     An emergency stop switch for emergency stop of the robot,
    The teaching operation according to claim 1 or 2, wherein the operation part of the emergency stop switch operated by the operator is arranged on the tip side of the teaching operation terminal with respect to the operation part of the operation member. Terminal.
  4. 　前記ロボットの状態および前記教示操作端末の状態の少なくともいずれか一方を知らせるための発光部を備え、
    　前記発光部は、前記操作部材の操作部と前記非常停止スイッチの操作部との間に配置されていることを特徴とする請求項３記載の教示操作端末。     A light emitting unit for notifying at least one of the state of the robot and the state of the teaching operation terminal;
    The teaching operation terminal according to claim 3, wherein the light emitting unit is disposed between an operation unit of the operation member and an operation unit of the emergency stop switch.
  5. 　前記操作部材によって前記ロボットを動作させる際の座標系を切り替える第１のスライドスイッチと、前記操作部材によって動作する前記ロボットの動作箇所および動作方向の少なくともいずれか一方を切り替える第２のスライドスイッチと、前記ロボットの現在位置を記録するための押ボタンとを備え、
    　前記作業者によって操作される前記第１のスライドスイッチの操作部、前記第２のスライドスイッチの操作部および前記押ボタンの操作部は、前記操作部材の操作部と前記把持部との間に配置されていることを特徴とする請求項１から４のいずれかに記載の教示操作端末。     A first slide switch that switches a coordinate system when the robot is operated by the operation member; a second slide switch that switches at least one of an operation location and an operation direction of the robot operated by the operation member; A push button for recording the current position of the robot;
    The operation part of the first slide switch, the operation part of the second slide switch, and the operation part of the push button operated by the operator are arranged between the operation part of the operation member and the grip part. The teaching operation terminal according to any one of claims 1 to 4, wherein the teaching operation terminal is provided.
  6. 　前記把持部の、前記教示操作端末の表側の面は、凸曲面状に形成され、
    　前記把持部の、前記教示操作端末の裏側の面は、凹曲面状に形成され、
    　前記把持部の、前記教示操作端末の表側の面の曲率半径と、前記把持部の、前記教示操作端末の裏側の面の曲率半径とが等しくなっていることを特徴とする請求項１から５のいずれかに記載の教示操作端末。     The front side surface of the teaching operation terminal of the grip portion is formed in a convex curved surface shape,
    A surface on the back side of the teaching operation terminal of the grip portion is formed in a concave curved surface shape,
    6. The curvature radius of the front side surface of the teaching operation terminal of the grip portion and the curvature radius of the back side surface of the teaching operation terminal of the grip portion are equal to each other. The teaching operation terminal according to any of the above.
  7. 　請求項１から６のいずれかに記載の教示操作端末と、表示装置および入力装置を有するとともに前記ロボットの教示用のソフトウエアがインストールされたタブレット端末とを備えることを特徴とする教示操作システム。 A teaching operation system comprising: the teaching operation terminal according to any one of claims 1 to 6; and a tablet terminal having a display device and an input device and installed with the robot teaching software.
  8. 　ロボットの教示操作に使用される教示操作端末において、
    　前記ロボットの教示操作を行う作業者に把持される把持部を備えるとともに、前記ロボットの異常を知らせる振動モータが内蔵されていることを特徴とする教示操作端末。     In the teaching operation terminal used for teaching operation of the robot,
    A teaching operation terminal comprising a gripping unit to be gripped by an operator who performs the teaching operation of the robot and having a built-in vibration motor for notifying the abnormality of the robot.
  9. 　前記振動モータは、前記把持部に内蔵されていることを特徴とする請求項８記載の教示操作端末。 The teaching operation terminal according to claim 8, wherein the vibration motor is built in the grip portion.
  10. 　前記ロボットの異常を知らせるブザーが内蔵されていることを特徴とする請求項８または９記載の教示操作端末。 The teaching operation terminal according to claim 8 or 9, wherein a buzzer for notifying the abnormality of the robot is incorporated.
  11. 　前記ロボットを動作させる操作部材と、前記操作部材による前記ロボットの動作が可能となるサーボオン状態と前記操作部材による前記ロボットの動作ができなくなるサーボオフ状態との切替を行うイネーブルスイッチと、前記ロボットを非常停止させる非常停止スイッチと、前記操作部材、前記イネーブルスイッチおよび前記非常停止スイッチが電気的に接続される第１の回路基板と、前記第１の回路基板と別体で形成されるとともに前記振動モータが実装される第２の回路基板とを備えることを特徴とする請求項８から１０のいずれかに記載の教示操作端末。 An operation member that operates the robot, an enable switch that switches between a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the robot cannot be operated by the operation member; An emergency stop switch for stopping, a first circuit board to which the operation member, the enable switch and the emergency stop switch are electrically connected, and the vibration motor formed separately from the first circuit board The teaching operation terminal according to claim 8, further comprising: a second circuit board on which is mounted.
  12. 　前記操作部材によって前記ロボットを動作させる際の座標系を切り替える第１のスライドスイッチと、前記操作部材によって動作する前記ロボットの動作箇所および動作方向の少なくともいずれか一方を切り替える第２のスライドスイッチと、前記ロボットの現在位置を記録するための押ボタンとを備え、
    　前記第１のスライドスイッチ、前記第２のスライドスイッチおよび前記押ボタンは、前記第１の回路基板に電気的に接続されていることを特徴とする請求項１１記載の教示操作端末。     A first slide switch that switches a coordinate system when the robot is operated by the operation member; a second slide switch that switches at least one of an operation location and an operation direction of the robot operated by the operation member; A push button for recording the current position of the robot;
    The teaching operation terminal according to claim 11, wherein the first slide switch, the second slide switch, and the push button are electrically connected to the first circuit board.
  13. 　前記第２の回路基板は、前記把持部に内蔵されていることを特徴とする請求項１１または１２記載の教示操作端末。 The teaching operation terminal according to claim 11 or 12, wherein the second circuit board is built in the grip portion.
  14. 　前記ロボットの異常を知らせるブザーが内蔵され、
    　前記ブザーは、前記第２の回路基板に実装されていることを特徴とする請求項１１から１３のいずれかに記載の教示操作端末。     Built-in buzzer to notify the robot of abnormalities,
    The teaching operation terminal according to claim 11, wherein the buzzer is mounted on the second circuit board.
PCT/JP2018/004143 2017-02-24 2018-02-07 Teaching operation terminal and teaching operation system WO2018155181A1 (en)

Applications Claiming Priority (4)

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JP2017-033016 2017-02-24
JP2017-033015 2017-02-24
JP2017033015A JP2018138316A (en) 2017-02-24 2017-02-24 Teaching operation terminal and teaching operation system
JP2017033016A JP2018138317A (en) 2017-02-24 2017-02-24 Teaching operation terminal

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Citations (6)

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Publication number Priority date Publication date Assignee Title
JPH0146271B2 (en) * 1982-03-03 1989-10-06 Shin Meiwa Ind Co Ltd
WO2006103838A1 (en) * 2005-03-25 2006-10-05 Kabushiki Kaisha Yaskawa Denki Automatic machine system and wireless communication method
WO2007025928A1 (en) * 2005-08-29 2007-03-08 Abb Research Ltd. A portable operating device for an industrial robot
US20100292814A1 (en) * 2009-05-12 2010-11-18 Foxnum Technology Co., Ltd. Cnc machine control apparatus
JP2012110995A (en) * 2010-11-24 2012-06-14 Kyokko Denki Kk Operation teaching device which can teach operation by finger touch
JP2014050950A (en) * 2012-09-06 2014-03-20 Fanuc Robotics America Inc Haptic teach pendant

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0146271B2 (en) * 1982-03-03 1989-10-06 Shin Meiwa Ind Co Ltd
WO2006103838A1 (en) * 2005-03-25 2006-10-05 Kabushiki Kaisha Yaskawa Denki Automatic machine system and wireless communication method
WO2007025928A1 (en) * 2005-08-29 2007-03-08 Abb Research Ltd. A portable operating device for an industrial robot
US20100292814A1 (en) * 2009-05-12 2010-11-18 Foxnum Technology Co., Ltd. Cnc machine control apparatus
JP2012110995A (en) * 2010-11-24 2012-06-14 Kyokko Denki Kk Operation teaching device which can teach operation by finger touch
JP2014050950A (en) * 2012-09-06 2014-03-20 Fanuc Robotics America Inc Haptic teach pendant

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