WO2018173952A1 - Enabling switch and operation unit - Google Patents

Enabling switch and operation unit Download PDF

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Publication number
WO2018173952A1
WO2018173952A1 PCT/JP2018/010463 JP2018010463W WO2018173952A1 WO 2018173952 A1 WO2018173952 A1 WO 2018173952A1 JP 2018010463 W JP2018010463 W JP 2018010463W WO 2018173952 A1 WO2018173952 A1 WO 2018173952A1
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WIPO (PCT)
Prior art keywords
unit
holding force
warning
upper limit
enable
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PCT/JP2018/010463
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French (fr)
Japanese (ja)
Inventor
延廣　正毅
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Idec株式会社
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Publication date
Application filed by Idec株式会社 filed Critical Idec株式会社
Priority to JP2018514914A priority Critical patent/JP6846412B2/en
Publication of WO2018173952A1 publication Critical patent/WO2018173952A1/en

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  • the present invention relates to an enable switch that permits operation of an operation target by the operation unit, and an operation unit including the enable switch.
  • JP 2002-42606 discloses a teaching pendant having an enable switch. Teaching to a robot is often performed over a long period of time. Meanwhile, it is necessary to keep pressing the enable switch with a certain amount of force in an operation unit such as a teaching pendant, and the operator's fingers and hands get tired. For this reason, for example, the force of pressing the enable switch gradually loosens, and there is a problem that the operation permission of the robot is canceled unintentionally. If the unintended cancellation of the operation permission occurs, the efficiency of the teaching operation to the robot is lowered.
  • the present invention is directed to an enable switch that is provided in an operation unit and permits operation of an operation target by the operation unit. According to the present invention, it is possible to suppress a decrease in operation efficiency.
  • An enable switch includes a holding force detection unit that detects whether or not the holding force of the operation unit by the operator or the pushing amount by holding is within a predetermined enable range; A circuit unit that outputs an enable signal that permits operation of the operation object by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range; A warning unit for notifying the operator of a warning when a holding force or the pushing amount approaches a lower limit value of the enable range.
  • a lower limit warning range that is larger than the lower limit value and smaller than a lower limit warning value that is a predetermined holding force or pushing amount is defined.
  • the warning unit notifies the operator of a warning.
  • An enable switch is a holding force detection unit that detects whether or not the holding force of the operation unit by the operator or the pushing amount by holding is within a predetermined enable range. And a circuit unit that outputs an enable signal that permits operation of the operation target by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range; A warning unit for notifying the operator of a warning when the holding force or the push-in amount approaches an upper limit value of the enable range.
  • an upper limit warning range that is smaller than the upper limit value and larger than an upper limit warning value that is a predetermined holding force or pushing amount is defined.
  • the warning unit notifies the operator of a warning.
  • the above embodiment is particularly suitable when the holding force detection unit is substantially free from the amount of pushing by the operator holding the operation unit.
  • the warning unit notifies the operator of a warning by vibration of the operation unit.
  • the present invention is also directed to an operation unit including the enable switch.
  • FIG. 1 It is a figure which shows an operation part. It is a perspective view of an enable switch. It is a side view of an enable switch. It is a figure which shows a circuit part and its periphery structure. It is a figure which shows the operation example of an enable switch. It is a figure which shows the operation example of an enable switch. It is a figure which shows the other example of a circuit part and its periphery structure. It is a figure which shows the other example of a holding force detection part. It is a figure which shows the example by which the lower limit setting part was added with the upper limit setting part. It is a figure which shows the other example of an enable switch. It is a rear view which shows the other example of arrangement
  • FIG. 1 It is a rear view which shows the operation part of a two-hand holding type. It is a figure which shows the further another example of a circuit part and its periphery structure. It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. It is a top view which shows the other example of an enable switch. It is a figure which shows the further another example of a circuit part and its periphery structure. It is a figure which shows the further another example of a circuit part and its periphery structure. FIG.
  • FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19.
  • FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19.
  • FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19. It is a figure which shows the further another example of a circuit part and its periphery structure.
  • FIG. 24 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 23.
  • FIG. 24 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 23. It is a figure which shows the further another example of a circuit part and its periphery structure.
  • FIG. 27 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG.
  • FIG. 29 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 28.
  • FIG. 29 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 28.
  • FIG. 32 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 31.
  • FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34.
  • FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG.
  • FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34. It is a figure which shows the example which added the warning part. It is a figure which shows the operation example of an enable switch including the structure shown in FIG. It is a figure which shows the other example which added the warning part.
  • FIG. 41 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 40.
  • FIG. 1 is a diagram showing the operation unit 8.
  • An operator operates a robot, a machine, equipment, and the like using the operation unit 8.
  • the operation unit 8 is, for example, a teaching pendant used when teaching an operation to an industrial robot.
  • the left hand 9 of the operator is indicated by a two-dot chain line.
  • the operation unit 8 includes a main body unit 81, a display unit 82, a plurality of operation buttons 83, and the enable switch 1.
  • Input is performed via the operation button 83 with the right hand while the operation unit 8 is held by the left hand 9 of the operator.
  • the input means is not limited to buttons, and dials, sliders, switches, etc. may be used.
  • the display unit 82 displays input information and information indicating a state of an operation target.
  • the enable switch 1 exists at a position where the finger touches the operator while holding the operation unit 8. In the case of FIG. 1, the index finger 91, middle finger, ring finger and little finger of the left hand 9 of the operator touch the enable switch 1.
  • FIG. 2 is a perspective view of the enable switch 1.
  • the enable switch 1 is a safety device for ensuring the safety of an operator when performing an operation teaching work near an operation target such as a robot arm.
  • the enable switch 1 is a so-called three-position enable switch.
  • FIG. 3 is a side view of the enable switch 1.
  • the operation of the operation target by the operation unit 8 is permitted by the enable switch 1. That is, a signal for operating the operation target is output toward the operation target.
  • the enable switch 1 includes a main body 11, an authentication unit 12, a holding detection unit 14, a holding force detection unit 15, and a circuit unit described later.
  • the authentication unit 12 authenticates the operator by detecting the operator's fingerprint.
  • Various methods may be employed for authentication, and in general, the authentication unit 12 authenticates the operator based on a part of the operator's body or an article worn by the operator.
  • the authentication unit 12 recognizes the characteristics of the operator's finger or hand. As features to be authenticated, not only fingerprints but also wrinkles, veins, and other various features may be used. The configuration of the authentication unit 12 is appropriately changed according to the characteristics to be used.
  • the authentication unit 12 is preferably provided on the side surface of the operation unit 8 as shown in FIG. As will be described later, the authentication unit 12 is also preferably provided on the back surface of the operation unit 8. Accordingly, authentication can be easily performed when the operation unit 8 is held in a state that the operator can easily hold.
  • the holding detection unit 14 is a pair of electrodes in the present embodiment. Although various devices can be used as the holding detection unit 14, a device that detects substantially the amount of pushing by holding the operation unit 8 by the operator and detects the holding of the operation unit 8 by the operator is preferably used. Is done.
  • positioned at the lower part of the main body 11 detects whether the holding force of the operation part by an operator is larger than a predetermined upper limit.
  • the circuit unit After the authentication by the authentication unit 12, the circuit unit outputs an enable signal that is a signal for permitting the operation of the operation target while the holding detection unit 14 detects holding by the operator. Details of the circuit section will be described later.
  • the circuit unit cancels the enable signal.
  • the enable switch 1 may be provided with an upper limit setting unit that sets an upper limit value of the holding force.
  • the upper limit setting unit determines the upper limit value according to the authentication result by the authentication unit 12.
  • the circuit unit includes a storage unit for performing authentication by the authentication unit 12 and storing an upper limit value determined according to the authentication result. By storing information for each operator in the storage unit, the information for each operator can be used by the circuit unit and the authentication unit 12.
  • the authentication unit 12 is disposed on the upper surface of the main body 11.
  • the authentication unit 12 authenticates the operator's fingerprint at the imaging unit. When held as shown in FIG. 1, the authentication unit 12 authenticates the fingerprint of the index finger 91 of the left hand of the operator.
  • two electrodes 13 arranged in the direction in which the finger extends are arranged. The electrode 13 detects the presence of the operator's finger in the authentication unit 12.
  • the authentication unit 12 may be another biometric authentication unit that acquires biometric information of an operator such as vein authentication or iris authentication.
  • the authentication unit 12 may employ object fingerprint authentication technology.
  • the object fingerprint authentication technology can identify individual differences even for objects having the same shape by recognizing individual features appearing on the surface of the object. Thereby, for example, even if the operator is wearing gloves, authentication is possible.
  • the operator may be authenticated, that is, specified by an identification card or the like worn by the operator.
  • the enable switch 1 includes the authentication unit 12, it is possible to prevent operation by a person who is not permitted to operate, or to change the authority that can be operated according to the skill of the operator. The characteristics can be changed. The characteristics of the enable switch 1 for each operator are stored in the storage unit.
  • the holding detection unit 14 is disposed on the upper surface of the main body 11.
  • the holding detection unit 14 is an electrode, for example.
  • any one may be adopted.
  • a capacitive switch may be used, and a capacitive touch panel may be used.
  • the holding detection unit 14 detects the presence of a finger or hand, that is, the contact of the finger or hand. In the case of the example in FIG. 1, the holding detection unit 14 detects contact of the index finger, middle finger, ring finger, or little finger of the left hand of the operator.
  • the holding force detection unit 15 detects a pressing state with a finger or a hand.
  • the holding force detection unit 15 is preferably a switch having a mechanical push-in amount. If the holding force and the upper limit value can be compared, the holding force detection unit 15 may be a switch that does not substantially push in.
  • a piezoelectric element may be used for the holding force detection unit 15.
  • the holding force detection unit 15 may be a device that detects a contact area of a finger or a hand with a two-dimensional detection sensor.
  • the position becomes 1 when the hand is released or the hand or finger is lightly touched, and the operation is not permitted.
  • the switch is lightly pressed, the position becomes 2, and the operation by the operation unit is permitted.
  • the operator feels danger, is surprised by the malfunction of the operation target, or feels fear, the position 3 is entered, and the operation is not permitted. Further, when returning from position 3 to position 1, it mechanically passes through position 2, but the operation is not permitted.
  • the enable switch 1 of FIG. 2 the state where the finger is not touching the holding detection unit 14 is the position 1.
  • an operator is specified by authentication by the authentication unit 12.
  • the operation unit 8 determines work authority.
  • the holding detection unit 14 starts detecting the presence of the finger.
  • the enable switch 1 outputs an enable signal, and an operation signal can be output from the operation unit 8.
  • the enable switch 1 determines the position 2 unless the holding force detection unit 15 detects a pushing force exceeding the upper limit value, that is, a holding force exceeding the upper limit value. When the holding force detection unit 15 detects a holding force exceeding the upper limit value, the enable switch 1 determines that the position is 3, and the operation permission is canceled. That is, the circuit unit 2 stops outputting the enable signal. As long as the enable signal is not output, no operation signal is output from the operation unit 8 to the operation target even if the operator inputs to the operation unit 8. After the enable signal is not output, the position 3 is maintained until the operator releases the finger. When the operator releases the finger, the enable switch 1 is determined to be the position 1 and is in a reset state. Thereafter, the enable switch 1 requests biometric authentication again. The enable switch 1 does not output an enable signal unless an operator is specified by authentication by the authentication unit 12.
  • the holding detection unit 14 detects the presence of a finger after the permission, that is, once the enable signal is output. Is detected, position 2 is determined and the output of the enable signal is continued. Once the enable signal is output, the position 2 may be determined if the presence of the finger is detected by either the authentication unit 12 or the holding detection unit 14.
  • FIG. 4 is a diagram showing the circuit unit 2 and its peripheral configuration.
  • “signal output” means that the signal indicates “1” or a positive value
  • “stop of signal” means that the signal indicates “0”.
  • the circuit unit 2 includes an AND circuit 21 and an OR circuit 22.
  • the authentication unit 12 includes an imaging unit 121 and an authentication circuit 122 that is a logic circuit including an authentication algorithm 123. An image such as a fingerprint acquired by the imaging unit 121 is input to the authentication circuit 122, and an operator is specified.
  • the holding detection unit 14 which is a pair of electrodes
  • the authentication signal and the holding detection signal are input to the AND circuit 21, and an AND signal of these signals is output as an enable signal.
  • the enable signal and the authentication signal are input to the OR circuit 22, and the OR signal of these signals is returned to the AND circuit 21.
  • the holding force detector 15 is located on the output path of the enable signal from the AND circuit 21.
  • the holding force detection unit 15 blocks the enable signal when the holding force becomes strong. That is, permission for the operation to be operated is cancelled. Since the holding force detection unit 15 is mainly operated in an emergency, it is preferable that the holding force detection unit 15 is a switch having an operational feeling depending on the amount of pressing. In addition, the presence of the push-in amount can increase the reliability of detecting the operation.
  • the holding force detector 15 is preferably a switch that is pushed at least when the holding force exceeds the upper limit value.
  • the output from the authentication unit 12 is “authentication signal”
  • the output from the holding detection unit 14 is “holding signal”
  • the holding force detection unit 15 detects whether the holding force is larger than the upper limit value. It is a figure which shows the relationship between these signals at the time of expressing a result as “holding force upper limit signal”, and an enable signal. The horizontal axis shows the passage of time toward the right. In FIG. 5, the holding force upper limit signal is always “1”, and the holding force upper limit signal falls when the holding force exceeds the upper limit value.
  • an enable signal is output. That is, the enable signal becomes “1”.
  • the output of the enable signal continues even after the authentication is completed.
  • the output of the enable signal also stops.
  • the output of the enable signal is Stop. That is, the enable signal becomes “0”.
  • FIG. 7 is a diagram showing another example of the circuit unit 2 and its peripheral configuration.
  • the circuit unit 2 includes an AND circuit 21, an OR circuit 22, AND circuits 23 and 24, and an OR circuit 25.
  • the electrode 13 omitted in FIG. 4 is also shown. Signals from the pair of electrodes 13 are input to the AND circuit 23.
  • the output of the AND circuit 23 is used as an authentication start signal of the authentication unit 12 and is input to the OR circuit 25.
  • signals from the two electrodes of the holding detector 14 are input to the AND circuit 24, and the output of the AND circuit 24 is input to the OR circuit 25.
  • the output of the OR circuit 25 is input to the AND circuit 21.
  • the image acquired by the imaging unit 121 of the authentication unit 12 is input to the authentication circuit 122, and the operator is specified.
  • an AND signal of the authentication signal and the holding signal is output from the AND circuit 21 as an enable signal.
  • the OR signal of the enable signal and the authentication signal is returned to the AND circuit, and once the authentication is completed, the input from the OR circuit 22 to the AND circuit 21 is continued.
  • the signal from the electrode 13 is input to the OR circuit 25 via the AND circuit 23, two kinds of permission are realized. That is, while the holding detection unit 14 or the electrode 13 detects the presence of a finger, the output of the enable signal continues. As a result, the enable signal is output as long as it is detected that any finger of the operator holds the enable switch 1. Even if the operation unit 8 is held by the index finger and the thumb and all other fingers are separated from the operation unit 8, the output of the enable signal continues, and the unintentional cancellation of the enable signal can be suppressed.
  • FIG. 8 is a diagram illustrating another example of the holding force detection unit 15.
  • the upper limit of the holding force determined by the holding force detector 15 can be changed for each operator.
  • an upper limit setting unit 161 is provided as a peripheral configuration of the circuit unit 2.
  • the upper limit setting unit 161 includes a storage unit that stores an upper limit value suitable for each operator.
  • the holding force detection unit 15 includes a comparison circuit 152, and the switch 151 is operated according to the result of the comparison circuit 152.
  • the comparison circuit 152 is provided with a storage unit that stores the upper limit value.
  • the upper limit setting unit 161 determines the upper limit value of the operator corresponding to the authentication result by the authentication unit 12, and sets the upper limit value in the storage unit of the comparison circuit 152.
  • a higher upper limit value is set for an operator who often mistakes a general upper limit value with a force larger than the upper limit value.
  • a lower upper limit value is set for an operator who has a weak holding force and is uneasy about safety at a general upper limit value.
  • the operation of the circuit unit 2 is the same as in FIG. 4 except that the upper limit value is set individually. After authentication, the presence of the finger is detected, and an enable signal is output while the holding force is smaller than the set upper limit value. When the holding force is lost, it is determined as position 1, and when the holding force exceeds the upper limit value, it is determined as position 3 and the permission is revoked.
  • the upper limit value of the holding force is automatically set when the operator is specified by the authentication unit 12. It is not necessary for the operator to determine the upper limit every time the operation starts.
  • the upper limit is fixed as shown in FIG. 4, the upper limit is determined by the mechanical characteristics of the switch.
  • the holding force detection unit 15 is shown only by a switch symbol in consideration of this point.
  • an electrical comparison between the holding force by the comparison circuit and the upper limit value is performed.
  • the switch may be operated.
  • a lower limit setting unit 162 may be provided together with the upper limit setting unit 161. Only the lower limit setting unit 162 may be provided without providing the upper limit setting 161.
  • the storage unit of the lower limit setting unit 162 stores the lower limit value of the holding force for each operator.
  • the enable signal is output while the holding force is between the upper limit value and the lower limit value.
  • a range between the upper limit value and the lower limit value is referred to as an “enable range”.
  • the enable signal is output, if the holding force becomes smaller than the lower limit value, it is determined as position 1, and if the holding force becomes larger than the upper limit value, it is determined as position 3 and the permission is canceled. .
  • the configuration in which the upper limit value or the lower limit value is set for each operator is particularly suitable when the holding force detection unit 15 is not mechanical and has substantially no pushing amount.
  • the non-mechanical holding force detection unit 15 is suitable, for example, when a touch panel is provided as the holding detection unit 14 in the enable switch 1 and the holding force is detected by the contact area between the touch panel and the finger.
  • the holding detection unit 14 also serves as the holding force detection unit 15.
  • the operator holds the operation unit as usual after authentication, and then holds the holding unit strongly or weakly. Detect force.
  • the upper limit value setting unit 161 or the lower limit value setting unit 162 determines the upper limit value or the lower limit value based on the detection result.
  • the upper limit value or the lower limit value may be set based on the holding force immediately after the authentication.
  • the holding force may be obtained by changing the shape of the blood vessel.
  • the holding force may be obtained from the shape change of the contact surface of the hand or finger.
  • a relatively large imaging unit may be provided, and authentication, holding detection, and holding force detection may be performed by an image acquired by the imaging unit.
  • the functions of the authentication unit 12, the holding detection unit 14, and the holding force detection unit 15 are realized by the imaging unit and its peripheral circuits.
  • the authentication unit 12 and the holding detection unit 14 may be realized by a common device, the authentication unit 12 and the holding force detection unit 15 may be realized by a common device, and the holding detection unit 14 and the holding force detection unit. 15 may be realized by a common device.
  • FIG. 10 is a diagram illustrating another example of the enable switch 1.
  • the enable switch 1 includes a main body 11, an authentication unit 12, a holding detection unit 14, and a holding force detection unit 15, as in the case of FIGS. 2 and 3.
  • the holding detection unit 14 is a planar switch provided on the surface of the operation button 17, and there is substantially no pushing amount due to holding of the operation unit 8 by the operator.
  • the holding force detection unit 15 is a mechanical switch including an operation button 17. In normal gripping of the operation unit 8, the operation button 17 is not pushed. It can be said that a switch (or sensor) having substantially no pushing amount is a switch having no repulsive force.
  • the enable switch 1 includes a lock mechanism 18.
  • the engagement between the lever 181 of the lock mechanism 18 and the operation button 17 is released, and the lock of the operation button 17 is released.
  • the holding detection unit 14 detects the holding of the operation unit 8 by the operator, it is determined as the position 2.
  • the operation button 17 is pushed in and the holding force detection unit 15 is operated, so that the position 3 is determined.
  • Other operations are the same as those in FIGS.
  • the enable switch 1 by making the surface of the holding detection unit 14 and the surface of the authentication unit 12 substantially the same height, the operation unit 8 can be easily held, and the enable switch 1 can be thinned and designed to change its shape. It becomes.
  • the arrangement position of the holding detection unit 14 is also the upper surface of the holding force detection unit 15 that is a mechanical switch, and the authentication unit 12, the holding detection unit 14, and the holding force detection It can be understood that the upper surface of the portion 15 is located at substantially the same height.
  • the operator needs to hold the operation unit in accordance with the installation location of the enable switch on the operation unit.
  • the holding detection unit 14 can be easily provided in various places, so that the operation unit 8 can be easily held.
  • the authentication by the authentication unit 12 can change the work authority for each operator, and can prevent an undesired erroneous operation by an unskilled operator.
  • by setting an upper limit value or a lower limit value of the holding force for each operator it is possible to detect three positions suitable for the operator.
  • the enable switch may be invalidated by fixing it with a wire or a string, for example, so that the enable switch becomes position 2 (operation permission state). By using the authentication, invalidation of the enable switch can be prevented.
  • the enable switch 1 can be thinned and the shape can be easily changed.
  • FIG. 11 is a rear view of the operation unit 8 showing another arrangement example of the authentication unit 12.
  • the authentication unit 12 is disposed on the back surface of the operation unit 8.
  • FIG. 11 shows an example in which the electrode 13 that detects the finger placed on the authentication unit 12 is one.
  • the operation unit 8 is the same as that shown in FIG. 1 except that the authentication unit 12 is separated from the main body 11 of the enable switch 1 and arranged on the back surface of the operation unit 8.
  • the tip of the index finger 91 is naturally positioned at the authentication unit 12.
  • the other finger is positioned on the holding detection unit 14 of the enable switch 1.
  • FIG. 12 is a rear view illustrating a two-hand holding type operation unit 8.
  • the authentication unit 12 is located on the back surface of the operation unit 8 as in the case of FIG.
  • the index finger 91 of the left hand 9 is naturally positioned on the authentication unit 12. Fingers other than the index fingers of both hands are positioned on the holding detection unit 14 on the left and right sides of the recess 84.
  • the operation unit 8 is the same as the operation unit 8 of FIG. 11 except for the shape and the point that two main bodies 11 of the enable switch 1 are provided.
  • an enable signal is output while one of the two holding detection units 14 detects holding.
  • one of the two holding force detectors 15 detects a holding force larger than the upper limit value, the output of the enable signal is stopped. Thereby, even if one hand is separated from the operation unit 8, the enable signal is continuously output, and the fatigue of the operator's hand 9 can be further reduced.
  • the enable switch 1 having the form shown in FIG. 2 may be employed in the two-hand holding type operation unit 8.
  • FIG. 13 is a diagram showing still another example of the circuit unit 2 and its peripheral configuration.
  • the circuit unit 2 includes a lower limit falling delay circuit 311 in addition to the circuit unit 2 of FIG.
  • the lower limit falling delay circuit 311 is located between the holding detection unit 14 and the AND circuit 21, and delays the falling of the signal from the holding detection unit 14 by a predetermined time. Rise is not delayed.
  • the enable signal is not output from the AND circuit 21, or the lower limit value of the holding force is 0, and at least the holding force is If the enable signal is not output from the AND circuit 21 unless the lower limit value is exceeded, the enable switch 1 shifts from position 1 to position 2 simply by touching the enable switch 1 by the operator.
  • the holding detection unit 14 can be regarded as having a function having a function of comparing the holding force and the lower limit value substantially.
  • the switch 151 detects whether or not the holding force is larger than the upper limit value. Therefore, it can be said that the holding detection unit 14 and the switch 151 detect whether the holding force is within the enable range between the predetermined upper limit value and lower limit value. Therefore, in the description of FIG. 13, the holding detection unit 14 is regarded as a part of the holding force detection unit 15, and the holding force detection unit 15 includes the holding detection unit 14 and the switch 151. The holding force detection unit 15 detects whether or not the holding force of the operation unit by the operator is within a predetermined enable range.
  • the circuit unit 2 When the authentication by the authentication unit 12 is performed while the holding force detection unit 15 detects that the holding force is within the enable range, the circuit unit 2 enables the operation of the operation target by the operation unit 8. Output a signal. While the holding force detector 15 detects that the holding force is within the enable range, the enable signal is continuously output. In the case of the enable switch 1 in which the authentication unit 12 is omitted, the circuit unit 2 operates the operation target by the operation unit 8 while the holding force detection unit 15 detects that the holding force is within the enable range. It functions as a circuit that outputs an enable signal for permitting.
  • FIG. 14 is a diagram illustrating an operation example of the enable switch 1 including the configuration illustrated in FIG.
  • the expressions “authentication signal”, “holding signal”, “holding force upper limit signal” and “enable signal” in FIG. 14 are the same as those in FIG.
  • the holding signal indicates that the holding force is substantially larger than the lower limit value, and can also be referred to as a “holding force lower limit signal”.
  • the “lower limit falling delay signal” is a signal in which the falling edge of the holding signal from the holding detection unit 14, that is, the change timing from “1” to “0” is delayed.
  • the signal indicating that the holding force is greater than the lower limit value is a signal obtained by delaying the falling edge indicating that the holding force is lower than the lower limit value.
  • the boundary between the positions 1 and 2 is between a state where the finger does not touch the holding detection unit 14 and a state where the finger is slightly touched.
  • the lower limit falling delay circuit 311 delays the falling of a signal indicating a transition from position 2 to position 1. The representation of each signal is the same for the following similar figures.
  • an enable signal is output.
  • the enable signal continues to be output during time ⁇ t12, and the enable signal is output even after time ⁇ t12 has elapsed.
  • the enable signal stops after the time ⁇ t11 has elapsed since the operator removed the finger from the holding detection unit 14.
  • the time ⁇ t11 is a sufficiently short time for ensuring safety.
  • ⁇ t11 is set in the range of 0.2 to 0.5 seconds.
  • the circuit unit 2 does not enable the enable signal until the predetermined time ⁇ t 11 has elapsed after the holding force falls below the lower limit value of the enable range during the output of the enable signal. Maintain output.
  • the time ⁇ t11 is referred to as “signal output maintenance time”.
  • FIG. 15 is a diagram illustrating the output of the enable signal when the time when the operator temporarily removes his / her finger from the holding detection unit 14 is the time ⁇ t13 which is longer than the signal output maintaining time ⁇ t11. Since the lower limit falling delay signal from the lower limit falling delay circuit 311 falls before the time ⁇ t13 elapses, the output of the enable signal stops at that time. Even if the operator's finger touches the holding detection unit 14 again, authentication is not performed, so that the output of the enable signal is stopped.
  • the operation shown in FIG. 14 can prevent unnecessary operation stop when the holding force becomes weaker than the lower limit value only for a short time. For example, the stop of the enable signal can be suppressed when the operation unit 8 is picked up. As a result, a decrease in operation efficiency can be suppressed.
  • FIG. 16 is a diagram illustrating a case where the operator strongly holds the enable switch 1 while the enable signal is output, and the switch 151 of the holding force detection unit 15 detects a holding force larger than the upper limit value. Note that FIG. 16 also shows the manner in which the output of the enable signal continues even when the holding is released for the time ⁇ t12 as in FIG. When the holding force exceeds the upper limit value, the urgency may be high. Therefore, when the holding force upper limit signal falls, the output of the enable signal stops without delay at that moment. Thereby, the safety of the operator is ensured.
  • the switch 151 of the holding force detector 15 since the switch 151 of the holding force detector 15 is positioned on the output of the AND circuit 21, the switch 151 stops outputting the enable signal. However, the switch 151 is positioned on the input side of the AND circuit 21, and the switch 151 The same operation can also be realized by inputting the output 151 to the AND circuit 21. Therefore, in FIG. 13, the holding force detection unit 15 does not stop the enable signal when the holding force exceeds the upper limit value, but the circuit unit 2 including the arrangement structure of the switch 151 causes the holding force to exceed the upper limit value. In this case, it can be understood that the output of the enable signal is stopped according to the detection result by the holding force detection unit 15.
  • the signal output maintenance time ⁇ t11 may be changeable.
  • the enable switch 1 receives the input of the speed of a specific part of the operation target 90 being operated or the relative position of the operator with respect to the operation target, and the maintenance time change Part 192.
  • the specific part of the operation target 90 is, for example, the tip of the robot arm when the operation target 90 is a robot arm. In general, the specific part is the most movable part.
  • the relative position of the operator with respect to the operation target 90 is measured by, for example, a robot that is the operation target 90 or a three-dimensional scanner provided in the vicinity thereof.
  • a device for detecting the position of the operator may be provided in a room where the operator exists.
  • the maintenance time changing unit 192 changes the signal output maintenance time ⁇ t11 set in the lower limit falling delay circuit 311 according to the speed of a specific part of the operation object 90 or the relative position of the operator with respect to the operation object. Thereby, for example, when the speed of a specific part is slowed or the distance between the operator and the operation target 90 is increased, the signal output maintenance time is lengthened, and unnecessary operation stop is suppressed more effectively. Safety can be ensured. Further, the signal output maintenance time ⁇ t11 may be set to 0, and the signal output maintenance time greater than 0 may be set when the speed of a specific part becomes slow or the distance between the operator and the operation object 90 becomes large. .
  • FIG. 17 is a plan view showing still another example of the enable switch 1.
  • a holding force detector 15 is provided at the position of the hold detector 14 of the enable switch 1 of FIGS. 2 and 3.
  • the holding force detection part 15 provided in the lower part of the main body 11 of FIG. 3 is omitted.
  • the holding force detection unit 15 in FIG. 17 is a touch panel, that is, a two-dimensional touch sensor, and also serves as the holding detection unit 14. The same applies to the holding force detector 15 in the following description.
  • Other configurations are the same as those of the enable switch 1 shown in FIGS.
  • FIG. 18 is a diagram illustrating an example of the circuit unit 2 of the enable switch 1 and its peripheral configuration.
  • the circuit unit 2 includes an OR circuit 22 to which an output from the authentication unit 12 is input, and an AND circuit 21.
  • the holding force detection unit 15 includes a comparison circuit 153.
  • FIG. 18 also shows a case where an upper limit setting unit 161 is provided.
  • the comparison circuit 153 includes a comparator that compares the holding force with a predetermined lower limit value, and a comparator that compares the holding force with a predetermined upper limit value.
  • a line indicating the output from the comparator that compares the holding force and the lower limit value is denoted by reference numeral 321, and a line that indicates the output from the comparator that compares the holding force and the upper limit value is denoted by reference numeral 322.
  • Signals indicating the comparison results are individually input to the AND circuit 21.
  • An enable signal is output from the AND circuit 21 only when the holding force is larger than the lower limit value and smaller than the upper limit value. Note that outputs from the two comparators, that is, signals may be input to other circuits in the operation unit 8.
  • the lower limit value is set to a value very close to 0 or 0.
  • a value of a certain size may be set as the lower limit value.
  • an upper limit value setting unit 161 is provided in the circuit unit 2.
  • the upper limit value setting unit 161 sets the upper limit value in the comparison circuit 153 according to the holding force detected by the holding force detection unit 15. Set.
  • the lower limit value may be set in the comparison circuit 153 for each operator in the same manner as the setting of the upper limit value by providing a lower limit value setting unit.
  • the authentication unit 12 authenticates the operator.
  • the signals input to the AND circuit 21 are all “1”, and an enable signal is output. That is, if the authentication unit 12 performs authentication while the holding force detection unit 15 detects that the holding force is within the enable range, the circuit unit 2 allows the operation unit 8 to operate the operation target. An enable signal is output.
  • the holding force is smaller than the lower limit value or larger than the upper limit value, one of the two signals input from the comparison circuit 153 to the AND circuit 21 becomes “0”, and the output of the enable signal is stopped.
  • An AND circuit that obtains the logical product of the two comparison results from the comparison circuit 153 may be provided in the holding force detection unit 15.
  • the enable signal is continuously output while the holding force detection unit 15 detects that the holding force is within the enable range.
  • the circuit unit 2 operates the operation target by the operation unit 8 while the holding force detection unit 15 detects that the holding force is within the enable range. It functions as a circuit that outputs an enable signal for permitting.
  • FIG. 19 is a diagram illustrating an example in which a lower limit falling delay circuit 311 is provided in the circuit unit 2 of FIG. FIG. 19 also shows a reception unit 191 and a maintenance time change unit 192.
  • the functions of the receiving unit 191 and the maintenance time changing unit 192 are the same as in the case of FIG.
  • An accepting unit 191 and a maintenance time changing unit 192 may be provided for the lower limit falling delay circuit 311 of other figures.
  • the lower limit falling delay circuit 311 is provided on a line denoted by reference numeral 321 between the comparison circuit 153 and the AND circuit 21, and delays the falling of the comparison result between the holding force and the lower limit value by the signal output maintaining time.
  • the comparison result between the holding force and the upper limit value is input to the AND circuit 21 as it is, as indicated by the line denoted by reference numeral 322. That is, only when the holding force falls below the lower limit and the output from the comparison circuit 153 changes from “1” to “0”, the change is delayed by a predetermined signal output maintenance time.
  • FIG. 20 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG.
  • the lower limit value of the holding force is a positive value very close to 0 or 0.
  • the holding force lower limit signal rises, and when the holding force becomes 0, the holding force lower limit signal falls. Therefore, the holding force lower limit signal corresponds to the holding signal in FIG.
  • the authentication signal and the enable signal are the same as in FIG. 14, and the lower limit falling delay signal is obtained by delaying the falling of the holding power lower limit signal by the lower limit falling delay circuit 311.
  • the stop time ⁇ t 12 when the holding force lower limit signal becomes “0” is maintained as the signal output.
  • the time is shorter than ⁇ t11, the output of the enable signal continues.
  • the stop time ⁇ t13 of the holding power lower limit signal is longer than the signal output maintaining time ⁇ t11, the signal from the lower limit falling delay circuit 311 becomes “0”, that is, the falling, enable signal Output is stopped.
  • the circuit unit 2 maintains the output of the enable signal until the predetermined signal output maintaining time ⁇ t11 elapses after the holding force falls below the lower limit value of the enable range.
  • FIG. 22 is a diagram showing an enable signal when the holding force exceeds the upper limit value.
  • the holding force upper limit signal in FIG. 22 indicates a comparison result between the holding force and the upper limit value in the comparison circuit 153, and falls when the holding force exceeds the upper limit value.
  • FIG. 22 omits the description of the holding force lower limit signal, and also shows a state in which the holding force lower limit signal stops for the time ⁇ t12. If the holding power upper limit signal falls while authentication is performed and the enable signal is output, the output of the enable signal is stopped regardless of the operation of the lower limit falling delay circuit 311. Thus, the circuit unit 2 stops outputting the enable signal when the holding force exceeds the upper limit value of the enable range.
  • FIG. 23 is a diagram illustrating an example in which an upper limit falling delay circuit 312 is provided in the circuit unit 2 of FIG.
  • FIG. 23 also shows an upper limit value setting unit 161 and a lower limit value setting unit 162.
  • the upper limit value setting unit 161 and the lower limit value setting unit 162 indicate the upper limit value of the holding force for each operator according to the authentication result in the authentication unit 12.
  • the lower limit value is set in the comparison circuit 153.
  • FIG. 23 also shows a reception unit 191 and a maintenance time change unit 192 that are the same as those in FIG.
  • the reception unit 191 and the maintenance time changing unit 192 change the signal output maintenance time set in the lower limit falling delay circuit 311 and also change the signal output maintenance time set in the upper limit falling delay circuit 312.
  • the reception unit 191 and the maintenance time changing unit 192 change the signal output maintenance time set in the lower limit falling delay circuit 311 and also change the signal output maintenance time set in the upper limit falling delay circuit 312.
  • the upper limit falling delay circuit 312 is provided on the line denoted by reference numeral 322 between the comparison circuit 153 and the AND circuit 21, and delays the falling of the comparison result between the holding force and the upper limit value by the signal output maintaining time.
  • the comparison result between the holding force and the lower limit value is input to the AND circuit 21 via the lower limit falling delay circuit 311 as in the case of FIG.
  • the circuit unit 2 changes the change to a predetermined signal output maintenance time (hereinafter referred to as “output time”).
  • first signal output maintenance time when the holding power exceeds the upper limit value and the other output from the comparison circuit 153 changes from “1” to “0”, the change is preliminarily determined. It is delayed by a predetermined signal output maintenance time (hereinafter referred to as “second signal output maintenance time”).
  • FIG. 24 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force lower limit signal and the lower limit falling delay signal is omitted.
  • the circuit unit 2 maintains the output of the enable signal until the predetermined second signal output maintaining time ⁇ t21 elapses after the holding force exceeds the upper limit value of the enable range.
  • the second signal output maintenance time ⁇ t21 is set to a very short time so as not to cause a safety problem. Thereby, for example, even if the holding force exceeds the upper limit value immediately after the finger touches the holding force detection unit 15 having no pushing amount, unnecessary stop of the operation is suppressed. As a result, a decrease in operation efficiency is suppressed. Note that the delay in falling of the holding force upper limit signal is effective depending on the structure even when the holding force detector 15 is mechanical. Usually, the second signal output maintenance time ⁇ t21 is shorter than the first signal output maintenance time ⁇ t11.
  • the receiving unit 191 and the maintenance time changing unit 192 When the receiving unit 191 and the maintenance time changing unit 192 are provided, the receiving unit 191 receives an input of a speed of a specific part of the operation target 90 being operated or an operator's relative position with respect to the operation target 90. Then, the maintenance time changing unit 192 changes the second signal output maintenance time ⁇ t21 according to the speed of the specific part or the relative position of the operator with respect to the operation target 90. As described above, the same applies to the first signal output maintaining time ⁇ t11.
  • FIG. 26 is a diagram showing an example in which three comparators are provided in the comparison circuit 153 of FIG. Description of some peripheral components is omitted. 23, a comparator that compares the holding force and the upper limit value and a comparator that compares the holding force and the lower limit value are provided. In FIG. 26, a comparator that compares the holding force and the auxiliary upper limit value. Is added. That is, the auxiliary upper limit value that is larger than the upper limit value of the enable range is set in the circuit unit 2. A state where the comparison result between the holding force and the auxiliary upper limit value is input to the AND circuit 21 is indicated by a line denoted by reference numeral 323. When the holding force exceeds the auxiliary upper limit value, the auxiliary upper limit signal as a comparison result falls from “1” to “0”. Therefore, the output of the enable signal is stopped.
  • FIG. 27 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force upper limit signal, the holding force lower limit signal, and the like is omitted.
  • the upper limit falling delay circuit 312 maintains the output of the enable signal during the second signal output maintaining time even if the holding force exceeds the upper limit value. However, if the holding force exceeds the auxiliary upper limit value before the second signal output maintenance time elapses, the auxiliary upper limit signal falls and the output of the enable signal is forcibly stopped.
  • ⁇ t24 is given to the time from when the holding force exceeds the upper limit value until it exceeds the auxiliary upper limit value. As described above, when the holding force exceeds the auxiliary upper limit value, the circuit unit 2 stops outputting the enable signal regardless of the second signal output maintaining time ⁇ t21.
  • An auxiliary upper limit value setting unit that sets the auxiliary upper limit value according to the authentication result may be provided according to the upper limit value setting unit 161 and the lower limit value setting unit 162 shown in FIG. Thereby, the auxiliary upper limit value of the holding power for each operator is set according to the authentication result in the authentication unit 12.
  • the holding force detection unit 15 is a device having substantially no pushing amount, the holding force may momentarily fall below the lower limit value or exceed the upper limit value at the moment when the holding force is re-holded. It is particularly suitable for such a holding force detection unit 15 to delay the lower limit signal and the holding force upper limit signal or to provide an auxiliary upper limit value.
  • FIG. 28 is a diagram showing an example in which a warning unit 4 is added to the configuration of FIG.
  • the warning unit 4 notifies the operator of a warning when the holding force approaches the lower limit value of the enable range.
  • the warning unit 4 also notifies the operator of a warning when the holding force approaches the upper limit value of the enable range. Note that only one of the warning on the lower limit value side and the warning on the upper limit value side may be performed.
  • the warning can suppress unnecessary operation stop and suppress a decrease in operation efficiency.
  • the lower limit falling delay circuit 311 may be omitted.
  • the upper limit falling delay circuit 312 may be omitted.
  • the warning by the warning unit 4 that alerts the operator includes, for example, vibration of the operation unit 8, display of the operation unit 8, flashing of indicator lights provided outside the operation unit 8 or the operation unit 8, sound, warning sound Etc.
  • vibration of the operation unit 8 is most preferable because the operation place is often noisy.
  • the warning method when the holding force approaches the lower limit value of the enable range may be different from the warning method when the holding force approaches the upper limit value of the enable range.
  • a lower limit warning value slightly larger than the lower limit value and an upper limit warning value slightly smaller than the upper limit value are set in advance.
  • a range that is larger than the lower limit value and smaller than the lower limit warning value is referred to as a “lower limit warning range”.
  • a range smaller than the upper limit value and larger than the upper limit warning value is referred to as an “upper limit warning range”.
  • the comparison circuit 153 is further provided with a comparator that compares the holding force and the lower limit warning value, and a comparator that compares the holding force and the upper limit warning value.
  • the output from the comparator that compares the holding force with the lower limit warning value changes from “0” to “1” when the holding force becomes smaller than the lower limit warning value.
  • This output is input to the AND circuit 273 as indicated by reference numeral 271.
  • An output from a comparator that compares the holding force with the lower limit value is also input to the AND circuit 273 as indicated by reference numeral 321.
  • an enable signal is also input to the AND circuit 273. Therefore, the output of the AND circuit 273 becomes “1” when the holding force enters the lower limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
  • the output from the comparator that compares the holding force with the upper limit warning value changes from “0” to “1” when the holding force becomes larger than the upper limit warning value.
  • This output is input to the AND circuit 274 as indicated by reference numeral 272.
  • An output from a comparator that compares the holding force with the upper limit value is also input to the AND circuit 274 as indicated by reference numeral 322.
  • an enable signal is also input to the AND circuit 274. Accordingly, the output of the AND circuit 274 becomes “1” when the holding force enters the upper limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
  • FIG. 29 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force upper limit signal, the holding force lower limit signal, and the like is omitted.
  • an enable signal when the lower limit falling delay circuit 311 and the upper limit falling delay circuit 312 are not present is shown.
  • the lower limit warning range is denoted by reference symbol R1
  • the upper limit warning range is denoted by reference symbol R2.
  • the “lower limit warning signal” indicates an output from the AND circuit 273. While the holding force is within the lower limit warning range R1, the lower limit warning signal is “1”, and the warning unit 4 notifies the operator of the warning.
  • FIG. 30 is a diagram illustrating another operation example of the enable switch 1 including the configuration of FIG.
  • the enable signal when the lower limit falling delay circuit 311 and the upper limit falling delay circuit 312 are not present is shown.
  • the “upper limit warning signal” indicates an output from the AND circuit 274. While the holding force is in the upper limit warning range R2, the upper limit warning signal is “1”, and the warning unit 4 notifies the operator of the warning.
  • the warning prevents the holding force from unintentionally falling below the lower limit value or exceeding the upper limit value, thereby suppressing a decrease in operating efficiency.
  • FIG. 31 is a diagram showing an example in which a lower limit rising delay circuit 281 and an upper limit rising delay circuit 282 are added to the configuration of FIG.
  • the lower limit rising delay circuit 281 is located between the AND circuit 273 and the warning unit 4.
  • Upper limit rising delay circuit 282 is located between AND circuit 274 and warning unit 4.
  • the lower limit rise delay circuit 281 delays the rise of the lower limit warning signal from the AND circuit 273 by a predetermined warning stop time. Thereby, when the time when the warning signal from the AND circuit 273 is “1” is shorter than the warning stop time, the warning is not performed.
  • the upper limit rising delay circuit 282 delays the rising of the upper limit warning signal from the AND circuit 274 by a predetermined warning stop time. Thus, when the warning signal from the AND circuit 274 is “1” is shorter than the warning stop time, no warning is given.
  • the warning unit 4 notifies the operator of a warning.
  • the warning unit 4 notifies the operator of a warning.
  • Only one of the lower limit rising delay circuit 281 and the upper limit rising delay circuit 282 may be provided. Further, the warning stop times of these delay circuits 281 and 282 may be different.
  • FIG. 32 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG.
  • the upper warning signal is also operated according to the lower warning signal. That is, when the holding force is in the upper limit warning range R2 is longer than the warning delay time, the upper limit warning signal rises after the warning delay time has elapsed since the holding force entered the upper limit warning range R2. On the other hand, if the holding force is within the upper warning range R2 is shorter than the warning delay time, the upper warning signal does not rise. Thereby, it is possible to suppress notification of an unnecessary warning immediately after the operator holds the enable switch 1 or the like.
  • This operation is also particularly suitable when the holding force detection unit 15 includes a switch that makes it difficult for the operator to grasp the holding force with the pushing amount because the pushing amount is practically absent.
  • FIG. 33 is a diagram illustrating the operation unit 8 including the enable switch 1 including the mechanical holding force detection unit 15.
  • the holding force detector 15 is a so-called three-position switch.
  • Position 1 is a state in which the switch operating bar of the holding force detector 15 is not pushed.
  • the position 2 is a state where the enable switch 1 is lightly held together with the operation unit 8 and the operation bar is pushed in a little.
  • the enable switch 1 is strongly held together with the operation unit 8, the operation bar is further pushed in, and the holding force detection unit 15 is in the position 3.
  • FIG. 34 is a diagram showing the circuit unit 2 of the enable switch 1 together with its peripheral configuration.
  • the circuit unit 2 includes an AND circuit 21 and a lower limit falling delay circuit 311.
  • the holding force detection unit 15 includes a comparison unit 154.
  • the comparison unit 154 compares the pushing amount of the holding force detection unit 15 with a predetermined lower limit value and upper limit value.
  • the comparison unit 154 may measure the push amount itself and compare it with the lower limit value and the upper limit value, or may be a sensor or mechanism that detects the magnitude relationship between the push amount and each of the lower limit value and the upper limit value.
  • the comparison result between the push amount and the lower limit value is input to the lower limit falling delay circuit 311 as indicated by reference numeral 341.
  • An output from the lower limit falling delay circuit 311 is input to the AND circuit 21.
  • the comparison result between the push amount and the upper limit value is input to the AND circuit 21 as indicated by reference numeral 342.
  • the holding force detection unit 15 determines that the push amount by the holding of the operation unit 8 by the operator is within a predetermined enable range. Detect whether or not there is.
  • the circuit unit 2 outputs an enable signal while detecting that the push-in amount is within the enable range.
  • the circuit unit 2 allows the first signal to be determined in advance after the push amount falls below the lower limit value of the enable range during the output of the enable signal. The output of the enable signal is maintained until the output maintenance time elapses. Thereby, unnecessary stop of the enable signal is suppressed.
  • 35 to 37 are diagrams showing an operation example of the enable switch 1 including the configuration of FIG.
  • the pushing amounts “POS1”, “POS2”, and “POS3” indicate position 1, position 2, and position 3 of the operation bar, respectively.
  • the lower limit falling delay circuit 311 realizes substantially the same operation as in FIG. As shown in FIG. 35, even if the holding force detection unit 15 changes from the position 2 to the position 1 only for a short time due to re-handling of the operation unit 8, the time ⁇ t12 when the pushing amount falls below the lower limit value is the first time. When it is shorter than the signal output maintaining time ⁇ t11, the lower limit falling delay signal is not interrupted by the lower limit falling delay circuit 311 and the output of the enable signal is continued. On the other hand, as shown in FIG. 36, when the time ⁇ t13 when the pushing amount falls below the lower limit value is longer than the first signal output maintaining time ⁇ t11, the output of the enable signal is stopped.
  • the enable signal when the pushing amount exceeds the upper limit value, the enable signal is immediately stopped regardless of the first signal output maintaining time ⁇ t11. Although details are omitted, once the position 3 is reached, the enable signal cannot be output again unless the position 1 is returned.
  • an upper limit falling delay circuit may be provided for the comparison result between the pushing amount and the upper limit value, that is, on the line denoted by reference numeral 342.
  • the circuit unit 2 maintains the output of the enable signal until the predetermined second signal output maintenance time elapses after the push amount exceeds the upper limit value of the enable range during the output of the enable signal.
  • an auxiliary upper limit value in which the pushing amount is larger than the upper limit value may be provided. A connection similar to the line denoted by reference numeral 323 in FIG. 26 is provided in FIG. 34, and when the pushing amount exceeds the auxiliary upper limit value, the circuit unit 2 Stop output.
  • Only the upper limit falling delay circuit 312 may be provided without providing the lower limit falling delay circuit 311.
  • the reception unit 191 and the maintenance time changing unit 192 may be provided, and the first signal output maintenance time and the second signal output maintenance time may be changed.
  • FIG. 38 is an example in which the warning unit 4 is provided in the configuration of FIG. 33 according to FIG.
  • the warning unit 4 notifies the operator of a warning when the holding force approaches the lower limit value of the enable range.
  • the warning can suppress unnecessary operation stop.
  • the lower limit falling delay circuit 311 may be omitted.
  • the comparison unit 154 is preset with a lower limit warning value slightly larger than the lower limit value. A range larger than the lower limit value and smaller than the lower limit warning value is a “lower limit warning range”.
  • the output of the AND circuit 273 becomes “1” when the push amount enters the lower limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
  • FIG. 39 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG.
  • the enable signal when the lower limit falling delay circuit 311 does not exist is shown.
  • the lower limit warning range is denoted by reference symbol R1.
  • the lower limit warning signal output from the AND circuit 273 is “1” while the push-in amount is within the lower limit warning range R1, and the warning unit 4 notifies the operator of the warning. For example, when the holding by the operator gradually loosens, the operator is notified by the warning that the holding is becoming insufficient. As a result, the holding force is prevented from unintentionally falling below the lower limit value, and the operation efficiency is improved.
  • an upper limit warning range may be set near the upper limit value of the push amount, and a warning may be issued when the push amount gradually approaches the upper limit value. Only the upper limit warning range may be provided without providing the lower limit warning range.
  • a lower limit rising delay circuit 281 may be added to the configuration of FIG. 38 according to FIG.
  • the warning unit 4 notifies the operator of a warning only when the rising edge of the lower limit warning signal is delayed and the amount of push-in exceeds the lower limit warning range R1 exceeds a predetermined warning stop time.
  • FIG. 41 unnecessary warnings are suppressed when the operator removes his / her finger from the enable switch 1 or the like.
  • an upper limit rising delay circuit 282 may be added, or only the upper limit rising delay circuit 282 may be provided without providing the lower limit rising delay circuit 281.
  • the enable switch 1 and the operation unit 8 can be variously changed.
  • the operation unit 8 provided with the enable switch 1 is not limited to the teaching pendant, and can be used for various operation units such as an operation unit of a heavy machine such as a hoist, an operation unit of a vehicle, and an operation unit of an electric wheelchair.
  • various parts of the operator's body may be used, and face authentication may be used. It may be authenticated by what the operator wears, and is not limited to a card in which an IC chip is embedded, and may be recognized by reading a two-dimensional code or a face photograph.
  • the enable switch 1 may be an independent operation device.
  • a device that is within a predetermined range of the operation target or attached to the operation unit or the like to be operated may be linked with various operation units as a device that permits operation by the operation unit.
  • the holding detection unit 14 various devices can be adopted as long as the detection device has substantially no pushing amount. “Substantially no push-in amount” means that when the operation unit is held with a normal holding force, it does not feel push-in, and does not necessarily mean that there is no push-in amount in a strict sense. .
  • Various types of touch panels, pressure sensors, light reflection type object detection sensors, and the like can be used for the holding detection unit 14.
  • the holding force detection unit 15 can employ a detection unit or a mechanical switch that is substantially free from the pushing amount, but various other devices can also be used. For example, various touch panels, pressure sensors, switches in which the pressing force gradually increases according to the pressing amount, switches in which the pressing force changes in a complicated manner according to the pressing amount, and the like can be used.
  • the configuration of the circuit unit 2 may be variously modified as long as substantially the same function is realized.
  • a microcomputer may be used for the circuit unit 2.
  • the authentication unit 12, the holding detection unit 14, the holding force detection unit 15, the upper limit value setting unit 161, the lower limit value setting unit 162, the receiving unit 191, the maintenance time changing unit 192, etc. are partially or entirely in common with the circuit unit 2. This circuit may be used.
  • the various circuit configurations shown in the above embodiment are merely expressed separately according to main functions.
  • the authentication unit 12, the holding detection unit 14, and the holding force detection unit 15 may be provided at various places on the operation unit 8.
  • the authentication unit 12 may be provided at a position on the operation unit 8 different from the main body 11 in which the holding detection unit 14 and the holding force detection unit 15 are provided.
  • various methods may be employed for authentication, and the authentication unit 12 is arranged at an appropriate position according to the authentication method.
  • the authentication unit 12 can also be provided outside the operation unit 8.
  • the authentication result by the authentication circuit 122 is also output to the operation unit 8, and the operation authority of the operation target 90 by the operation unit 8 is changed.
  • the circuit unit 2 may be provided not in the main body 11 of the enable switch 1 but in the operation unit 8. Furthermore, a part of the circuit unit 2 may be provided outside the operation unit 8.
  • the signal falling and rising described in the above embodiment are merely examples.
  • the same function can be realized by replacing the falling and rising in the above description and changing the logic circuit accordingly. is there.
  • the enable switch 1 may be added with a component for changing the upper limit warning value and the lower limit warning value according to the authentication result.
  • a configuration for changing the warning stop time according to the authentication result may be added.
  • a deceleration signal for decelerating the operation of the operation target is output from the enable switch 1 or the operation unit 8. May be. Thereby, it is possible to prevent the enable signal from being canceled unintentionally in a situation where the safety of the operator is further ensured, and it is possible to suppress a decrease in operation efficiency.
  • the present invention can be used as an enable switch for an operation unit that is used for operations on a wide variety of operation objects such as industrial robots, hoists, and wheelchairs.

Abstract

According to the present invention, an enabling switch is provided on an operation unit and outputs an enabling signal that enables the operation unit to operate an operation target. The enabling switch includes a gripping-force detection part (15), a circuit part (2), and a warning part (4). The gripping-force detection part (15) detects whether the force with which an operator is gripping the operation unit is within a predetermined enabling range. The circuit part (2) outputs the enabling signal as long as the gripping-force detection part (15) detects that the gripping force is within the enabling range. The warning part (4) warns the operator when the gripping force has approached the lower limit of the enabling range.

Description

イネーブルスイッチおよび操作部Enable switch and operation section
　本発明は、操作部による操作対象の操作を許可するイネーブルスイッチ、および、イネーブルスイッチを含む操作部に関する。 The present invention relates to an enable switch that permits operation of an operation target by the operation unit, and an operation unit including the enable switch.
　特開２００２－４２６０６号公報には、イネーブルスイッチを備えた教示ペンダントが開示されている。ロボットへの教示は、長時間に亘って行われることが多い。その間、教示ペンダント等の操作部において、イネーブルスイッチをある程度の力で押さえ続ける必要があり、操作者の指や手が疲れる。そのため、例えば、イネーブルスイッチを押す力が徐々に緩んでしまい、意図せずにロボットの操作許可が取り消されてしまうという問題があった。意図しない操作許可の取り消しが生じると、ロボットへの教示作業の効率が低下してしまう。 JP 2002-42606 discloses a teaching pendant having an enable switch. Teaching to a robot is often performed over a long period of time. Meanwhile, it is necessary to keep pressing the enable switch with a certain amount of force in an operation unit such as a teaching pendant, and the operator's fingers and hands get tired. For this reason, for example, the force of pressing the enable switch gradually loosens, and there is a problem that the operation permission of the robot is canceled unintentionally. If the unintended cancellation of the operation permission occurs, the efficiency of the teaching operation to the robot is lowered.
　本発明は、操作部に設けられ、前記操作部による操作対象の操作を許可するイネーブルスイッチに向けられている。本発明によれば、操作効率の低下を抑制することができる。 The present invention is directed to an enable switch that is provided in an operation unit and permits operation of an operation target by the operation unit. According to the present invention, it is possible to suppress a decrease in operation efficiency.
　本発明の好ましい一の形態に係るイネーブルスイッチは、操作者による前記操作部の保持力または保持による押し込み量が、予め定められたイネーブル範囲内であるか否かを検出する保持力検出部と、前記保持力または前記押し込み量が前記イネーブル範囲内であることを前記保持力検出部が検出している間、前記操作部による前記操作対象の操作を許可するイネーブル信号を出力する回路部と、前記保持力または前記押し込み量が前記イネーブル範囲の下限値に近づいた際に前記操作者に警告を通知する警告部と、を備える。 An enable switch according to a preferred embodiment of the present invention includes a holding force detection unit that detects whether or not the holding force of the operation unit by the operator or the pushing amount by holding is within a predetermined enable range; A circuit unit that outputs an enable signal that permits operation of the operation object by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range; A warning unit for notifying the operator of a warning when a holding force or the pushing amount approaches a lower limit value of the enable range.
　好ましくは、前記イネーブル範囲において、前記下限値より大きく、かつ、予め定められた保持力または押し込み量である下限警告値よりも小さい範囲である下限警告範囲が定められている。前記保持力または前記押し込み量が前記下限警告範囲に入っている時間が予め定められた警告停止時間を超えた場合に、前記警告部は前記操作者に警告を通知する。 Preferably, in the enable range, a lower limit warning range that is larger than the lower limit value and smaller than a lower limit warning value that is a predetermined holding force or pushing amount is defined. When the time during which the holding force or the push-in amount is within the lower limit warning range exceeds a predetermined warning stop time, the warning unit notifies the operator of a warning.
　本発明の好ましい他の一の形態に係るイネーブルスイッチは、操作者による前記操作部の保持力または保持による押し込み量が、予め定められたイネーブル範囲内であるか否かを検出する保持力検出部と、前記保持力または前記押し込み量が前記イネーブル範囲内であることを前記保持力検出部が検出している間、前記操作部による前記操作対象の操作を許可するイネーブル信号を出力する回路部と、前記保持力または前記押し込み量が前記イネーブル範囲の上限値に近づいた際に前記操作者に警告を通知する警告部と、を備える。 An enable switch according to another preferred embodiment of the present invention is a holding force detection unit that detects whether or not the holding force of the operation unit by the operator or the pushing amount by holding is within a predetermined enable range. And a circuit unit that outputs an enable signal that permits operation of the operation target by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range; A warning unit for notifying the operator of a warning when the holding force or the push-in amount approaches an upper limit value of the enable range.
　好ましくは、前記イネーブル範囲において、前記上限値より小さく、かつ、予め定められた保持力または押し込み量である上限警告値よりも大きい範囲である上限警告範囲が定められている。前記保持力または前記押し込み量が前記上限警告範囲に入っている時間が予め定められた警告停止時間を超えた場合に、前記警告部は前記操作者に警告を通知する。 Preferably, in the enable range, an upper limit warning range that is smaller than the upper limit value and larger than an upper limit warning value that is a predetermined holding force or pushing amount is defined. When the time during which the holding force or the push-in amount is within the upper limit warning range exceeds a predetermined warning stop time, the warning unit notifies the operator of a warning.
　上記形態は、前記保持力検出部において、前記操作者による前記操作部の保持による押し込み量が実質的に無い場合に特に適している。 The above embodiment is particularly suitable when the holding force detection unit is substantially free from the amount of pushing by the operator holding the operation unit.
　好ましくは、前記警告部は、前記操作部の振動により前記操作者に警告を通知する。 Preferably, the warning unit notifies the operator of a warning by vibration of the operation unit.
　本発明は、上記イネーブルスイッチを備える操作部にも向けられている。 The present invention is also directed to an operation unit including the enable switch.
　上述の目的および他の目的、特徴、態様および利点は、添付した図面を参照して以下に行うこの発明の詳細な説明により明らかにされる。 The above object and other objects, features, aspects, and advantages will become apparent from the following detailed description of the present invention with reference to the accompanying drawings.
操作部を示す図である。It is a figure which shows an operation part. イネーブルスイッチの斜視図である。It is a perspective view of an enable switch. イネーブルスイッチの側面図である。It is a side view of an enable switch. 回路部およびその周辺構成を示す図である。It is a figure which shows a circuit part and its periphery structure. イネーブルスイッチの動作例を示す図である。It is a figure which shows the operation example of an enable switch. イネーブルスイッチの動作例を示す図である。It is a figure which shows the operation example of an enable switch. 回路部およびその周辺構成の他の例を示す図である。It is a figure which shows the other example of a circuit part and its periphery structure. 保持力検出部の他の例を示す図である。It is a figure which shows the other example of a holding force detection part. 上限値設定部と共に下限値設定部が追加された例を示す図である。It is a figure which shows the example by which the lower limit setting part was added with the upper limit setting part. イネーブルスイッチの他の例を示す図である。It is a figure which shows the other example of an enable switch. 認証部の他の配置例を示す背面図である。It is a rear view which shows the other example of arrangement | positioning of an authentication part. 両手持ちのタイプの操作部を示す背面図である。It is a rear view which shows the operation part of a two-hand holding type. 回路部およびその周辺構成のさらに他の例を示す図である。It is a figure which shows the further another example of a circuit part and its periphery structure. 図１３に示す構成を含むイネーブルスイッチの動作例を示す図である。It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. 図１３に示す構成を含むイネーブルスイッチの動作例を示す図である。It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. 図１３に示す構成を含むイネーブルスイッチの動作例を示す図である。It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. イネーブルスイッチのさらに他の例を示す平面図である。It is a top view which shows the other example of an enable switch. 回路部およびその周辺構成のさらに他の例を示す図である。It is a figure which shows the further another example of a circuit part and its periphery structure. 回路部およびその周辺構成のさらに他の例を示す図である。It is a figure which shows the further another example of a circuit part and its periphery structure. 図１９に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19. 図１９に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19. 図１９に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19. 回路部およびその周辺構成のさらに他の例を示す図である。It is a figure which shows the further another example of a circuit part and its periphery structure. 図２３に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 24 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 23. 図２３に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 24 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 23. 回路部およびその周辺構成のさらに他の例を示す図である。It is a figure which shows the further another example of a circuit part and its periphery structure. 図２６に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 27 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 26. 警告部を追加した例を示す図である。It is a figure which shows the example which added the warning part. 図２８に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 29 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 28. 図２８に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 29 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 28. 警告部を追加した他の例を示す図である。It is a figure which shows the other example which added the warning part. 図３１に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 32 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 31. 操作部のさらに他の例を示す図である。It is a figure which shows the further another example of an operation part. 回路部およびその周辺構成を示す図である。It is a figure which shows a circuit part and its periphery structure. 図３４に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34. 図３４に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34. 図３４に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34. 警告部を追加した例を示す図である。It is a figure which shows the example which added the warning part. 図３８に示す構成を含むイネーブルスイッチの動作例を示す図である。It is a figure which shows the operation example of an enable switch including the structure shown in FIG. 警告部を追加した他の例を示す図である。It is a figure which shows the other example which added the warning part. 図４０に示す構成を含むイネーブルスイッチの動作例を示す図である。FIG. 41 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 40.
　図１は、操作部８を示す図である。操作者は、操作部８を用いてロボット、機械、設備等を操作する。操作部８は、例えば、産業用ロボットに動作を教示する際に使用される教示ペンダントである。図１では、操作者の左の手９を二点鎖線にて示している。操作部８は、本体部８１と、表示部８２と、複数の操作ボタン８３と、イネーブルスイッチ１とを含む。操作部８が操作者の左の手９に把持された状態で、右の手で操作ボタン８３を介して入力が行われる。なお、入力手段はボタンには限定されず、ダイヤル、スライダ、スイッチ等が利用されてよい。 FIG. 1 is a diagram showing the operation unit 8. An operator operates a robot, a machine, equipment, and the like using the operation unit 8. The operation unit 8 is, for example, a teaching pendant used when teaching an operation to an industrial robot. In FIG. 1, the left hand 9 of the operator is indicated by a two-dot chain line. The operation unit 8 includes a main body unit 81, a display unit 82, a plurality of operation buttons 83, and the enable switch 1. Input is performed via the operation button 83 with the right hand while the operation unit 8 is held by the left hand 9 of the operator. The input means is not limited to buttons, and dials, sliders, switches, etc. may be used.
　表示部８２は、入力された情報や操作対象の状態を示す情報を表示する。イネーブルスイッチ１は、操作者が操作部８を把持した状態で指が触れる位置に存在する。図１の場合、操作者の左の手９の人差し指９１、中指、薬指および小指がイネーブルスイッチ１に触れる。 The display unit 82 displays input information and information indicating a state of an operation target. The enable switch 1 exists at a position where the finger touches the operator while holding the operation unit 8. In the case of FIG. 1, the index finger 91, middle finger, ring finger and little finger of the left hand 9 of the operator touch the enable switch 1.
　図２は、イネーブルスイッチ１の斜視図である。イネーブルスイッチ１は、ロボットアーム等の操作対象の近くで、動作の教示作業を行う際に、作業者の安全を確保するための安全装置である。イネーブルスイッチ１は、いわゆる、３ポジションイネーブルスイッチである。図３は、イネーブルスイッチ１の側面図である。イネーブルスイッチ１により、操作部８による操作対象の操作が許可される。すなわち、操作対象を動作させる信号が操作対象に向かって出力される。 FIG. 2 is a perspective view of the enable switch 1. The enable switch 1 is a safety device for ensuring the safety of an operator when performing an operation teaching work near an operation target such as a robot arm. The enable switch 1 is a so-called three-position enable switch. FIG. 3 is a side view of the enable switch 1. The operation of the operation target by the operation unit 8 is permitted by the enable switch 1. That is, a signal for operating the operation target is output toward the operation target.
　イネーブルスイッチ１は、本体１１と、認証部１２と、保持検出部１４と、保持力検出部１５と、後述の回路部とを備える。本実施の形態では、認証部１２は、操作者の指紋を検出して操作者を認証する。認証には様々な手法が採用されてよく、一般的に表現すれば、認証部１２は、操作者の身体の一部または操作者が身につけている物品に基づいて操作者を認証する。 The enable switch 1 includes a main body 11, an authentication unit 12, a holding detection unit 14, a holding force detection unit 15, and a circuit unit described later. In the present embodiment, the authentication unit 12 authenticates the operator by detecting the operator's fingerprint. Various methods may be employed for authentication, and in general, the authentication unit 12 authenticates the operator based on a part of the operator's body or an article worn by the operator.
　好ましくは、認証部１２は、操作者の指または手の特徴を認識する。認証対象となる特徴には、指紋のみならず、皺、静脈、その他様々な特徴が利用されてよい。認証部１２の構成は、利用する特徴に応じて適宜変更される。認証部１２が、操作者の指または手の特徴を認識する場合、認証部１２は、図１に示すように操作部８の側面に設けられることが好ましい。後述するように、認証部１２は、操作部８の背面に設けられることも好ましい。これにより、操作者が保持しやすい状態で操作部８を保持した際に認証を容易に行うことができる。 Preferably, the authentication unit 12 recognizes the characteristics of the operator's finger or hand. As features to be authenticated, not only fingerprints but also wrinkles, veins, and other various features may be used. The configuration of the authentication unit 12 is appropriately changed according to the characteristics to be used. When the authentication unit 12 recognizes the characteristics of the operator's finger or hand, the authentication unit 12 is preferably provided on the side surface of the operation unit 8 as shown in FIG. As will be described later, the authentication unit 12 is also preferably provided on the back surface of the operation unit 8. Accordingly, authentication can be easily performed when the operation unit 8 is held in a state that the operator can easily hold.
　保持検出部１４は、本実施の形態では、一対の電極である。保持検出部１４としては様々なものが採用可能であるが、好ましくは、操作者による操作部８の保持による押し込み量が実質的に無く、操作者による操作部８の保持を検出するデバイスが採用される。 The holding detection unit 14 is a pair of electrodes in the present embodiment. Although various devices can be used as the holding detection unit 14, a device that detects substantially the amount of pushing by holding the operation unit 8 by the operator and detects the holding of the operation unit 8 by the operator is preferably used. Is done.
　本体１１の下部に配置される保持力検出部１５は、操作者による操作部の保持力が予め定められた上限値より大きいか否かを検出する。 The holding force detection part 15 arrange | positioned at the lower part of the main body 11 detects whether the holding force of the operation part by an operator is larger than a predetermined upper limit.
　回路部は、認証部１２による認証後、保持検出部１４が操作者による保持を検出している間、操作対象の操作を許可する信号であるイネーブル信号を出力する。回路部の詳細については後述する。保持力が上限値を超えた場合、すなわち保持力検出部１５が操作者による操作部の保持力が予め定められた上限値より大きいことを検出すると、回路部は、イネーブル信号を取り消す。イネーブルスイッチ１には、保持力の上限値を設定する上限値設定部が設けられてもよい。上限値設定部は、認証部１２による認証結果に従って、上記上限値を決定する。回路部は、認証部１２による認証を行ったり、認証結果に従って決定された上限値を記憶するために、記憶部を含む。記憶部に操作者毎の情報を記憶させておくことで、操作者毎の情報を回路部や認証部１２が利用することができる。 After the authentication by the authentication unit 12, the circuit unit outputs an enable signal that is a signal for permitting the operation of the operation target while the holding detection unit 14 detects holding by the operator. Details of the circuit section will be described later. When the holding force exceeds the upper limit value, that is, when the holding force detection unit 15 detects that the holding force of the operation unit by the operator is larger than a predetermined upper limit value, the circuit unit cancels the enable signal. The enable switch 1 may be provided with an upper limit setting unit that sets an upper limit value of the holding force. The upper limit setting unit determines the upper limit value according to the authentication result by the authentication unit 12. The circuit unit includes a storage unit for performing authentication by the authentication unit 12 and storing an upper limit value determined according to the authentication result. By storing information for each operator in the storage unit, the information for each operator can be used by the circuit unit and the authentication unit 12.
　図２および図３の例では、認証部１２は本体１１の上面に配置される。認証部１２は、撮像部にて操作者の指紋を認証する。図１のように保持される場合、認証部１２は操作者の左手の人差し指９１の指紋を認証する。認証部１２の脇には、指が伸びる方向に向かって並ぶ２つの電極１３が配置される。電極１３は認証部１２における操作者の指の存在を検出する。認証部１２は、静脈認証や虹彩認証等の操作者の生体情報を取得する他の生体認証部でもよい。認証部１２には物体指紋認証技術が採用されてもよい。物体指紋認証技術は、物体の表面に現れる個々の特徴を認識することで、同じ形状の物体であっても個体差を識別することができる。これにより、例えば、操作者が手袋をしていても認証可能となる。操作者が身につけている識別カード等により操作者が認証、すなわち、特定されてもよい。 2 and 3, the authentication unit 12 is disposed on the upper surface of the main body 11. The authentication unit 12 authenticates the operator's fingerprint at the imaging unit. When held as shown in FIG. 1, the authentication unit 12 authenticates the fingerprint of the index finger 91 of the left hand of the operator. On the side of the authentication unit 12, two electrodes 13 arranged in the direction in which the finger extends are arranged. The electrode 13 detects the presence of the operator's finger in the authentication unit 12. The authentication unit 12 may be another biometric authentication unit that acquires biometric information of an operator such as vein authentication or iris authentication. The authentication unit 12 may employ object fingerprint authentication technology. The object fingerprint authentication technology can identify individual differences even for objects having the same shape by recognizing individual features appearing on the surface of the object. Thereby, for example, even if the operator is wearing gloves, authentication is possible. The operator may be authenticated, that is, specified by an identification card or the like worn by the operator.
　イネーブルスイッチ１が認証部１２を備えていることにより、操作を許されていない者が操作することを防止したり、操作者の技能に応じて操作可能な権限を変更できるなど、イネーブルスイッチ１の特性を変更することができる。操作者毎のイネーブルスイッチ１の特性は、記憶部に記憶される。 Since the enable switch 1 includes the authentication unit 12, it is possible to prevent operation by a person who is not permitted to operate, or to change the authority that can be operated according to the skill of the operator. The characteristics can be changed. The characteristics of the enable switch 1 for each operator are stored in the storage unit.
　保持検出部１４は本体１１の上面に配置される。保持検出部１４は例えば電極である。保持検出部１４は押し込み量が実質的に無いスイッチであればどのようなものが採用されてもよい。例えば、静電容量型のスイッチが用いられてもよく、静電容量型のタッチパネルであってもよい。保持検出部１４は指や手の存在、すなわち、指や手の接触を検出する。図１の例の場合、保持検出部１４は、操作者の左手の人差し指、中指、薬指または小指の接触を検出する。 The holding detection unit 14 is disposed on the upper surface of the main body 11. The holding detection unit 14 is an electrode, for example. As long as the holding detection unit 14 is a switch having substantially no pushing amount, any one may be adopted. For example, a capacitive switch may be used, and a capacitive touch panel may be used. The holding detection unit 14 detects the presence of a finger or hand, that is, the contact of the finger or hand. In the case of the example in FIG. 1, the holding detection unit 14 detects contact of the index finger, middle finger, ring finger, or little finger of the left hand of the operator.
　保持力検出部１５は、指や手による押圧状態を検出する。保持力検出部１５は、好ましくは、機械的な押し込み量のあるスイッチである。保持力と上限値とが比較可能であれば、保持力検出部１５は、押し込み量が実質的に無いスイッチでもよい。例えば、保持力検出部１５に圧電素子が利用されてもよい。保持力検出部１５は、２次元の検出センサにより指や手の接触面積を検出するデバイスであってもよい。 The holding force detection unit 15 detects a pressing state with a finger or a hand. The holding force detection unit 15 is preferably a switch having a mechanical push-in amount. If the holding force and the upper limit value can be compared, the holding force detection unit 15 may be a switch that does not substantially push in. For example, a piezoelectric element may be used for the holding force detection unit 15. The holding force detection unit 15 may be a device that detects a contact area of a finger or a hand with a two-dimensional detection sensor.
　機械的スイッチにて操作される従来の３ポジションイネーブルスイッチでは、手が離れた状態、または、手や指が軽く触れた状態ででポジション１となり、操作は許可されない。スイッチを軽く押すとポジション２となり、操作部による操作が許可される。操作者が危険を感じたり、操作対象の誤動作により驚いたり、恐怖を感じる等してスイッチを強く押した場合はポジション３となり、操作は許可されない。また、ポジション３からポジション１へ復帰する際には、機械的にポジション２を経由するが、操作は許可されない。 In the conventional 3-position enable switch operated by a mechanical switch, the position becomes 1 when the hand is released or the hand or finger is lightly touched, and the operation is not permitted. When the switch is lightly pressed, the position becomes 2, and the operation by the operation unit is permitted. When the operator feels danger, is surprised by the malfunction of the operation target, or feels fear, the position 3 is entered, and the operation is not permitted. Further, when returning from position 3 to position 1, it mechanically passes through position 2, but the operation is not permitted.
　これに対し、図２のイネーブルスイッチ１では、指が保持検出部１４に触れていない状態がポジション１となる。イネーブルスイッチ１では、認証部１２による認証により操作者が特定される。これにより、操作部８は作業権限を判断する。認証とは独立して、または、認証動作の開始と同時に、保持検出部１４は指の存在の検出を開始する。認証が成功している間に保持検出部１４により指が検出されると、または、指が検出されていると、ポジション１から２になったと判断し、操作対象の操作を許可する。すなわち、イネーブルスイッチ１はイネーブル信号を出力し、操作部８から操作信号が出力可能となる。 On the other hand, in the enable switch 1 of FIG. 2, the state where the finger is not touching the holding detection unit 14 is the position 1. In the enable switch 1, an operator is specified by authentication by the authentication unit 12. Thereby, the operation unit 8 determines work authority. Independently of the authentication or simultaneously with the start of the authentication operation, the holding detection unit 14 starts detecting the presence of the finger. When the finger is detected by the holding detection unit 14 while the authentication is successful, or when the finger is detected, it is determined that the position has changed from position 1 to 2, and the operation of the operation target is permitted. That is, the enable switch 1 outputs an enable signal, and an operation signal can be output from the operation unit 8.
　イネーブルスイッチ１は、保持力検出部１５が上限値を超える押し込み力、すなわち、上限値を超える保持力を検出しない限り、ポジション２と判断する。保持力検出部１５により上限値を超える保持力が検出されると、イネーブルスイッチ１はポジション３と判断し、動作許可が取り消される。すなわち、回路部２は、イネーブル信号の出力を停止する。イネーブル信号が出力されない限り、操作者が操作部８に入力を行っても操作部８から操作対象には操作信号が出力されない。イネーブル信号が出力されなくなった後は、操作者が指を離すまでポジション３が維持され、操作者が指を離すとイネーブルスイッチ１はポジション１と判断し、リセット状態となる。その後、再度、イネーブルスイッチ１は生体認証を要求する。認証部１２による認証によって操作者が特定されない限り、イネーブルスイッチ１はイネーブル信号を出力しない。 The enable switch 1 determines the position 2 unless the holding force detection unit 15 detects a pushing force exceeding the upper limit value, that is, a holding force exceeding the upper limit value. When the holding force detection unit 15 detects a holding force exceeding the upper limit value, the enable switch 1 determines that the position is 3, and the operation permission is canceled. That is, the circuit unit 2 stops outputting the enable signal. As long as the enable signal is not output, no operation signal is output from the operation unit 8 to the operation target even if the operator inputs to the operation unit 8. After the enable signal is not output, the position 3 is maintained until the operator releases the finger. When the operator releases the finger, the enable switch 1 is determined to be the position 1 and is in a reset state. Thereafter, the enable switch 1 requests biometric authentication again. The enable switch 1 does not output an enable signal unless an operator is specified by authentication by the authentication unit 12.
　許可時に認証の完了と指の存在の検出とが少しでも同時に行われていることは必要であるが、許可後、すなわち、一旦、イネーブル信号が出力されると、保持検出部１４で指の存在が検出されていればポジション２と判断され、イネーブル信号の出力が継続される。一旦、イネーブル信号が出力されると、認証部１２または保持検出部１４のいずれかで指の存在が検出されていればポジション２と判断されてもよい。 Although it is necessary that the completion of authentication and the detection of the presence of a finger be performed at the same time at the time of permission, the holding detection unit 14 detects the presence of a finger after the permission, that is, once the enable signal is output. Is detected, position 2 is determined and the output of the enable signal is continued. Once the enable signal is output, the position 2 may be determined if the presence of the finger is detected by either the authentication unit 12 or the holding detection unit 14.
　図４は回路部２およびその周辺構成を示す図である。以下の説明における２値信号に関して、「信号の出力」は信号が「１」または正の値を示すことをいい、「信号の停止」は信号が「０」を示すことをいうものとする。回路部２は、ＡＮＤ回路２１と、ＯＲ回路２２とを含む。認証部１２は、撮像部１２１と、認証アルゴリズム１２３とを含む論理回路である認証回路１２２とを含む。撮像部１２１にて取得された指紋等の画像は、認証回路１２２に入力され、操作者が特定される。 FIG. 4 is a diagram showing the circuit unit 2 and its peripheral configuration. Regarding the binary signal in the following description, “signal output” means that the signal indicates “1” or a positive value, and “stop of signal” means that the signal indicates “0”. The circuit unit 2 includes an AND circuit 21 and an OR circuit 22. The authentication unit 12 includes an imaging unit 121 and an authentication circuit 122 that is a logic circuit including an authentication algorithm 123. An image such as a fingerprint acquired by the imaging unit 121 is input to the authentication circuit 122, and an operator is specified.
　一方、一対の電極である保持検出部１４にて保持が検出されると、認証信号および保持検出信号はＡＮＤ回路２１に入力され、これらの信号のＡＮＤ信号がイネーブル信号として出力される。イネーブル信号および認証信号はＯＲ回路２２に入力され、これらの信号のＯＲ信号はＡＮＤ回路２１に戻される。これにより、一旦認証が完了すると、保持検出部１４が指を検出している間、イネーブル信号が出力される。認証と保持の双方の検出でイネーブル信号が出力されるため、許可の二重化が実現される。その結果、不用意な接触等でイネーブル信号が出力されることが防止される。 On the other hand, when holding is detected by the holding detection unit 14 which is a pair of electrodes, the authentication signal and the holding detection signal are input to the AND circuit 21, and an AND signal of these signals is output as an enable signal. The enable signal and the authentication signal are input to the OR circuit 22, and the OR signal of these signals is returned to the AND circuit 21. Thus, once authentication is completed, an enable signal is output while the holding detection unit 14 is detecting a finger. Since an enable signal is output upon detection of both authentication and retention, duplication of permission is realized. As a result, an enable signal is prevented from being output due to inadvertent contact or the like.
　保持力検出部１５は、ＡＮＤ回路２１からのイネーブル信号の出力経路途上に位置する。保持力検出部１５により、保持力が強くなった場合にイネーブル信号が遮断される。すなわち、操作対象の操作の許可が取り消される。保持力検出部１５は、主に緊急時に操作されるため、押し込み量により操作感があるスイッチであることが好ましい。また、押し込み量があることにより、操作を検出する信頼性を高くすることができる。保持力検出部１５は、少なくとも保持力が上限値を超えた際に押し込まれるスイッチであることが好ましい。 The holding force detector 15 is located on the output path of the enable signal from the AND circuit 21. The holding force detection unit 15 blocks the enable signal when the holding force becomes strong. That is, permission for the operation to be operated is cancelled. Since the holding force detection unit 15 is mainly operated in an emergency, it is preferable that the holding force detection unit 15 is a switch having an operational feeling depending on the amount of pressing. In addition, the presence of the push-in amount can increase the reliability of detecting the operation. The holding force detector 15 is preferably a switch that is pushed at least when the holding force exceeds the upper limit value.
　図５および図６は、認証部１２からの出力を「認証信号」、保持検出部１４からの出力を「保持信号」、保持力が上限値より大きいか否かの保持力検出部１５による検出結果を「保持力上限信号」と表現した場合のこれらの信号とイネーブル信号との関係を示す図である。横軸は右に向かって時間の経過を示す。図５では、保持力上限信号は常に「１」であり、保持力が上限値を超えた場合に、保持力上限信号は立下る。 5 and 6, the output from the authentication unit 12 is “authentication signal”, the output from the holding detection unit 14 is “holding signal”, and the holding force detection unit 15 detects whether the holding force is larger than the upper limit value. It is a figure which shows the relationship between these signals at the time of expressing a result as "holding force upper limit signal", and an enable signal. The horizontal axis shows the passage of time toward the right. In FIG. 5, the holding force upper limit signal is always “1”, and the holding force upper limit signal falls when the holding force exceeds the upper limit value.
　図５に示すように、保持検出部１４が保持を検出して保持信号を出力している間に認証部１２が認証を行って認証信号を出力すると、イネーブル信号が出力される。すなわち、イネーブル信号は「１」になる。イネーブル信号の出力は認証が終了した後も継続する。この状態で保持信号が停止すると、イネーブル信号の出力も停止する。一方、図６に示すように、認証後、保持信号およびイネーブル信号の出力が継続している状態で、保持力検出部１５の状態を示す保持力上限信号が立下ると、イネーブル信号の出力は停止する。すなわち、イネーブル信号は「０」になる。 As shown in FIG. 5, when the authentication unit 12 performs authentication and outputs an authentication signal while the holding detection unit 14 detects holding and outputs a holding signal, an enable signal is output. That is, the enable signal becomes “1”. The output of the enable signal continues even after the authentication is completed. When the holding signal stops in this state, the output of the enable signal also stops. On the other hand, as shown in FIG. 6, when the holding force upper limit signal indicating the state of the holding force detector 15 falls while the output of the holding signal and the enable signal continues after the authentication, the output of the enable signal is Stop. That is, the enable signal becomes “0”.
　図７は回路部２およびその周辺構成の他の例を示す図である。回路部２は、ＡＮＤ回路２１と、ＯＲ回路２２と、ＡＮＤ回路２３，２４と、ＯＲ回路２５とを含む。図７では、図４では省略した電極１３も示している。一対の電極１３からの信号はＡＮＤ回路２３に入力される。ＡＮＤ回路２３の出力は認証部１２の認証開始信号として利用されると共に、ＯＲ回路２５に入力される。一方、保持検出部１４の２つの電極からの信号はＡＮＤ回路２４に入力され、ＡＮＤ回路２４の出力はＯＲ回路２５に入力される。ＯＲ回路２５の出力は、ＡＮＤ回路２１に入力される。 FIG. 7 is a diagram showing another example of the circuit unit 2 and its peripheral configuration. The circuit unit 2 includes an AND circuit 21, an OR circuit 22, AND circuits 23 and 24, and an OR circuit 25. In FIG. 7, the electrode 13 omitted in FIG. 4 is also shown. Signals from the pair of electrodes 13 are input to the AND circuit 23. The output of the AND circuit 23 is used as an authentication start signal of the authentication unit 12 and is input to the OR circuit 25. On the other hand, signals from the two electrodes of the holding detector 14 are input to the AND circuit 24, and the output of the AND circuit 24 is input to the OR circuit 25. The output of the OR circuit 25 is input to the AND circuit 21.
　認証部１２で生体認証を用いるイネーブルスイッチ１において、認証部１２の撮像部１２１にて取得された画像は、認証回路１２２に入力され、操作者が特定される。一方、保持検出部１４にて保持が検出されると、認証信号と保持信号とのＡＮＤ信号がＡＮＤ回路２１からイネーブル信号として出力される。図４の場合と同様に、イネーブル信号と認証信号とのＯＲ信号はＡＮＤ回路に戻され、一旦認証が完了すると、ＯＲ回路２２からＡＮＤ回路２１への入力は継続される。 In the enable switch 1 that uses biometric authentication in the authentication unit 12, the image acquired by the imaging unit 121 of the authentication unit 12 is input to the authentication circuit 122, and the operator is specified. On the other hand, when holding is detected by the holding detector 14, an AND signal of the authentication signal and the holding signal is output from the AND circuit 21 as an enable signal. As in the case of FIG. 4, the OR signal of the enable signal and the authentication signal is returned to the AND circuit, and once the authentication is completed, the input from the OR circuit 22 to the AND circuit 21 is continued.
　一方、電極１３からの信号は、ＡＮＤ回路２３を介してＯＲ回路２５に入力されることにより２通りの許可が実現される。すなわち、保持検出部１４または電極１３が指の存在を検出している間、イネーブル信号の出力は継続する。その結果、操作者のいずれかの指がイネーブルスイッチ１を保持していることを検出している限りイネーブル信号が出力される。人差し指と親指とで操作部８を保持し他の指を全て操作部８から離してもイネーブル信号の出力は継続し、意図せずにイネーブル信号が取り消されることを抑制することができる。 On the other hand, when the signal from the electrode 13 is input to the OR circuit 25 via the AND circuit 23, two kinds of permission are realized. That is, while the holding detection unit 14 or the electrode 13 detects the presence of a finger, the output of the enable signal continues. As a result, the enable signal is output as long as it is detected that any finger of the operator holds the enable switch 1. Even if the operation unit 8 is held by the index finger and the thumb and all other fingers are separated from the operation unit 8, the output of the enable signal continues, and the unintentional cancellation of the enable signal can be suppressed.
　図８は保持力検出部１５の他の例を示す図である。図８では、保持力検出部１５にて定められている保持力の上限が、操作者毎に変更可能である。回路部２の周辺構成として、上限値設定部１６１が設けられる。上限値設定部１６１は、各操作者に適した上限値を記憶する記憶部を有する。保持力検出部１５は比較回路１５２を有し、比較回路１５２の結果に従ってスイッチ１５１が操作される。比較回路１５２には上限値を記憶する記憶部が設けられる。上限値設定部１６１は、認証部１２による認証結果に対応する操作者の上限値を決定し、当該上限値を比較回路１５２の記憶部に設定する。例えば、一般的な上限値では誤って上限値より大きい力で保持してしまうことが多い操作者には、高めの上限値が設定される。逆に、保持力が弱く、一般的な上限値では安全性に不安がある操作者には、低めの上限値が設定される。これにより、操作者毎にイネーブルスイッチ１の特性を設定することができる。 FIG. 8 is a diagram illustrating another example of the holding force detection unit 15. In FIG. 8, the upper limit of the holding force determined by the holding force detector 15 can be changed for each operator. As a peripheral configuration of the circuit unit 2, an upper limit setting unit 161 is provided. The upper limit setting unit 161 includes a storage unit that stores an upper limit value suitable for each operator. The holding force detection unit 15 includes a comparison circuit 152, and the switch 151 is operated according to the result of the comparison circuit 152. The comparison circuit 152 is provided with a storage unit that stores the upper limit value. The upper limit setting unit 161 determines the upper limit value of the operator corresponding to the authentication result by the authentication unit 12, and sets the upper limit value in the storage unit of the comparison circuit 152. For example, a higher upper limit value is set for an operator who often mistakes a general upper limit value with a force larger than the upper limit value. On the contrary, a lower upper limit value is set for an operator who has a weak holding force and is uneasy about safety at a general upper limit value. Thereby, the characteristics of the enable switch 1 can be set for each operator.
　上限値が個別に設定される点を除き、回路部２の動作は図４の場合と同じである。認証後、指の存在が検出され、かつ、設定された上限値より保持力が小さい間、イネーブル信号が出力される。保持力がなくなるとポジション１と判断され、保持力が上限値を超えるとポジション３と判断されて許可が取り消される。上限値設定部１６１の記憶部に操作者毎の上限値を記憶しておくことで、認証部１２で操作者が特定されると自動的に保持力の上限値が設定されるため、操作者が操作を開始する度に操作者が上限値を決定する必要はない。 The operation of the circuit unit 2 is the same as in FIG. 4 except that the upper limit value is set individually. After authentication, the presence of the finger is detected, and an enable signal is output while the holding force is smaller than the set upper limit value. When the holding force is lost, it is determined as position 1, and when the holding force exceeds the upper limit value, it is determined as position 3 and the permission is revoked. By storing the upper limit value for each operator in the storage unit of the upper limit value setting unit 161, the upper limit value of the holding force is automatically set when the operator is specified by the authentication unit 12. It is not necessary for the operator to determine the upper limit every time the operation starts.
　なお、図４のように上限値が固定の場合、スイッチの機械的特性により上限値は定められる。図４では、その点を考慮して保持力検出部１５をスイッチの記号のみにて示したが、図４においても図８と同様に、比較回路による保持力と上限値との電気的な比較により、スイッチの操作が行われてよい。 If the upper limit is fixed as shown in FIG. 4, the upper limit is determined by the mechanical characteristics of the switch. In FIG. 4, the holding force detection unit 15 is shown only by a switch symbol in consideration of this point. However, in FIG. 4, as in FIG. 8, an electrical comparison between the holding force by the comparison circuit and the upper limit value is performed. Thus, the switch may be operated.
　図９に示すように、上限値設定部１６１と共に下限値設定部１６２が設けられてもよい。上限値設定１６１を設けずに下限値設定部１６２のみが設けられてもよい。下限値設定部１６２の記憶部には、操作者毎の保持力の下限値が記憶される。認証部１２による認証が行われると、自動的に、保持力の上限値および下限値が決定され、比較回路１５２に上限値と下限値とが設定される。この場合、保持力が上限値と下限値との間にある間、イネーブル信号が出力される。以下、上限値と下限値との間の範囲を「イネーブル範囲」と呼ぶ。具体的には、認証後、イネーブル信号が出力されている間に、保持力が下限値より小さくなるとポジション１と判断され、保持力が上限値より大きくなるとポジション３と判断され、許可が取り消される。 As shown in FIG. 9, a lower limit setting unit 162 may be provided together with the upper limit setting unit 161. Only the lower limit setting unit 162 may be provided without providing the upper limit setting 161. The storage unit of the lower limit setting unit 162 stores the lower limit value of the holding force for each operator. When authentication by the authentication unit 12 is performed, the upper limit value and the lower limit value of the holding force are automatically determined, and the upper limit value and the lower limit value are set in the comparison circuit 152. In this case, the enable signal is output while the holding force is between the upper limit value and the lower limit value. Hereinafter, a range between the upper limit value and the lower limit value is referred to as an “enable range”. Specifically, after the authentication, while the enable signal is output, if the holding force becomes smaller than the lower limit value, it is determined as position 1, and if the holding force becomes larger than the upper limit value, it is determined as position 3 and the permission is canceled. .
　操作者毎に上限値または下限値が設定される構成は、保持力検出部１５が機械式ではなく、押し込み量が実質的に無い場合に特に適している。機械式でない保持力検出部１５は、例えば、イネーブルスイッチ１にて保持検出部１４としてタッチパネルが設けられ、タッチパネルと指との接触面積にて保持力を検出する場合に適している。この場合、保持検出部１４は保持力検出部１５を兼ねる。 The configuration in which the upper limit value or the lower limit value is set for each operator is particularly suitable when the holding force detection unit 15 is not mechanical and has substantially no pushing amount. The non-mechanical holding force detection unit 15 is suitable, for example, when a touch panel is provided as the holding detection unit 14 in the enable switch 1 and the holding force is detected by the contact area between the touch panel and the finger. In this case, the holding detection unit 14 also serves as the holding force detection unit 15.
　事前に上限値または下限値を決定する際には、例えば、認証後に操作者が操作部を通常通り保持し、その後、強く保持したり弱く保持したりすることにより、保持力検出部１５が保持力を検出する。上限値設定部１６１または下限値設定部１６２は、検出結果に基づいて上限値または下限値を決定する。上限値または下限値は、認証直後の保持力を基準に設定されてもよい。 When the upper limit value or the lower limit value is determined in advance, for example, the operator holds the operation unit as usual after authentication, and then holds the holding unit strongly or weakly. Detect force. The upper limit value setting unit 161 or the lower limit value setting unit 162 determines the upper limit value or the lower limit value based on the detection result. The upper limit value or the lower limit value may be set based on the holding force immediately after the authentication.
　認証部１２にて静脈認証を利用することも可能である。この場合、血管の形状変化により保持力が求められてもよい。スキャナによる画像認識であれば、手や指の接触面の形状変化から保持力が求められてもよい。比較的大きな撮像部を設け、撮像部にて取得される画像により、認証と、保持検出と、保持力検出とが行われてもよい。この場合、撮像部とその周辺の回路とにより、認証部１２、保持検出部１４および保持力検出部１５の機能が実現される。認証部１２と保持検出部１４とが共通のデバイスにより実現されてもよく、認証部１２と保持力検出部１５とが共通のデバイスにより実現されてもよく、保持検出部１４と保持力検出部１５とが共通のデバイスにより実現されてもよい。 It is also possible to use vein authentication at the authentication unit 12. In this case, the holding force may be obtained by changing the shape of the blood vessel. In the case of image recognition by a scanner, the holding force may be obtained from the shape change of the contact surface of the hand or finger. A relatively large imaging unit may be provided, and authentication, holding detection, and holding force detection may be performed by an image acquired by the imaging unit. In this case, the functions of the authentication unit 12, the holding detection unit 14, and the holding force detection unit 15 are realized by the imaging unit and its peripheral circuits. The authentication unit 12 and the holding detection unit 14 may be realized by a common device, the authentication unit 12 and the holding force detection unit 15 may be realized by a common device, and the holding detection unit 14 and the holding force detection unit. 15 may be realized by a common device.
　図１０は、イネーブルスイッチ１の他の例を示す図である。イネーブルスイッチ１は、図２および図３の場合と同様に、本体１１と、認証部１２と、保持検出部１４と、保持力検出部１５とを含む。図示の都合上、実際よりも厚さ方向に厚く描いている。保持検出部１４は、操作ボタン１７の表面に設けられた面状のスイッチであり、操作者による操作部８の保持による押し込み量は実質的に無い。保持力検出部１５は、操作ボタン１７を含む機械的なスイッチである。操作部８の通常の把持では、操作ボタン１７は押し込まれない。押し込み量が実質的に無いスイッチ（またはセンサ）とは、反発力が無いスイッチともいえる。 FIG. 10 is a diagram illustrating another example of the enable switch 1. The enable switch 1 includes a main body 11, an authentication unit 12, a holding detection unit 14, and a holding force detection unit 15, as in the case of FIGS. 2 and 3. For the convenience of illustration, it is drawn thicker than the actual thickness direction. The holding detection unit 14 is a planar switch provided on the surface of the operation button 17, and there is substantially no pushing amount due to holding of the operation unit 8 by the operator. The holding force detection unit 15 is a mechanical switch including an operation button 17. In normal gripping of the operation unit 8, the operation button 17 is not pushed. It can be said that a switch (or sensor) having substantially no pushing amount is a switch having no repulsive force.
　イネーブルスイッチ１は、ロック機構１８を含む。認証部１２による認証が正常に行われると、ロック機構１８のレバー１８１と操作ボタン１７との係合が解除され、操作ボタン１７のロックが解除される。認証後、保持検出部１４にて操作者による操作部８の保持が検出される間、ポジション２と判断される。強く保持すると、操作ボタン１７が押し込まれて保持力検出部１５が操作され、ポジション３と判断される。他の動作は図２および図３の場合と同様である。ロック機構１８を設けることにより、イネーブルスイッチ１による操作者の安全性がさらに向上する。 The enable switch 1 includes a lock mechanism 18. When authentication by the authentication unit 12 is normally performed, the engagement between the lever 181 of the lock mechanism 18 and the operation button 17 is released, and the lock of the operation button 17 is released. After the authentication, while the holding detection unit 14 detects the holding of the operation unit 8 by the operator, it is determined as the position 2. When strongly held, the operation button 17 is pushed in and the holding force detection unit 15 is operated, so that the position 3 is determined. Other operations are the same as those in FIGS. By providing the lock mechanism 18, the safety of the operator by the enable switch 1 is further improved.
　従来の機械的なイネーブルスイッチでは、教示作業等が長時間に亘る場合、操作者はスイッチをある程度の力で押し続けて作業を行う必要がある。これに対し、イネーブルスイッチ１では、イネーブル信号を出力している間、操作者の指や手は、押し込み量が実質的に無い保持検出部１４にて検出される。これにより、操作対象を操作している間、指や手の疲れを低減することができ、作業負担を緩和することができる。操作者はスイッチの押下を意識せずに操作に集中することができる。 In conventional mechanical enable switches, when teaching work or the like takes a long time, the operator needs to keep pressing the switch with a certain force to perform the work. On the other hand, in the enable switch 1, while the enable signal is output, the operator's finger or hand is detected by the holding detection unit 14 having substantially no pushing amount. Thereby, while operating the operation target, fatigue of fingers and hands can be reduced, and the work burden can be reduced. The operator can concentrate on the operation without being aware of pressing the switch.
　イネーブルスイッチ１では、保持検出部１４の表面と認証部１２の表面とをほぼ同じ高さにすることで、操作部８の保持が容易になるとともにイネーブルスイッチ１の薄型化や形状変更設計が容易となる。図２、図３、図１０の例の場合、保持検出部１４の配置箇所は、機械的なスイッチである保持力検出部１５の上面でもあり、認証部１２、保持検出部１４および保持力検出部１５の上面が、実質的に同じ高さに位置していると捉えることができる。 In the enable switch 1, by making the surface of the holding detection unit 14 and the surface of the authentication unit 12 substantially the same height, the operation unit 8 can be easily held, and the enable switch 1 can be thinned and designed to change its shape. It becomes. In the case of the examples of FIGS. 2, 3, and 10, the arrangement position of the holding detection unit 14 is also the upper surface of the holding force detection unit 15 that is a mechanical switch, and the authentication unit 12, the holding detection unit 14, and the holding force detection It can be understood that the upper surface of the portion 15 is located at substantially the same height.
　また、従来の機械的なイネーブルスイッチでは、操作部上のイネーブルスイッチの設置箇所に合わせて操作者が操作部を保持する必要がある。本実施の形態に係るイネーブルスイッチ１では、保持検出部１４を様々な場所に容易に設けることができるため、操作部８の保持が容易となる。また、認証部１２による認証により、操作者毎に作業権限を変更することができ、未熟な操作者による好ましくない誤操作を防止することができる。さらに、操作者毎に保持力の上限値または下限値を設定することにより、操作者に合った３ポジション検出を行うことができる。 Also, in the conventional mechanical enable switch, the operator needs to hold the operation unit in accordance with the installation location of the enable switch on the operation unit. In the enable switch 1 according to the present embodiment, the holding detection unit 14 can be easily provided in various places, so that the operation unit 8 can be easily held. Further, the authentication by the authentication unit 12 can change the work authority for each operator, and can prevent an undesired erroneous operation by an unskilled operator. Furthermore, by setting an upper limit value or a lower limit value of the holding force for each operator, it is possible to detect three positions suitable for the operator.
　機械式のイネーブルスイッチの場合、イネーブルスイッチがポジション２（操作許可状態）となるように、例えば針金や紐によって固定する等してイネーブルスイッチが無効化される虞があるが、イネーブルスイッチ１では生体認証を利用することにより、イネーブルスイッチの無効化を防止することができる。 In the case of a mechanical enable switch, the enable switch may be invalidated by fixing it with a wire or a string, for example, so that the enable switch becomes position 2 (operation permission state). By using the authentication, invalidation of the enable switch can be prevented.
　保持検出部１４として非常に薄い装置を利用することができるため、イネーブルスイッチ１の薄型化や形状変更設計が容易となる。 Since a very thin device can be used as the holding detection unit 14, the enable switch 1 can be thinned and the shape can be easily changed.
　図１１は、認証部１２の他の配置例を示す操作部８の背面図である。認証部１２は操作部８の背面に配置される。図１１では、認証部１２に指が配置されたことを検出する電極１３が１つの例を示している。認証部１２が、イネーブルスイッチ１の本体１１から分離して操作部８の背面に配置される点を除いて、操作部８は図１と同様である。操作者の左の手９が操作部８を保持し、人差し指９１を伸ばすと、人差し指９１の先端は自然に認証部１２に位置する。他の指は、イネーブルスイッチ１の保持検出部１４上に位置する。 FIG. 11 is a rear view of the operation unit 8 showing another arrangement example of the authentication unit 12. The authentication unit 12 is disposed on the back surface of the operation unit 8. FIG. 11 shows an example in which the electrode 13 that detects the finger placed on the authentication unit 12 is one. The operation unit 8 is the same as that shown in FIG. 1 except that the authentication unit 12 is separated from the main body 11 of the enable switch 1 and arranged on the back surface of the operation unit 8. When the operator's left hand 9 holds the operation unit 8 and extends the index finger 91, the tip of the index finger 91 is naturally positioned at the authentication unit 12. The other finger is positioned on the holding detection unit 14 of the enable switch 1.
　図１２は、両手持ちのタイプの操作部８を例示する背面図である。認証部１２は図１１の場合と同様に、操作部８の背面に位置する。操作部８の背面には、中央から下端に向かって厚さ方向に窪む凹部８４が設けられる。イネーブルスイッチ１の認証部１２以外の部位は、凹部８４の左右それぞれに配置される。操作者が操作部８を両手で保持すると、左の手９の人差し指９１は自然に認証部１２上に位置する。両手の人差し指以外の指は、凹部８４の左右にて保持検出部１４上に位置する。操作部８は、形状と、イネーブルスイッチ１の本体１１が２つ設けられる点とを除いて、図１１の操作部８と同様である。 FIG. 12 is a rear view illustrating a two-hand holding type operation unit 8. The authentication unit 12 is located on the back surface of the operation unit 8 as in the case of FIG. On the back surface of the operation unit 8, a recess 84 that is recessed in the thickness direction from the center toward the lower end is provided. Parts other than the authentication unit 12 of the enable switch 1 are disposed on the left and right sides of the recess 84, respectively. When the operator holds the operation unit 8 with both hands, the index finger 91 of the left hand 9 is naturally positioned on the authentication unit 12. Fingers other than the index fingers of both hands are positioned on the holding detection unit 14 on the left and right sides of the recess 84. The operation unit 8 is the same as the operation unit 8 of FIG. 11 except for the shape and the point that two main bodies 11 of the enable switch 1 are provided.
　図１２の例の場合、認証部１２にて操作者の認証が行われた後、２つの保持検出部１４のいずれかが保持を検出している間、イネーブル信号が出力される。また、２つの保持力検出部１５のいずれかが上限値より大きい保持力を検出すると、イネーブル信号の出力が停止される。これにより、一方の手を操作部８から離しても、イネーブル信号が出力され続け、操作者の手９の疲労をさらに低減することができる。図２に示す形態のイネーブルスイッチ１が両手持ちタイプの操作部８に採用されてもよい。 In the case of the example of FIG. 12, after the operator is authenticated by the authentication unit 12, an enable signal is output while one of the two holding detection units 14 detects holding. When one of the two holding force detectors 15 detects a holding force larger than the upper limit value, the output of the enable signal is stopped. Thereby, even if one hand is separated from the operation unit 8, the enable signal is continuously output, and the fatigue of the operator's hand 9 can be further reduced. The enable switch 1 having the form shown in FIG. 2 may be employed in the two-hand holding type operation unit 8.
　図１、図１１および図１２のように、認証部１２を操作部８の背面または側面に設けることにより、操作者が保持しやすい状態で操作部８を保持した際に認証を容易に行うことができる。 As shown in FIGS. 1, 11, and 12, by providing the authentication unit 12 on the back surface or side surface of the operation unit 8, authentication can be easily performed when the operation unit 8 is held in a state that the operator can easily hold. Can do.
　図１３は、回路部２およびその周辺構成のさらに他の例を示す図である。回路部２は、図４の回路部２に加えて下限立下り遅延回路３１１を含む。下限立下り遅延回路３１１は、保持検出部１４とＡＮＤ回路２１との間に位置し、保持検出部１４からの信号の立下りを予め定められた時間だけ遅延させる。立上りは遅延されない。 FIG. 13 is a diagram showing still another example of the circuit unit 2 and its peripheral configuration. The circuit unit 2 includes a lower limit falling delay circuit 311 in addition to the circuit unit 2 of FIG. The lower limit falling delay circuit 311 is located between the holding detection unit 14 and the AND circuit 21, and delays the falling of the signal from the holding detection unit 14 by a predetermined time. Rise is not delayed.
　ここで、保持力の下限値が極めて０に近く、少なくとも保持力が下限値以上でないとイネーブル信号がＡＮＤ回路２１から出力されない場合、または、保持力の下限値が０であり、少なくとも保持力が下限値を上回らないとイネーブル信号がＡＮＤ回路２１から出力されないの場合、操作者がイネーブルスイッチ１に触れるだけでイネーブルスイッチ１はポジション１からポジション２に移行する。保持検出部１４は、実質的に、このような保持力と下限値との比較機能を有する機能を有すると捉えることも可能である。 Here, when the lower limit value of the holding force is very close to 0 and at least the holding force is not equal to or lower than the lower limit value, the enable signal is not output from the AND circuit 21, or the lower limit value of the holding force is 0, and at least the holding force is If the enable signal is not output from the AND circuit 21 unless the lower limit value is exceeded, the enable switch 1 shifts from position 1 to position 2 simply by touching the enable switch 1 by the operator. The holding detection unit 14 can be regarded as having a function having a function of comparing the holding force and the lower limit value substantially.
　一方、スイッチ１５１は保持力が上限値よりも大きいか否かを検出する。したがって、保持検出部１４とスイッチ１５１とにより保持力が予め定められた上限値と下限値との間のイネーブル範囲内であるか否かを検出しているといえる。そこで、図１３の説明では、保持検出部１４を保持力検出部１５の一部とみなし、保持力検出部１５は保持検出部１４とスイッチ１５１とを含むものとする。保持力検出部１５は、操作者による操作部の保持力が、予め定められたイネーブル範囲内であるか否かを検出する。 On the other hand, the switch 151 detects whether or not the holding force is larger than the upper limit value. Therefore, it can be said that the holding detection unit 14 and the switch 151 detect whether the holding force is within the enable range between the predetermined upper limit value and lower limit value. Therefore, in the description of FIG. 13, the holding detection unit 14 is regarded as a part of the holding force detection unit 15, and the holding force detection unit 15 includes the holding detection unit 14 and the switch 151. The holding force detection unit 15 detects whether or not the holding force of the operation unit by the operator is within a predetermined enable range.
　保持力がイネーブル範囲内であることを保持力検出部１５が検出している間に、認証部１２による認証が行われると、回路部２は、操作部８による操作対象の操作を許可するイネーブル信号を出力する。保持力がイネーブル範囲内であることを保持力検出部１５が検出している間、継続してイネーブル信号は出力される。なお、認証部１２が省略されたイネーブルスイッチ１の場合、回路部２は、保持力検出部１５が保持力がイネーブル範囲内であることを検出している間、操作部８による操作対象の操作を許可するイネーブル信号を出力する回路として機能する。 When the authentication by the authentication unit 12 is performed while the holding force detection unit 15 detects that the holding force is within the enable range, the circuit unit 2 enables the operation of the operation target by the operation unit 8. Output a signal. While the holding force detector 15 detects that the holding force is within the enable range, the enable signal is continuously output. In the case of the enable switch 1 in which the authentication unit 12 is omitted, the circuit unit 2 operates the operation target by the operation unit 8 while the holding force detection unit 15 detects that the holding force is within the enable range. It functions as a circuit that outputs an enable signal for permitting.
　図１４は、図１３に示す構成を含むイネーブルスイッチ１の動作例を示す図である。図１４中の「認証信号」、「保持信号」、「保持力上限信号」および「イネーブル信号」という表現は、図５の場合と同様である。保持信号は、上述の通り、実質的に保持力が下限値より大きいことを示しており、「保持力下限信号」と呼ぶこともできる。「下限立下り遅延信号」は、保持検出部１４からの保持信号の立下り、すなわち、「１」から「０」への変化タイミングが遅延された信号である。さらに換言すれば、保持力が下限値よりも大きいことを示す信号において、保持力が下限値を下回ることを示す立下りを遅延した信号である。保持検出部１４が操作者の指の接触のみを検出する場合、ポジション１と２との境界は、保持検出部１４に指が触れていない状態と僅かに触れる状態との間になる。下限立下り遅延回路３１１は、ポジション２からポジション１への移行を示す信号の立下りを遅延している。各信号の表現は、以下の類似の図についても同様である。 FIG. 14 is a diagram illustrating an operation example of the enable switch 1 including the configuration illustrated in FIG. The expressions “authentication signal”, “holding signal”, “holding force upper limit signal” and “enable signal” in FIG. 14 are the same as those in FIG. As described above, the holding signal indicates that the holding force is substantially larger than the lower limit value, and can also be referred to as a “holding force lower limit signal”. The “lower limit falling delay signal” is a signal in which the falling edge of the holding signal from the holding detection unit 14, that is, the change timing from “1” to “0” is delayed. In other words, the signal indicating that the holding force is greater than the lower limit value is a signal obtained by delaying the falling edge indicating that the holding force is lower than the lower limit value. When the holding detection unit 14 detects only the touch of the operator's finger, the boundary between the positions 1 and 2 is between a state where the finger does not touch the holding detection unit 14 and a state where the finger is slightly touched. The lower limit falling delay circuit 311 delays the falling of a signal indicating a transition from position 2 to position 1. The representation of each signal is the same for the following similar figures.
　図５の場合と同様に、保持力検出部１５の保持検出部１４が保持を検出している間に認証が行われると、イネーブル信号が出力される。ここで、下限立下り遅延回路３１１における遅延時間Δｔ１１よりも短い時間Δｔ１２だけ操作者が保持検出部１４から指を離したとしても、立下りが遅延されるため、下限立下り遅延信号は変化しない。その結果、時間Δｔ１２の間もイネーブル信号は出力され続け、時間Δｔ１２の経過後もイネーブル信号は出力される。なお、操作者が保持検出部１４から指を離してイネーブル信号の出力を停止させる際には、操作者が保持検出部１４から指を離してから時間Δｔ１１だけ経過した後にイネーブル信号は停止するが、時間Δｔ１１は安全確保上、十分に短い時間である。好ましくは、Δｔ１１は、０．２～０．５秒の範囲で設定される。 As in the case of FIG. 5, if authentication is performed while the holding detection unit 14 of the holding force detection unit 15 detects holding, an enable signal is output. Here, even if the operator lifts his / her finger from the holding detection unit 14 for a time Δt12 shorter than the delay time Δt11 in the lower limit falling delay circuit 311, the falling is delayed, so the lower limit falling delay signal does not change. . As a result, the enable signal continues to be output during time Δt12, and the enable signal is output even after time Δt12 has elapsed. When the operator removes the finger from the holding detection unit 14 and stops the output of the enable signal, the enable signal stops after the time Δt11 has elapsed since the operator removed the finger from the holding detection unit 14. The time Δt11 is a sufficiently short time for ensuring safety. Preferably, Δt11 is set in the range of 0.2 to 0.5 seconds.
　このように、下限立下り遅延回路３１１の存在により、イネーブル信号の出力中に保持力がイネーブル範囲の下限値を下回ってから予め定められた時間Δｔ１１が経過するまで、回路部２はイネーブル信号の出力を維持する。以下、時間Δｔ１１を「信号出力維持時間」と呼ぶ。 In this manner, due to the presence of the lower limit falling delay circuit 311, the circuit unit 2 does not enable the enable signal until the predetermined time Δt 11 has elapsed after the holding force falls below the lower limit value of the enable range during the output of the enable signal. Maintain output. Hereinafter, the time Δt11 is referred to as “signal output maintenance time”.
　図１５は、操作者が保持検出部１４から一時的に指を離した時間が信号出力維持時間Δｔ１１よりも長い時間Δｔ１３の場合のイネーブル信号の出力を示す図である。時間Δｔ１３が経過する前に下限立下り遅延回路３１１からの下限立下り遅延信号が立下るため、その時点でイネーブル信号の出力が停止する。操作者の指が再度保持検出部１４に触れても認証が行われていないため、イネーブル信号の出力が停止した状態が維持される。 FIG. 15 is a diagram illustrating the output of the enable signal when the time when the operator temporarily removes his / her finger from the holding detection unit 14 is the time Δt13 which is longer than the signal output maintaining time Δt11. Since the lower limit falling delay signal from the lower limit falling delay circuit 311 falls before the time Δt13 elapses, the output of the enable signal stops at that time. Even if the operator's finger touches the holding detection unit 14 again, authentication is not performed, so that the output of the enable signal is stopped.
　図１４に示す動作により、短時間の間だけ保持力が下限値よりも弱まった場合の不要な操作停止を防止することができる。例えば、操作部８の持ち直し等の際にイネーブル信号の停止を抑制することができる。その結果、操作効率の低下を抑制することができる。 The operation shown in FIG. 14 can prevent unnecessary operation stop when the holding force becomes weaker than the lower limit value only for a short time. For example, the stop of the enable signal can be suppressed when the operation unit 8 is picked up. As a result, a decrease in operation efficiency can be suppressed.
　図１６は、イネーブル信号が出力されている間に操作者がイネーブルスイッチ１を強く保持して保持力検出部１５のスイッチ１５１が上限値よりも大きい保持力を検出した場合を示す図である。なお、図１６では図１４と同様に時間Δｔ１２だけ保持が解除されてもイネーブル信号の出力が継続する様子も示している。保持力が上限値を超える場合は、緊急性が高い場合もあるため、保持力上限信号が立下ると、その瞬間に遅延なくイネーブル信号の出力が停止する。これにより、操作者の安全が確保される。 FIG. 16 is a diagram illustrating a case where the operator strongly holds the enable switch 1 while the enable signal is output, and the switch 151 of the holding force detection unit 15 detects a holding force larger than the upper limit value. Note that FIG. 16 also shows the manner in which the output of the enable signal continues even when the holding is released for the time Δt12 as in FIG. When the holding force exceeds the upper limit value, the urgency may be high. Therefore, when the holding force upper limit signal falls, the output of the enable signal stops without delay at that moment. Thereby, the safety of the operator is ensured.
　図１３では、保持力検出部１５のスイッチ１５１がＡＮＤ回路２１の出力上に位置するため、スイッチ１５１がイネーブル信号の出力を停止するが、スイッチ１５１をＡＮＤ回路２１の入力側に位置させ、スイッチ１５１の出力をＡＮＤ回路２１に入力することによっても、同様の動作を実現することができる。したがって、図１３では、保持力検出部１５が保持力が上限値を超えた場合にイネーブル信号を停止させるのではなく、スイッチ１５１の配置構造を含む回路部２が、保持力が上限値を超えた場合に保持力検出部１５による検出結果に従ってイネーブル信号の出力を停止させていると捉えることができる。 In FIG. 13, since the switch 151 of the holding force detector 15 is positioned on the output of the AND circuit 21, the switch 151 stops outputting the enable signal. However, the switch 151 is positioned on the input side of the AND circuit 21, and the switch 151 The same operation can also be realized by inputting the output 151 to the AND circuit 21. Therefore, in FIG. 13, the holding force detection unit 15 does not stop the enable signal when the holding force exceeds the upper limit value, but the circuit unit 2 including the arrangement structure of the switch 151 causes the holding force to exceed the upper limit value. In this case, it can be understood that the output of the enable signal is stopped according to the detection result by the holding force detection unit 15.
　信号出力維持時間Δｔ１１は変更可能であってもよい。この場合、例えば、図１３に示すように、イネーブルスイッチ１に、操作中の操作対象９０の特定の部位の速度または操作対象に対する操作者の相対位置の入力を受け付ける受付部１９１と、維持時間変更部１９２とが設けられる。操作対象９０の特定の部位とは、例えば、操作対象９０がロボットアームの場合、ロボットアームの先端である。一般的には、特定の部位は最も可動する部位である。操作対象９０に対する操作者の相対位置は、例えば、操作対象９０であるロボットまたはその近傍に設けられた三次元スキャナにより測定される。操作者の位置を検出する装置が操作者が存在する部屋に設けられてもよい。 The signal output maintenance time Δt11 may be changeable. In this case, for example, as shown in FIG. 13, the enable switch 1 receives the input of the speed of a specific part of the operation target 90 being operated or the relative position of the operator with respect to the operation target, and the maintenance time change Part 192. The specific part of the operation target 90 is, for example, the tip of the robot arm when the operation target 90 is a robot arm. In general, the specific part is the most movable part. The relative position of the operator with respect to the operation target 90 is measured by, for example, a robot that is the operation target 90 or a three-dimensional scanner provided in the vicinity thereof. A device for detecting the position of the operator may be provided in a room where the operator exists.
　維持時間変更部１９２は、操作対象９０の特定の部位の速度または操作対象に対する操作者の相対位置に応じて、下限立下り遅延回路３１１に設定されている信号出力維持時間Δｔ１１を変更する。これにより、例えば、特定の部位の速度が遅くなったり、操作者と操作対象９０との距離が大きくなった場合等に信号出力維持時間を長くし、より効果的に不要な操作停止を抑制しつつ安全性を確保することができる。また、信号出力維持時間Δｔ１１を０とし、特定の部位の速度が遅くなったり、操作者と操作対象９０との距離が大きくなった場合等に０より大きい信号出力維持時間が設定されてもよい。 The maintenance time changing unit 192 changes the signal output maintenance time Δt11 set in the lower limit falling delay circuit 311 according to the speed of a specific part of the operation object 90 or the relative position of the operator with respect to the operation object. Thereby, for example, when the speed of a specific part is slowed or the distance between the operator and the operation target 90 is increased, the signal output maintenance time is lengthened, and unnecessary operation stop is suppressed more effectively. Safety can be ensured. Further, the signal output maintenance time Δt11 may be set to 0, and the signal output maintenance time greater than 0 may be set when the speed of a specific part becomes slow or the distance between the operator and the operation object 90 becomes large. .
　図１７は、イネーブルスイッチ１のさらに他の例を示す平面図である。図１７のイネーブルスイッチ１では、図２および図３のイネーブルスイッチ１の保持検出部１４の位置に保持力検出部１５が設けられる。図３の本体１１の下部に設けられる保持力検出部１５は省かれる。図１７の保持力検出部１５は、タッチパネル、すなわち、２次元のタッチセンサとなっており、保持検出部１４を兼ねる。以下の説明における保持力検出部１５についても同様である。その他の構成は、図２および図３のイネーブルスイッチ１と同様である。 FIG. 17 is a plan view showing still another example of the enable switch 1. In the enable switch 1 of FIG. 17, a holding force detector 15 is provided at the position of the hold detector 14 of the enable switch 1 of FIGS. 2 and 3. The holding force detection part 15 provided in the lower part of the main body 11 of FIG. 3 is omitted. The holding force detection unit 15 in FIG. 17 is a touch panel, that is, a two-dimensional touch sensor, and also serves as the holding detection unit 14. The same applies to the holding force detector 15 in the following description. Other configurations are the same as those of the enable switch 1 shown in FIGS.
　図１８は、イネーブルスイッチ１の回路部２およびその周辺構成の一例を示す図である。回路部２は、図４と同様に、認証部１２からの出力が入力されるＯＲ回路２２と、ＡＮＤ回路２１と、を含む。保持力検出部１５は比較回路１５３を含む。図１８では上限値設定部１６１が設けられる場合も示している。 FIG. 18 is a diagram illustrating an example of the circuit unit 2 of the enable switch 1 and its peripheral configuration. As in FIG. 4, the circuit unit 2 includes an OR circuit 22 to which an output from the authentication unit 12 is input, and an AND circuit 21. The holding force detection unit 15 includes a comparison circuit 153. FIG. 18 also shows a case where an upper limit setting unit 161 is provided.
　比較回路１５３は、保持力と予め定められた下限値とを比較する比較器と、保持力と予め定められた上限値とを比較する比較器とを含む。保持力と下限値とを比較する比較器からの出力を示す線に符号３２１を付し、保持力と上限値とを比較する比較器からの出力を示す線に符号３２２を付している。比較結果を示す信号は、個別にＡＮＤ回路２１に入力される。ＡＮＤ回路２１からは、保持力が下限値より大きく、かつ、上限値より小さい場合のみ、イネーブル信号が出力される。なお、２つの比較器からの出力、すなわち、信号は、操作部８内の他の回路にも入力されてよい。 The comparison circuit 153 includes a comparator that compares the holding force with a predetermined lower limit value, and a comparator that compares the holding force with a predetermined upper limit value. A line indicating the output from the comparator that compares the holding force and the lower limit value is denoted by reference numeral 321, and a line that indicates the output from the comparator that compares the holding force and the upper limit value is denoted by reference numeral 322. Signals indicating the comparison results are individually input to the AND circuit 21. An enable signal is output from the AND circuit 21 only when the holding force is larger than the lower limit value and smaller than the upper limit value. Note that outputs from the two comparators, that is, signals may be input to other circuits in the operation unit 8.
　「上限値より小さい」という表現は、上限値の設定を僅かに変更することにより、「上限値以下」と同義となる。「下限値より大きい」という表現は、下限値の設定を僅かに変更することにより、「下限値以上」と同義となる。そのため、以下の説明における「上限値より小さい」は「上限値以下」と表現しても実質的に同じであり、「下限値より大きい」は「下限値以上」と表現しても実質的に同じである。同様に、「下限値より小さい」代えて「下限値以下」と表現し、「上限値より大きい」に代えて「上限値以上」と表現する場合も同様である。ただし、上述の押し込み量の無い保持検出部１４の場合に下限値に「０」を設定する場合は、保持力は下限値以下であるか下限値より大きいかで保持力と下限値との大小関係が判断される。 “The expression“ smaller than the upper limit ”is synonymous with“ below the upper limit ”by slightly changing the setting of the upper limit. The expression “larger than the lower limit value” is synonymous with “more than the lower limit value” by slightly changing the setting of the lower limit value. Therefore, “less than the upper limit value” in the following description is substantially the same even if expressed as “below the upper limit value”, and “greater than the lower limit value” is substantially equivalent even if expressed as “more than the lower limit value”. The same. Similarly, the case where “less than the lower limit value” is expressed as “below the lower limit value”, and the case where “greater than the upper limit value” is expressed as “more than the upper limit value” is similarly applied. However, if the lower limit value is set to “0” in the case of the holding detection unit 14 having no push-in amount as described above, whether the holding force is equal to or lower than the lower limit value or larger than the lower limit value A relationship is determined.
　保持力検出部１５としてタッチパネルが利用される場合、保持力検出部１５に指が触れるだけでポジション２と判断することができる。そのため、下限値は非常に０に近い値、または、０に設定される。もちろん、下限値としてある程度の大きさの値が設定されてもよい。 When a touch panel is used as the holding force detection unit 15, it can be determined that the position is 2 simply by touching the holding force detection unit 15 with a finger. Therefore, the lower limit value is set to a value very close to 0 or 0. Of course, a value of a certain size may be set as the lower limit value.
　保持力の上限値が操作者毎に設定される場合、回路部２に上限値設定部１６１が設けられる。予め上限値を設定する際には、認証部１２にて操作者が認証されると、保持力検出部１５が検出する保持力に応じて、上限値設定部１６１は比較回路１５３に上限値を設定する。下限値設定部を設けて上限値の設定と同様にして下限値も操作者毎に比較回路１５３に設定されてよい。 When the upper limit value of the holding force is set for each operator, an upper limit value setting unit 161 is provided in the circuit unit 2. When the upper limit value is set in advance, when the operator is authenticated by the authentication unit 12, the upper limit value setting unit 161 sets the upper limit value in the comparison circuit 153 according to the holding force detected by the holding force detection unit 15. Set. The lower limit value may be set in the comparison circuit 153 for each operator in the same manner as the setting of the upper limit value by providing a lower limit value setting unit.
　操作部８の通常の使用の際には、操作者が操作部８を保持して保持力が下限値より大きく、かつ、上限値よりも小さい状態で認証部１２が操作者の認証を行うと、ＡＮＤ回路２１に入力される信号は全て「１」となり、イネーブル信号が出力される。すなわち、保持力がイネーブル範囲内であることを保持力検出部１５が検出している間に、認証部１２による認証が行われると、回路部２は、操作部８による操作対象の操作を許可するイネーブル信号を出力する。保持力が下限値よりも小さい、または、上限値よりも大きい場合、比較回路１５３からＡＮＤ回路２１に入力される２つの信号のいずれかが「０」となり、イネーブル信号の出力が停止する。比較回路１５３からの２つの比較結果の論理積を得るＡＮＤ回路が保持力検出部１５に設けられてもよい。 In normal use of the operation unit 8, when the operator holds the operation unit 8 and the holding force is larger than the lower limit value and smaller than the upper limit value, the authentication unit 12 authenticates the operator. The signals input to the AND circuit 21 are all “1”, and an enable signal is output. That is, if the authentication unit 12 performs authentication while the holding force detection unit 15 detects that the holding force is within the enable range, the circuit unit 2 allows the operation unit 8 to operate the operation target. An enable signal is output. When the holding force is smaller than the lower limit value or larger than the upper limit value, one of the two signals input from the comparison circuit 153 to the AND circuit 21 becomes “0”, and the output of the enable signal is stopped. An AND circuit that obtains the logical product of the two comparison results from the comparison circuit 153 may be provided in the holding force detection unit 15.
　一旦認証が行われると、保持力がイネーブル範囲内であることを保持力検出部１５が検出している間、継続してイネーブル信号が出力される。 Once authentication is performed, the enable signal is continuously output while the holding force detection unit 15 detects that the holding force is within the enable range.
　なお、認証部１２が省略されたイネーブルスイッチ１の場合、保持力がイネーブル範囲内であることを保持力検出部１５が検出している間、回路部２は、操作部８による操作対象の操作を許可するイネーブル信号を出力する回路として機能する。 In the case of the enable switch 1 in which the authentication unit 12 is omitted, the circuit unit 2 operates the operation target by the operation unit 8 while the holding force detection unit 15 detects that the holding force is within the enable range. It functions as a circuit that outputs an enable signal for permitting.
　図１９は、図１８の回路部２に下限立下り遅延回路３１１を設けた例を示す図である。図１９では、受付部１９１および維持時間変更部１９２も示している。受付部１９１および維持時間変更部１９２の機能は、図１３の場合と同様である。他の図の下限立下り遅延回路３１１に対しても、受付部１９１および維持時間変更部１９２が設られてよい。 FIG. 19 is a diagram illustrating an example in which a lower limit falling delay circuit 311 is provided in the circuit unit 2 of FIG. FIG. 19 also shows a reception unit 191 and a maintenance time change unit 192. The functions of the receiving unit 191 and the maintenance time changing unit 192 are the same as in the case of FIG. An accepting unit 191 and a maintenance time changing unit 192 may be provided for the lower limit falling delay circuit 311 of other figures.
　下限立下り遅延回路３１１は、比較回路１５３とＡＮＤ回路２１との間の符号３２１を付す線上に設けられ、保持力と下限値との比較結果の立下りを信号出力維持時間だけ遅延させる。図１９の例では、符号３２２を付す線にて示すように、保持力と上限値との比較結果はそのままＡＮＤ回路２１に入力される。すなわち、保持力が下限値を下回って比較回路１５３からの出力が「１」から「０」に変化した場合にのみ、その変化を予め定められた信号出力維持時間だけ遅延する。 The lower limit falling delay circuit 311 is provided on a line denoted by reference numeral 321 between the comparison circuit 153 and the AND circuit 21, and delays the falling of the comparison result between the holding force and the lower limit value by the signal output maintaining time. In the example of FIG. 19, the comparison result between the holding force and the upper limit value is input to the AND circuit 21 as it is, as indicated by the line denoted by reference numeral 322. That is, only when the holding force falls below the lower limit and the output from the comparison circuit 153 changes from “1” to “0”, the change is delayed by a predetermined signal output maintenance time.
　図２０は、図１９の構成を含むイネーブルスイッチ１の動作例を示す図である。保持力の下限値は非常に０に近い正の値または０である。保持力が０を超えると保持力下限信号が立上り、保持力が０になると保持力下限信号が立下る。したがって、保持力下限信号は、図１４の保持信号に相当する。認証信号およびイネーブル信号は、図１４の場合と同様であり、下限立下り遅延信号は、下限立下り遅延回路３１１により保持力下限信号の立下りが遅延されたものである。 FIG. 20 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. The lower limit value of the holding force is a positive value very close to 0 or 0. When the holding force exceeds 0, the holding force lower limit signal rises, and when the holding force becomes 0, the holding force lower limit signal falls. Therefore, the holding force lower limit signal corresponds to the holding signal in FIG. The authentication signal and the enable signal are the same as in FIG. 14, and the lower limit falling delay signal is obtained by delaying the falling of the holding power lower limit signal by the lower limit falling delay circuit 311.
　図１４の場合と同様に、下限立下り遅延回路３１１により、操作者がイネーブルスイッチ１から指を短時間だけ離したとしても、保持力下限信号が「０」となる停止時間Δｔ１２が信号出力維持時間Δｔ１１よりも短い場合、イネーブル信号の出力は継続する。一方、図２１に示すように、保持力下限信号の停止時間Δｔ１３が信号出力維持時間Δｔ１１よりも長い場合、下限立下り遅延回路３１１からの信号が「０」となり、すなわち、立下り、イネーブル信号の出力は停止される。以上のように、回路部２は、保持力がイネーブル範囲の下限値を下回ってから予め定められた信号出力維持時間Δｔ１１が経過するまで、イネーブル信号の出力を維持する。 Similarly to the case of FIG. 14, even when the operator lifts the finger from the enable switch 1 for a short time by the lower limit falling delay circuit 311, the stop time Δt 12 when the holding force lower limit signal becomes “0” is maintained as the signal output. When the time is shorter than Δt11, the output of the enable signal continues. On the other hand, as shown in FIG. 21, when the stop time Δt13 of the holding power lower limit signal is longer than the signal output maintaining time Δt11, the signal from the lower limit falling delay circuit 311 becomes “0”, that is, the falling, enable signal Output is stopped. As described above, the circuit unit 2 maintains the output of the enable signal until the predetermined signal output maintaining time Δt11 elapses after the holding force falls below the lower limit value of the enable range.
　図２２は、保持力が上限値を超える場合のイネーブル信号を示す図である。図２２の保持力上限信号は、比較回路１５３における保持力と上限値との比較結果を示し、保持力が上限値を上回ると立下る。図２２では保持力下限信号の記載を省いており、保持力下限信号が時間Δｔ１２だけ停止する様子も示している。認証が行われてイネーブル信号が出力されている間に、保持力上限信号が立下ると、下限立下り遅延回路３１１の動作とは関係なくイネーブル信号の出力は停止される。このように、回路部２は、保持力がイネーブル範囲の上限値を上回った際に、イネーブル信号の出力を停止する。 FIG. 22 is a diagram showing an enable signal when the holding force exceeds the upper limit value. The holding force upper limit signal in FIG. 22 indicates a comparison result between the holding force and the upper limit value in the comparison circuit 153, and falls when the holding force exceeds the upper limit value. FIG. 22 omits the description of the holding force lower limit signal, and also shows a state in which the holding force lower limit signal stops for the time Δt12. If the holding power upper limit signal falls while authentication is performed and the enable signal is output, the output of the enable signal is stopped regardless of the operation of the lower limit falling delay circuit 311. Thus, the circuit unit 2 stops outputting the enable signal when the holding force exceeds the upper limit value of the enable range.
　図２３は、図１９の回路部２に上限立下り遅延回路３１２を設けた例を示す図である。図２３では、上限値設定部１６１および下限値設定部１６２も示しており、上限値設定部１６１および下限値設定部１６２により、認証部１２での認証結果に従って操作者毎の保持力の上限値および下限値が比較回路１５３に設定される。図２３では、図１３と同様の受付部１９１および維持時間変更部１９２も示している。受付部１９１および維持時間変更部１９２により、下限立下り遅延回路３１１に設定されている信号出力維持時間が変更されると共に、上限立下り遅延回路３１２に設定されている信号出力維持時間も変更される。 FIG. 23 is a diagram illustrating an example in which an upper limit falling delay circuit 312 is provided in the circuit unit 2 of FIG. FIG. 23 also shows an upper limit value setting unit 161 and a lower limit value setting unit 162. The upper limit value setting unit 161 and the lower limit value setting unit 162 indicate the upper limit value of the holding force for each operator according to the authentication result in the authentication unit 12. The lower limit value is set in the comparison circuit 153. FIG. 23 also shows a reception unit 191 and a maintenance time change unit 192 that are the same as those in FIG. The reception unit 191 and the maintenance time changing unit 192 change the signal output maintenance time set in the lower limit falling delay circuit 311 and also change the signal output maintenance time set in the upper limit falling delay circuit 312. The
　上限立下り遅延回路３１２は、比較回路１５３とＡＮＤ回路２１との間にて符号３２２を付す線上に設けられ、保持力と上限値との比較結果の立下りを信号出力維持時間だけ遅延させる。保持力と下限値との比較結果は、図１９の場合と同様に、下限立下り遅延回路３１１を経由してＡＮＤ回路２１に入力される。すなわち、回路部２は、保持力が下限値を下回って比較回路１５３からの一方の出力が「１」から「０」に変化した場合に、その変化を予め定められた信号出力維持時間（以下、「第１信号出力維持時間」という。）だけ遅延し、保持力が上限値を上回って比較回路１５３からの他方の出力が「１」から「０」に変化した場合に、その変化を予め定められた信号出力維持時間（以下、「第２信号出力維持時間」という。）だけ遅延する。 The upper limit falling delay circuit 312 is provided on the line denoted by reference numeral 322 between the comparison circuit 153 and the AND circuit 21, and delays the falling of the comparison result between the holding force and the upper limit value by the signal output maintaining time. The comparison result between the holding force and the lower limit value is input to the AND circuit 21 via the lower limit falling delay circuit 311 as in the case of FIG. In other words, when the holding power falls below the lower limit value and one of the outputs from the comparison circuit 153 changes from “1” to “0”, the circuit unit 2 changes the change to a predetermined signal output maintenance time (hereinafter referred to as “output time”). , Referred to as “first signal output maintenance time”), when the holding power exceeds the upper limit value and the other output from the comparison circuit 153 changes from “1” to “0”, the change is preliminarily determined. It is delayed by a predetermined signal output maintenance time (hereinafter referred to as “second signal output maintenance time”).
　図２４は、図２３の構成を含むイネーブルスイッチ１の動作例を示す図である。保持力下限信号および下限立下り遅延信号の記載を省略している。保持力が上限値を上回ると保持力上限信号が立下り、保持力が上限値を下回ると保持力下限信号が立上る。上限立下り遅延回路３１２により、保持力が非常に短時間の間だけ上限値を上回ったとしても、保持力上限信号の停止時間Δｔ２２が第２信号出力維持時間よりも短い場合、上限立下り遅延信号は途切れず、イネーブル信号の出力は継続する。 FIG. 24 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force lower limit signal and the lower limit falling delay signal is omitted. When the holding force exceeds the upper limit value, the holding force upper limit signal falls, and when the holding force falls below the upper limit value, the holding force lower limit signal rises. Even if the holding force exceeds the upper limit value for a very short time by the upper limit falling delay circuit 312, if the stop time Δt22 of the holding force upper limit signal is shorter than the second signal output maintaining time, the upper limit falling delay The signal is not interrupted and the output of the enable signal continues.
　一方、図２５に示すように、保持力上限信号の停止時間Δｔ２３が第２信号出力維持時間Δｔ２１よりも長い場合、上限立下り遅延回路３１２からの信号が「０」となり、すなわち、立下り、イネーブル信号の出力は停止される。このように、回路部２は、保持力がイネーブル範囲の上限値を上回ってから予め定められた第２信号出力維持時間Δｔ２１が経過するまで、イネーブル信号の出力を維持する。 On the other hand, as shown in FIG. 25, when the stop time Δt23 of the holding force upper limit signal is longer than the second signal output maintaining time Δt21, the signal from the upper limit falling delay circuit 312 becomes “0”, that is, the falling, The output of the enable signal is stopped. As described above, the circuit unit 2 maintains the output of the enable signal until the predetermined second signal output maintaining time Δt21 elapses after the holding force exceeds the upper limit value of the enable range.
　第２信号出力維持時間Δｔ２１は、安全性に問題が生じない程度に非常に短い時間が設定される。これにより、例えば、押し込み量の無い保持力検出部１５に指が触れた直後に保持力が上限値を上回ったとしても操作の不要な停止が抑制される。その結果、操作効率の低下が抑制される。なお、保持力上限信号の立下りの遅延は、保持力検出部１５が機械的なものである場合においてもその構造によっては効果を奏する。通常、第２信号出力維持時間Δｔ２１は、第１信号出力維持時間Δｔ１１よりも短い。 The second signal output maintenance time Δt21 is set to a very short time so as not to cause a safety problem. Thereby, for example, even if the holding force exceeds the upper limit value immediately after the finger touches the holding force detection unit 15 having no pushing amount, unnecessary stop of the operation is suppressed. As a result, a decrease in operation efficiency is suppressed. Note that the delay in falling of the holding force upper limit signal is effective depending on the structure even when the holding force detector 15 is mechanical. Usually, the second signal output maintenance time Δt21 is shorter than the first signal output maintenance time Δt11.
　受付部１９１および維持時間変更部１９２が設けられる場合、受付部１９１は、操作中の操作対象９０の特定の部位の速度または操作対象９０に対する操作者の相対位置の入力を受け付ける。そして、維持時間変更部１９２は、当該特定の部位の速度または操作対象９０に対する操作者の相対位置に応じて第２信号出力維持時間Δｔ２１を変更する。既述のように、第１信号出力維持時間Δｔ１１についても同様である。 When the receiving unit 191 and the maintenance time changing unit 192 are provided, the receiving unit 191 receives an input of a speed of a specific part of the operation target 90 being operated or an operator's relative position with respect to the operation target 90. Then, the maintenance time changing unit 192 changes the second signal output maintenance time Δt21 according to the speed of the specific part or the relative position of the operator with respect to the operation target 90. As described above, the same applies to the first signal output maintaining time Δt11.
　なお、下限立下り遅延回路３１１を設けずに上限立下り遅延回路３１２のみが設けられてもよい。 Note that only the upper limit falling delay circuit 312 may be provided without providing the lower limit falling delay circuit 311.
　図２６は、図２３の比較回路１５３に３つの比較器を設けた例を示す図である。一部の周辺構成の記載を省略している。図２３では、保持力と上限値とを比較する比較器と、保持力と下限値とを比較する比較器とが設けられるが、図２６では、保持力と補助上限値とを比較する比較器が追加される。すなわち、回路部２において、イネーブル範囲の上限値よりも大きい補助上限値が設定されている。保持力と補助上限値との比較結果がＡＮＤ回路２１に入力される様子を符号３２３を付す線にて示している。保持力が補助上限値を上回ると、比較結果である補助上限信号は、「１」から「０」に立下る。したがって、イネーブル信号の出力は停止する。 FIG. 26 is a diagram showing an example in which three comparators are provided in the comparison circuit 153 of FIG. Description of some peripheral components is omitted. 23, a comparator that compares the holding force and the upper limit value and a comparator that compares the holding force and the lower limit value are provided. In FIG. 26, a comparator that compares the holding force and the auxiliary upper limit value. Is added. That is, the auxiliary upper limit value that is larger than the upper limit value of the enable range is set in the circuit unit 2. A state where the comparison result between the holding force and the auxiliary upper limit value is input to the AND circuit 21 is indicated by a line denoted by reference numeral 323. When the holding force exceeds the auxiliary upper limit value, the auxiliary upper limit signal as a comparison result falls from “1” to “0”. Therefore, the output of the enable signal is stopped.
　図２７は、図２６の構成を含むイネーブルスイッチ１の動作例を示す図である。保持力上限信号や保持力下限信号等の記載を省略している。上限立下り遅延回路３１２により、保持力が上限値を上回っても第２信号出力維持時間の間はイネーブル信号の出力は維持される。しかし、第２信号出力維持時間が経過する前に保持力が補助上限値を上回った場合、補助上限信号が立下り、イネーブル信号の出力は強制的に停止される。図２７では、保持力が上限値を上回ってから補助上限値を上回るまでの時間にΔｔ２４を付している。このように、保持力が補助上限値を上回った際に、第２信号出力維持時間Δｔ２１に関わらず、回路部２は、イネーブル信号の出力を停止する。 FIG. 27 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force upper limit signal, the holding force lower limit signal, and the like is omitted. The upper limit falling delay circuit 312 maintains the output of the enable signal during the second signal output maintaining time even if the holding force exceeds the upper limit value. However, if the holding force exceeds the auxiliary upper limit value before the second signal output maintenance time elapses, the auxiliary upper limit signal falls and the output of the enable signal is forcibly stopped. In FIG. 27, Δt24 is given to the time from when the holding force exceeds the upper limit value until it exceeds the auxiliary upper limit value. As described above, when the holding force exceeds the auxiliary upper limit value, the circuit unit 2 stops outputting the enable signal regardless of the second signal output maintaining time Δt21.
　図２３に示す上限値設定部１６１および下限値設定部１６２に準じて、補助上限値を認証結果に応じて設定する補助上限値設定部が設けられてもよい。これにより、認証部１２での認証結果に従って操作者毎の保持力の補助上限値が設定される。保持力検出部１５が押し込み量が実質的に無いデバイスである場合、保持し直した瞬間等において保持力が瞬間的に下限値を下回ったり上限値を上回ったりする可能性があるため、保持力下限信号や保持力上限信号を遅延させたり、補助上限値を設けることは、このような保持力検出部１５に特に適している。 23. An auxiliary upper limit value setting unit that sets the auxiliary upper limit value according to the authentication result may be provided according to the upper limit value setting unit 161 and the lower limit value setting unit 162 shown in FIG. Thereby, the auxiliary upper limit value of the holding power for each operator is set according to the authentication result in the authentication unit 12. When the holding force detection unit 15 is a device having substantially no pushing amount, the holding force may momentarily fall below the lower limit value or exceed the upper limit value at the moment when the holding force is re-holded. It is particularly suitable for such a holding force detection unit 15 to delay the lower limit signal and the holding force upper limit signal or to provide an auxiliary upper limit value.
　図２８は、図２６の構成に警告部４を追加した例を示す図である。警告部４は、保持力がイネーブル範囲の下限値に近づいた際に操作者に警告を通知する。また、警告部４は、保持力がイネーブル範囲の上限値に近づいた際にも操作者に警告を通知する。なお、下限値側の警告および上限値側の警告の一方のみが行われてもよい。警告により、不要な操作停止が抑制され、操作効率の低下を抑制することができる。保持力が下限値に近づいたことを示す警告が行われる場合、下限立下り遅延回路３１１は省略されてもよい。保持力が上限値に近づいたことを示す警告が行われる場合、上限立下り遅延回路３１２は省略されてもよい。 FIG. 28 is a diagram showing an example in which a warning unit 4 is added to the configuration of FIG. The warning unit 4 notifies the operator of a warning when the holding force approaches the lower limit value of the enable range. The warning unit 4 also notifies the operator of a warning when the holding force approaches the upper limit value of the enable range. Note that only one of the warning on the lower limit value side and the warning on the upper limit value side may be performed. The warning can suppress unnecessary operation stop and suppress a decrease in operation efficiency. When a warning indicating that the holding force has approached the lower limit value is issued, the lower limit falling delay circuit 311 may be omitted. When a warning indicating that the holding force has approached the upper limit value is issued, the upper limit falling delay circuit 312 may be omitted.
　操作者に注意喚起を行う警告部４による警告は、例えば、操作部８の振動、操作部８の表示、操作部８や操作部８以外に設けられたやインジケータライトの点滅、音声、警告音等である。操作場所は騒音が大きい場合が多いため、これらの警告手法のうち、操作部８の振動が最も好ましい。保持力がイネーブル範囲の下限値に近づいた際の警告手法と、保持力がイネーブル範囲の上限値に近づいた際の警告手法とは異なってもよい。 The warning by the warning unit 4 that alerts the operator includes, for example, vibration of the operation unit 8, display of the operation unit 8, flashing of indicator lights provided outside the operation unit 8 or the operation unit 8, sound, warning sound Etc. Of these warning methods, the vibration of the operation unit 8 is most preferable because the operation place is often noisy. The warning method when the holding force approaches the lower limit value of the enable range may be different from the warning method when the holding force approaches the upper limit value of the enable range.
　比較回路１５３には、下限値よりも少し大きい下限警告値と、上限値よりの少し小さい上限警告値とが予め設定されている。以下の説明では、下限値よりも大きく、かつ、下限警告値よりも小さい範囲を「下限警告範囲」と呼ぶ。上限値よりも小さく、かつ、上限警告値よりも大きい範囲を「上限警告範囲」と呼ぶ。比較回路１５３には保持力と下限警告値とを比較する比較器と、保持力と上限警告値とを比較する比較器とがさらに設けられる。 In the comparison circuit 153, a lower limit warning value slightly larger than the lower limit value and an upper limit warning value slightly smaller than the upper limit value are set in advance. In the following description, a range that is larger than the lower limit value and smaller than the lower limit warning value is referred to as a “lower limit warning range”. A range smaller than the upper limit value and larger than the upper limit warning value is referred to as an “upper limit warning range”. The comparison circuit 153 is further provided with a comparator that compares the holding force and the lower limit warning value, and a comparator that compares the holding force and the upper limit warning value.
　保持力と下限警告値とを比較する比較器からの出力は、保持力が下限警告値よりも小さくなると「０」から「１」に変化する。この出力は、符号２７１にて示すようにＡＮＤ回路２７３に入力される。ＡＮＤ回路２７３には、保持力と下限値とを比較する比較器からの出力も符号３２１にて示すように入力される。さらに、ＡＮＤ回路２７３にはイネーブル信号も入力される。したがって、ＡＮＤ回路２７３の出力は、イネーブル信号が出力されている間に保持力が下限警告範囲に入ると「１」となり、警告部４から操作者に警告が通知される。 The output from the comparator that compares the holding force with the lower limit warning value changes from “0” to “1” when the holding force becomes smaller than the lower limit warning value. This output is input to the AND circuit 273 as indicated by reference numeral 271. An output from a comparator that compares the holding force with the lower limit value is also input to the AND circuit 273 as indicated by reference numeral 321. Further, an enable signal is also input to the AND circuit 273. Therefore, the output of the AND circuit 273 becomes “1” when the holding force enters the lower limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
　保持力と上限警告値とを比較する比較器からの出力は、保持力が上限警告値よりも大きくなると「０」から「１」に変化する。この出力は、符号２７２にて示すようにＡＮＤ回路２７４に入力される。ＡＮＤ回路２７４には、保持力と上限値とを比較する比較器からの出力も符号３２２にて示すように入力される。さらに、ＡＮＤ回路２７４にはイネーブル信号も入力される。したがって、ＡＮＤ回路２７４の出力は、イネーブル信号が出力されている間に保持力が上限警告範囲に入ると「１」となり、警告部４から操作者に警告が通知される。 The output from the comparator that compares the holding force with the upper limit warning value changes from “0” to “1” when the holding force becomes larger than the upper limit warning value. This output is input to the AND circuit 274 as indicated by reference numeral 272. An output from a comparator that compares the holding force with the upper limit value is also input to the AND circuit 274 as indicated by reference numeral 322. Further, an enable signal is also input to the AND circuit 274. Accordingly, the output of the AND circuit 274 becomes “1” when the holding force enters the upper limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
　図２９は、図２８の構成を含むイネーブルスイッチ１の動作例を示す図である。保持力上限信号や保持力下限信号等の記載を省略している。また、下限立下り遅延回路３１１および上限立下り遅延回路３１２が存在しない場合のイネーブル信号を示している。下限警告範囲に符号Ｒ１、上限警告範囲に符号Ｒ２を付している。「下限警告信号」は、ＡＮＤ回路２７３からの出力を示している。保持力が下限警告範囲Ｒ１に入っている間、下限警告信号は「１」となり、警告部４により操作者に警告が通知される。 FIG. 29 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force upper limit signal, the holding force lower limit signal, and the like is omitted. In addition, an enable signal when the lower limit falling delay circuit 311 and the upper limit falling delay circuit 312 are not present is shown. The lower limit warning range is denoted by reference symbol R1, and the upper limit warning range is denoted by reference symbol R2. The “lower limit warning signal” indicates an output from the AND circuit 273. While the holding force is within the lower limit warning range R1, the lower limit warning signal is “1”, and the warning unit 4 notifies the operator of the warning.
　図３０は、図２８の構成を含むイネーブルスイッチ１の他の動作例を示す図である。下限立下り遅延回路３１１および上限立下り遅延回路３１２が存在しない場合のイネーブル信号を示している。「上限警告信号」は、ＡＮＤ回路２７４からの出力を示している。保持力が上限警告範囲Ｒ２に入っている間、上限警告信号は「１」となり、警告部４により操作者に警告が通知される。 FIG. 30 is a diagram illustrating another operation example of the enable switch 1 including the configuration of FIG. The enable signal when the lower limit falling delay circuit 311 and the upper limit falling delay circuit 312 are not present is shown. The “upper limit warning signal” indicates an output from the AND circuit 274. While the holding force is in the upper limit warning range R2, the upper limit warning signal is “1”, and the warning unit 4 notifies the operator of the warning.
　警告により、保持力が意図すること無く下限値を下回ったり、上限値を上回ったりすることが抑制され、操作効率の低下が抑制される。 警告 The warning prevents the holding force from unintentionally falling below the lower limit value or exceeding the upper limit value, thereby suppressing a decrease in operating efficiency.
　図３１は、図３０の構成に下限立上り遅延回路２８１と、上限立上り遅延回路２８２とを追加した例を示す図である。下限立上り遅延回路２８１はＡＮＤ回路２７３と警告部４との間に位置する。上限立上り遅延回路２８２はＡＮＤ回路２７４と警告部４との間に位置する。 FIG. 31 is a diagram showing an example in which a lower limit rising delay circuit 281 and an upper limit rising delay circuit 282 are added to the configuration of FIG. The lower limit rising delay circuit 281 is located between the AND circuit 273 and the warning unit 4. Upper limit rising delay circuit 282 is located between AND circuit 274 and warning unit 4.
　下限立上り遅延回路２８１は、ＡＮＤ回路２７３からの下限警告信号の立上りを、予め定められた警告停止時間だけ遅延させる。これにより、ＡＮＤ回路２７３からの警告信号が「１」になっている時間が警告停止時間よりも短い場合、警告は行われない。同様に、上限立上り遅延回路２８２は、ＡＮＤ回路２７４からの上限警告信号の立上りを、予め定められた警告停止時間だけ遅延させる。これにより、ＡＮＤ回路２７４からの警告信号が「１」になっている時間が警告停止時間よりも短い場合、警告は行われない。換言すれば、下限立上り遅延回路２８１により、保持力が下限警告範囲Ｒ１に入っている時間が予め定められた警告停止時間を超えた場合に、警告部４は操作者に警告を通知する。上限立上り遅延回路２８２により、保持力が上限警告範囲Ｒ２に入っている時間が予め定められた警告停止時間を超えた場合に、警告部４は操作者に警告を通知する。 The lower limit rise delay circuit 281 delays the rise of the lower limit warning signal from the AND circuit 273 by a predetermined warning stop time. Thereby, when the time when the warning signal from the AND circuit 273 is “1” is shorter than the warning stop time, the warning is not performed. Similarly, the upper limit rising delay circuit 282 delays the rising of the upper limit warning signal from the AND circuit 274 by a predetermined warning stop time. Thus, when the warning signal from the AND circuit 274 is “1” is shorter than the warning stop time, no warning is given. In other words, when the time during which the holding force enters the lower limit warning range R1 exceeds the predetermined warning stop time by the lower limit rising delay circuit 281, the warning unit 4 notifies the operator of a warning. When the time during which the holding force is within the upper limit warning range R2 exceeds a predetermined warning stop time by the upper limit rising delay circuit 282, the warning unit 4 notifies the operator of a warning.
　なお、下限立上り遅延回路２８１および上限立上り遅延回路２８２の一方のみが設けられてもよい。また、これらの遅延回路２８１，２８２の警告停止時間は異なってよい。 Only one of the lower limit rising delay circuit 281 and the upper limit rising delay circuit 282 may be provided. Further, the warning stop times of these delay circuits 281 and 282 may be different.
　図３２は、図３１の構成を含むイネーブルスイッチ１の動作例を示す図である。保持力が下限警告範囲Ｒ１に入っている時間Δｔ３２が、警告遅延時間Δｔ３１よりも長い場合、保持力が下限警告範囲Ｒ１に入ってから警告遅延時間Δｔ３１が経過した後、下限警告信号が立ち上がる。一方、保持力が下限警告範囲Ｒ１に入っている時間Δｔ３３が、警告遅延時間Δｔ３１よりも短い場合、下限警告信号が立上らない。これにより、例えば、操作者がイネーブルスイッチ１から手を離す際等に、不要な警告が通知されることを抑制することができる。この動作は、保持力検出部１５が、押し込み量が実施的に無いために操作者が保持力を押し込み量で把握することが困難なスイッチを含む場合に特に適している。 FIG. 32 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. When the time Δt32 during which the holding force enters the lower limit warning range R1 is longer than the warning delay time Δt31, the lower limit warning signal rises after the warning delay time Δt31 has elapsed since the holding force entered the lower limit warning range R1. On the other hand, when the time Δt33 during which the holding force is within the lower limit warning range R1 is shorter than the warning delay time Δt31, the lower limit warning signal does not rise. Thereby, for example, when the operator releases his hand from the enable switch 1, notification of an unnecessary warning can be suppressed. This operation is particularly suitable when the holding force detector 15 includes a switch in which it is difficult for the operator to grasp the holding force with the pushing amount because the pushing amount is practically absent.
　図示を省略するが、上限警告信号に関しても下限警告信号に準じた動作が行われる。すなわち、保持力が上限警告範囲Ｒ２に入っている時間が、警告遅延時間よりも長い場合、保持力が上限警告範囲Ｒ２に入ってから警告遅延時間が経過した後、上限警告信号が立ち上がる。一方、保持力が上限警告範囲Ｒ２に入っている時間が、警告遅延時間よりも短い場合、上限警告信号は立上らない。これにより、操作者がイネーブルスイッチ１を保持した直後等に、不要な警告が通知されることを抑制することができる。この動作も、保持力検出部１５が、押し込み量が実施的に無いために操作者が保持力を押し込み量で把握することが困難なスイッチを含む場合に特に適している。 Although not shown, the upper warning signal is also operated according to the lower warning signal. That is, when the holding force is in the upper limit warning range R2 is longer than the warning delay time, the upper limit warning signal rises after the warning delay time has elapsed since the holding force entered the upper limit warning range R2. On the other hand, if the holding force is within the upper warning range R2 is shorter than the warning delay time, the upper warning signal does not rise. Thereby, it is possible to suppress notification of an unnecessary warning immediately after the operator holds the enable switch 1 or the like. This operation is also particularly suitable when the holding force detection unit 15 includes a switch that makes it difficult for the operator to grasp the holding force with the pushing amount because the pushing amount is practically absent.
　図３３は、機械式の保持力検出部１５を含むイネーブルスイッチ１を備えた操作部８を示す図である。操作者の手９が操作部８を保持すると、イネーブルスイッチ１の保持力検出部１５上に指が位置する。保持力検出部１５は、いわゆる３ポジションスイッチである。保持力検出部１５が有するスイッチの操作バーが押し込まれていない状態がポジション１である。操作部８と共にイネーブルスイッチ１を軽く保持して操作バーが少し押し込まれた状態がポジション２である。操作部８と共にイネーブルスイッチ１を強く保持すると、操作バーはさらに押し込まれ、保持力検出部１５はポジション３となる。 FIG. 33 is a diagram illustrating the operation unit 8 including the enable switch 1 including the mechanical holding force detection unit 15. When the operator's hand 9 holds the operation unit 8, the finger is positioned on the holding force detection unit 15 of the enable switch 1. The holding force detector 15 is a so-called three-position switch. Position 1 is a state in which the switch operating bar of the holding force detector 15 is not pushed. The position 2 is a state where the enable switch 1 is lightly held together with the operation unit 8 and the operation bar is pushed in a little. When the enable switch 1 is strongly held together with the operation unit 8, the operation bar is further pushed in, and the holding force detection unit 15 is in the position 3.
　図３４は、イネーブルスイッチ１の回路部２をその周辺構成と共に示す図である。回路部２は、ＡＮＤ回路２１と、下限立下り遅延回路３１１とを含む。保持力検出部１５は比較部１５４を含む。比較部１５４は、保持力検出部１５の押し込み量を予め定められた下限値および上限値とそれぞれ比較する。比較部１５４は、押し込み量自体を測定して下限値および上限値と比較するものでもよく、押し込み量と下限値および上限値のそれぞれとの大小関係を検出するセンサや機構でもよい。押し込み量と下限値との比較結果は、符号３４１にて示すように、下限立下り遅延回路３１１に入力される。下限立下り遅延回路３１１からの出力はＡＮＤ回路２１に入力される。押し込み量と上限値との比較結果は、符号３４２にて示すように、ＡＮＤ回路２１に入力される。 FIG. 34 is a diagram showing the circuit unit 2 of the enable switch 1 together with its peripheral configuration. The circuit unit 2 includes an AND circuit 21 and a lower limit falling delay circuit 311. The holding force detection unit 15 includes a comparison unit 154. The comparison unit 154 compares the pushing amount of the holding force detection unit 15 with a predetermined lower limit value and upper limit value. The comparison unit 154 may measure the push amount itself and compare it with the lower limit value and the upper limit value, or may be a sensor or mechanism that detects the magnitude relationship between the push amount and each of the lower limit value and the upper limit value. The comparison result between the push amount and the lower limit value is input to the lower limit falling delay circuit 311 as indicated by reference numeral 341. An output from the lower limit falling delay circuit 311 is input to the AND circuit 21. The comparison result between the push amount and the upper limit value is input to the AND circuit 21 as indicated by reference numeral 342.
　押し込み量の上限値と下限値との間の範囲を「イネーブル範囲」と呼ぶと、保持力検出部１５は、操作者による操作部８の保持による押し込み量が、予め定められたイネーブル範囲内であるか否かを検出する。そして、回路部２は、押し込み量がイネーブル範囲内であることを検出している間、イネーブル信号を出力する。下限立下り遅延回路３１１が設けられることにより、図２０の場合と同様に、回路部２は、イネーブル信号の出力中に押し込み量がイネーブル範囲の下限値を下回ってから予め定められた第１信号出力維持時間が経過するまで、イネーブル信号の出力を維持する。これにより、イネーブル信号の不要な停止が抑制される。 When the range between the upper limit value and the lower limit value of the push amount is referred to as an “enable range”, the holding force detection unit 15 determines that the push amount by the holding of the operation unit 8 by the operator is within a predetermined enable range. Detect whether or not there is. The circuit unit 2 outputs an enable signal while detecting that the push-in amount is within the enable range. By providing the lower limit falling delay circuit 311, as in the case of FIG. 20, the circuit unit 2 allows the first signal to be determined in advance after the push amount falls below the lower limit value of the enable range during the output of the enable signal. The output of the enable signal is maintained until the output maintenance time elapses. Thereby, unnecessary stop of the enable signal is suppressed.
　図３５ないし図３７は、図３４の構成を含むイネーブルスイッチ１の動作例を示す図である。押し込み量の「ＰＯＳ１」、「ＰＯＳ２」、「ＰＯＳ３」は、それぞれ操作バーのポジション１、ポジション２、ポジション３を示す。下限立下り遅延回路３１１により、実質的に図２０と同様の動作が実現される。図３５に示すように、操作部８の持ち直し等により、保持力検出部１５が短時間の間だけ、ポジション２からポジション１になったとしても、押し込み量が下限値を下回る時間Δｔ１２が第１信号出力維持時間Δｔ１１よりも短い場合、下限立下り遅延回路３１１により、下限立下り遅延信号は途切れず、イネーブル信号の出力は継続する。一方、図３６に示すように、押し込み量が下限値を下回る時間Δｔ１３が第１信号出力維持時間Δｔ１１よりも長い場合、イネーブル信号の出力は停止される。 35 to 37 are diagrams showing an operation example of the enable switch 1 including the configuration of FIG. The pushing amounts “POS1”, “POS2”, and “POS3” indicate position 1, position 2, and position 3 of the operation bar, respectively. The lower limit falling delay circuit 311 realizes substantially the same operation as in FIG. As shown in FIG. 35, even if the holding force detection unit 15 changes from the position 2 to the position 1 only for a short time due to re-handling of the operation unit 8, the time Δt12 when the pushing amount falls below the lower limit value is the first time. When it is shorter than the signal output maintaining time Δt11, the lower limit falling delay signal is not interrupted by the lower limit falling delay circuit 311 and the output of the enable signal is continued. On the other hand, as shown in FIG. 36, when the time Δt13 when the pushing amount falls below the lower limit value is longer than the first signal output maintaining time Δt11, the output of the enable signal is stopped.
　一方、図３７に示すように、押し込み量が上限値を上回ると、イネーブル信号は、第１信号出力維持時間Δｔ１１とは関係なく、直ちに停止される。詳細は省略するが、一度ポジション３になると、ポジション１まで戻さないと、再度イネーブル信号を出力することはできない。 On the other hand, as shown in FIG. 37, when the pushing amount exceeds the upper limit value, the enable signal is immediately stopped regardless of the first signal output maintaining time Δt11. Although details are omitted, once the position 3 is reached, the enable signal cannot be output again unless the position 1 is returned.
　図３４では示していないが、押し込み量と上限値との比較結果に対して、すなわち、符号３４２を付す線上に、上限立下り遅延回路が設けられてもよい。この場合、回路部２は、イネーブル信号の出力中に押し込み量がイネーブル範囲の上限値を上回ってから予め定められた第２信号出力維持時間が経過するまで、イネーブル信号の出力を維持する。これにより、安全性に影響を与えないごく短時間だけ保持力検出部１５がポジション３になったとしても、イネーブル信号の出力が維持され、イネーブル信号の不要な停止が抑制される。この場合、押し込み量が上限値よりも大きい補助上限値が設けられてもよい。図２６中に符号３２３を付す線と同様の接続を図３４に設けて、押し込み量が補助上限値を上回った際に、第２信号出力維持時間に関わらず、回路部２は、イネーブル信号の出力を停止する。 Although not shown in FIG. 34, an upper limit falling delay circuit may be provided for the comparison result between the pushing amount and the upper limit value, that is, on the line denoted by reference numeral 342. In this case, the circuit unit 2 maintains the output of the enable signal until the predetermined second signal output maintenance time elapses after the push amount exceeds the upper limit value of the enable range during the output of the enable signal. As a result, even if the holding force detector 15 is in the position 3 for a very short time that does not affect safety, the output of the enable signal is maintained and unnecessary stop of the enable signal is suppressed. In this case, an auxiliary upper limit value in which the pushing amount is larger than the upper limit value may be provided. A connection similar to the line denoted by reference numeral 323 in FIG. 26 is provided in FIG. 34, and when the pushing amount exceeds the auxiliary upper limit value, the circuit unit 2 Stop output.
　下限立下り遅延回路３１１を設けずに上限立下り遅延回路３１２のみが設けられてもよい。また、図１９や図２３と同様に、受付部１９１および維持時間変更部１９２を設け、第１信号出力維持時間や第２信号出力維持時間が変更されてもよい。 Only the upper limit falling delay circuit 312 may be provided without providing the lower limit falling delay circuit 311. Similarly to FIG. 19 and FIG. 23, the reception unit 191 and the maintenance time changing unit 192 may be provided, and the first signal output maintenance time and the second signal output maintenance time may be changed.
　図３８は、図３３の構成に、図２８に準じて警告部４を設けた例である。警告部４は、保持力がイネーブル範囲の下限値に近づいた際に操作者に警告を通知する。警告により、不要な操作停止を抑制することができる。下限立下り遅延回路３１１は省略されてもよい。比較部１５４には、下限値よりも少し大きい下限警告値が予め設定される。下限値よりも大きく、かつ、下限警告値よりも小さい範囲は「下限警告範囲」である。ＡＮＤ回路２７３の出力は、イネーブル信号が出力されている間に押し込み量が下限警告範囲に入ると「１」になり、警告部４から操作者に警告が通知される。 FIG. 38 is an example in which the warning unit 4 is provided in the configuration of FIG. 33 according to FIG. The warning unit 4 notifies the operator of a warning when the holding force approaches the lower limit value of the enable range. The warning can suppress unnecessary operation stop. The lower limit falling delay circuit 311 may be omitted. The comparison unit 154 is preset with a lower limit warning value slightly larger than the lower limit value. A range larger than the lower limit value and smaller than the lower limit warning value is a “lower limit warning range”. The output of the AND circuit 273 becomes “1” when the push amount enters the lower limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
　図３９は、図３８の構成を含むイネーブルスイッチ１の動作例を示す図である。下限立下り遅延回路３１１が存在しない場合のイネーブル信号を示している。下限警告範囲に符号Ｒ１を付している。ＡＮＤ回路２７３からの出力である下限警告信号は、押し込み量が下限警告範囲Ｒ１に入っている間、「１」となり、警告部４により操作者に警告が通知される。例えば、操作者による保持が徐々に緩んだ場合、警告により保持が不十分になりつつあることが操作者に通知される。その結果、保持力が意図すること無く下限値を下回ることが抑制され、操作の効率が向上する。 FIG. 39 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. The enable signal when the lower limit falling delay circuit 311 does not exist is shown. The lower limit warning range is denoted by reference symbol R1. The lower limit warning signal output from the AND circuit 273 is “1” while the push-in amount is within the lower limit warning range R1, and the warning unit 4 notifies the operator of the warning. For example, when the holding by the operator gradually loosens, the operator is notified by the warning that the holding is becoming insufficient. As a result, the holding force is prevented from unintentionally falling below the lower limit value, and the operation efficiency is improved.
　なお、図２８の場合と同様に、押し込み量の上限値近傍に上限警告範囲を設定し、押し込み量が徐々に上限値に近づいた場合にも警告が行われてよい。下限警告範囲を設けずに上限警告範囲のみが設けられてもよい。 As in the case of FIG. 28, an upper limit warning range may be set near the upper limit value of the push amount, and a warning may be issued when the push amount gradually approaches the upper limit value. Only the upper limit warning range may be provided without providing the lower limit warning range.
　さらに、図４０に示すように、図３８の構成に、図３１に準じて、下限立上り遅延回路２８１が追加されてもよい。これにより、下限警告信号の立上りが遅延され、押し込み量が下限警告範囲Ｒ１に入っている時間が予め定められた警告停止時間を超えた場合にのみ、警告部４は操作者に警告を通知する。その結果、図４１に示すように、操作者がイネーブルスイッチ１から指を離す際等に不要な警告が行われることが抑制される。また、図３１のように上限立上り遅延回路２８２が追加されてもよく、下限立上り遅延回路２８１を設けずに上限立上り遅延回路２８２のみが設けられてもよい。 Furthermore, as shown in FIG. 40, a lower limit rising delay circuit 281 may be added to the configuration of FIG. 38 according to FIG. Thus, the warning unit 4 notifies the operator of a warning only when the rising edge of the lower limit warning signal is delayed and the amount of push-in exceeds the lower limit warning range R1 exceeds a predetermined warning stop time. . As a result, as shown in FIG. 41, unnecessary warnings are suppressed when the operator removes his / her finger from the enable switch 1 or the like. Further, as shown in FIG. 31, an upper limit rising delay circuit 282 may be added, or only the upper limit rising delay circuit 282 may be provided without providing the lower limit rising delay circuit 281.
　上記イネーブルスイッチ１および操作部８は様々な変更が可能である。イネーブルスイッチ１が設けられる操作部８は、教示ペンダントには限定されず、ホイスト等の重機の操作部、車両の操作部、電動車いすの操作部等の様々な操作部に利用可能である。認証部１２による認識は、操作者の身体の様々な部位が利用されてよく、顔認証等でもよい。操作者が身につけているもので認証されてもよく、ＩＣチップが埋め込まれたカードには限定されず、２次元コードや顔写真を読み取ることにより認識されてもよい。 The enable switch 1 and the operation unit 8 can be variously changed. The operation unit 8 provided with the enable switch 1 is not limited to the teaching pendant, and can be used for various operation units such as an operation unit of a heavy machine such as a hoist, an operation unit of a vehicle, and an operation unit of an electric wheelchair. For recognition by the authentication unit 12, various parts of the operator's body may be used, and face authentication may be used. It may be authenticated by what the operator wears, and is not limited to a card in which an IC chip is embedded, and may be recognized by reading a two-dimensional code or a face photograph.
　イネーブルスイッチ１を、一つの独立した操作デバイスとしてもよい。操作対象の所定範囲内にあるか、操作対象の操作部等に取り付けることで操作部による操作を許可するデバイスとして、様々な操作部と連携できるようにしてもよい。 The enable switch 1 may be an independent operation device. A device that is within a predetermined range of the operation target or attached to the operation unit or the like to be operated may be linked with various operation units as a device that permits operation by the operation unit.
　保持検出部１４は、押し込み量が実質的に無い検出デバイスであれば様々なものが採用可能である。「押し込み量が実質的に無い」とは、通常の保持する力で操作部を保持した場合に、押し込みを感じ取ることが無いことを意味し、必ずしも厳密な意味で押し込み量が無いことを意味しない。保持検出部１４には、各種タッチパネル、圧力センサ、光反射型の物体検出センサ等が採用可能である。 As the holding detection unit 14, various devices can be adopted as long as the detection device has substantially no pushing amount. “Substantially no push-in amount” means that when the operation unit is held with a normal holding force, it does not feel push-in, and does not necessarily mean that there is no push-in amount in a strict sense. . Various types of touch panels, pressure sensors, light reflection type object detection sensors, and the like can be used for the holding detection unit 14.
　保持力検出部１５には、押し込み量が実質的に無い検出部や機械的なスイッチが採用可能であるが、他の様々なデバイスも採用可能である。例えば、各種タッチパネル、圧力センサ、押し込み量に従って押圧力が漸次増大するスイッチ、押し込み量に従って押圧力が複雑に変化するスイッチ等が利用可能である。 The holding force detection unit 15 can employ a detection unit or a mechanical switch that is substantially free from the pushing amount, but various other devices can also be used. For example, various touch panels, pressure sensors, switches in which the pressing force gradually increases according to the pressing amount, switches in which the pressing force changes in a complicated manner according to the pressing amount, and the like can be used.
　回路部２の構成は、実質的に同等の機能が実現されるのであれば様々に変形されてよい。回路部２にはマイクロコンピュータが利用されてもよい。認証部１２、保持検出部１４、保持力検出部１５、上限値設定部１６１、下限値設定部１６２、受付部１９１、維持時間変更部１９２等は、一部または全体が、回路部２と共通の回路であってもよい。上記実施の形態にて示した各種回路構成は、主な機能により分けて表現しているに過ぎない。 The configuration of the circuit unit 2 may be variously modified as long as substantially the same function is realized. A microcomputer may be used for the circuit unit 2. The authentication unit 12, the holding detection unit 14, the holding force detection unit 15, the upper limit value setting unit 161, the lower limit value setting unit 162, the receiving unit 191, the maintenance time changing unit 192, etc. are partially or entirely in common with the circuit unit 2. This circuit may be used. The various circuit configurations shown in the above embodiment are merely expressed separately according to main functions.
　認証部１２、保持検出部１４、保持力検出部１５は操作部８の様々な場所に設けてよい。例えば、認証部１２は、保持検出部１４や保持力検出部１５が設けられる本体１１とは異なる操作部８上の位置に設けられてもよい。既述のように認証には様々な手法が採用されてよく、認証手法に応じて認証部１２は適切な位置に配置される。認証部１２は操作部８の外部に設けることも可能である。認証回路１２２による認証結果は、操作部８にも出力され、操作部８による操作対象９０の操作権限が変更される。回路部２は、イネーブルスイッチ１の本体１１内ではなく、操作部８内に設けられてもよい。さらには、回路部２の一部は操作部８の外部に設けられてもよい。 The authentication unit 12, the holding detection unit 14, and the holding force detection unit 15 may be provided at various places on the operation unit 8. For example, the authentication unit 12 may be provided at a position on the operation unit 8 different from the main body 11 in which the holding detection unit 14 and the holding force detection unit 15 are provided. As described above, various methods may be employed for authentication, and the authentication unit 12 is arranged at an appropriate position according to the authentication method. The authentication unit 12 can also be provided outside the operation unit 8. The authentication result by the authentication circuit 122 is also output to the operation unit 8, and the operation authority of the operation target 90 by the operation unit 8 is changed. The circuit unit 2 may be provided not in the main body 11 of the enable switch 1 but in the operation unit 8. Furthermore, a part of the circuit unit 2 may be provided outside the operation unit 8.
　上記実施の形態にて説明した信号の立下りおよび立上りは一例に過ぎず、例えば、上記説明における立下りおよび立上りを入れ替え、これに合わせて論理回路を変更しても同様の機能は実現可能である。 The signal falling and rising described in the above embodiment are merely examples. For example, the same function can be realized by replacing the falling and rising in the above description and changing the logic circuit accordingly. is there.
　イネーブルスイッチ１には、上限警告値や下限警告値を認証結果に応じて変更する構成要素が追加されてもよい。認証結果に応じて警告停止時間を変更する構成が追加されてもよい。 The enable switch 1 may be added with a component for changing the upper limit warning value and the lower limit warning value according to the authentication result. A configuration for changing the warning stop time according to the authentication result may be added.
　保持力や押し込み量が上限値を超えた際にイネーブル信号の出力を僅かな時間だけ維持する際には、イネーブルスイッチ１または操作部８から操作対象の動作を減速させるための減速信号が出力されてもよい。これにより、操作者の安全がさらに確保された状況下で意図せずにイネーブル信号が取り消されることが抑制され、操作効率の低下を抑制することができる。 When the output of the enable signal is maintained for a short time when the holding force or the pushing amount exceeds the upper limit value, a deceleration signal for decelerating the operation of the operation target is output from the enable switch 1 or the operation unit 8. May be. Thereby, it is possible to prevent the enable signal from being canceled unintentionally in a situation where the safety of the operator is further ensured, and it is possible to suppress a decrease in operation efficiency.
　上記実施の形態および各変形例における構成は、相互に矛盾しない限り適宜組み合わされてよい。 The configurations in the above embodiment and each modification may be combined as appropriate as long as they do not contradict each other.
　発明を詳細に描写して説明したが、既述の説明は例示的であって限定的なものではない。したがって、本発明の範囲を逸脱しない限り、多数の変形や態様が可能であるといえる。 Although the invention has been described in detail, the above description is illustrative and not restrictive. Therefore, it can be said that many modifications and embodiments are possible without departing from the scope of the present invention.
　本発明は、産業ロボット、ホイスト、車いす等の多岐に亘る操作対象の操作に利用される操作部のイネーブルスイッチとして利用可能である。 The present invention can be used as an enable switch for an operation unit that is used for operations on a wide variety of operation objects such as industrial robots, hoists, and wheelchairs.
　１　　イネーブルスイッチ
　２　　回路部
　４　　警告部
　８　　操作部
　１５　　保持力検出部
　９０　　操作対象
　Ｒ１　　下限警告範囲
　Ｒ２　　上限警告範囲 DESCRIPTION OF SYMBOLS 1 Enable switch 2 Circuit part 4 Warning part 8 Operation part 15 Holding force detection part 90 Operation object R1 Lower limit warning range R2 Upper limit warning range

Claims (7)

  1. 　操作部に設けられ、前記操作部による操作対象の操作を許可するイネーブルスイッチであって、
    　操作者による前記操作部の保持力または保持による押し込み量が、予め定められたイネーブル範囲内であるか否かを検出する保持力検出部と、
    　前記保持力または前記押し込み量が前記イネーブル範囲内であることを前記保持力検出部が検出している間、前記操作部による前記操作対象の操作を許可するイネーブル信号を出力する回路部と、
    　前記保持力または前記押し込み量が前記イネーブル範囲の下限値に近づいた際に前記操作者に警告を通知する警告部と、
    を備える。     An enable switch that is provided in the operation unit and permits operation of an operation target by the operation unit,
    A holding force detection unit that detects whether the holding force of the operation unit by the operator or the pressing amount by holding is within a predetermined enable range;
    A circuit unit that outputs an enable signal that permits operation of the operation target by the operation unit while the holding force detection unit detects that the holding force or the pushing amount is within the enable range;
    A warning unit for notifying the operator of a warning when the holding force or the pushing amount approaches a lower limit value of the enable range;
    Is provided.
  2. 　請求項１に記載のイネーブルスイッチであって、
    　前記イネーブル範囲において、前記下限値より大きく、かつ、予め定められた保持力または押し込み量である下限警告値よりも小さい範囲である下限警告範囲が定められており、
    　前記保持力または前記押し込み量が前記下限警告範囲に入っている時間が予め定められた警告停止時間を超えた場合に、前記警告部は前記操作者に警告を通知する。　     The enable switch according to claim 1,
    In the enable range, a lower limit warning range that is larger than the lower limit value and smaller than a lower limit warning value that is a predetermined holding force or pushing amount is defined,
    When the time during which the holding force or the push-in amount is within the lower limit warning range exceeds a predetermined warning stop time, the warning unit notifies the operator of a warning.
  3. 　操作部に設けられ、前記操作部による操作対象の操作を許可するイネーブルスイッチであって、
    　操作者による前記操作部の保持力または保持による押し込み量が、予め定められたイネーブル範囲内であるか否かを検出する保持力検出部と、
    　前記保持力または前記押し込み量が前記イネーブル範囲内であることを前記保持力検出部が検出している間、前記操作部による前記操作対象の操作を許可するイネーブル信号を出力する回路部と、
    　前記保持力または前記押し込み量が前記イネーブル範囲の上限値に近づいた際に前記操作者に警告を通知する警告部と、
    を備える。     An enable switch that is provided in the operation unit and permits operation of an operation target by the operation unit,
    A holding force detection unit that detects whether the holding force of the operation unit by the operator or the pressing amount by holding is within a predetermined enable range;
    A circuit unit that outputs an enable signal that permits operation of the operation target by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range;
    A warning unit for notifying the operator of a warning when the holding force or the push-in amount approaches an upper limit value of the enable range;
    Is provided.
  4. 　請求項３に記載のイネーブルスイッチであって、
    　前記イネーブル範囲において、前記上限値より小さく、かつ、予め定められた保持力または押し込み量である上限警告値よりも大きい範囲である上限警告範囲が定められており、
    　前記保持力または前記押し込み量が前記上限警告範囲に入っている時間が予め定められた警告停止時間を超えた場合に、前記警告部は前記操作者に警告を通知する。　     The enable switch according to claim 3,
    In the enable range, an upper limit warning range that is smaller than the upper limit value and larger than an upper limit warning value that is a predetermined holding force or pushing amount is defined,
    When the time during which the holding force or the push-in amount is within the upper limit warning range exceeds a predetermined warning stop time, the warning unit notifies the operator of a warning.
  5. 　請求項１ないし４のいずれか１つに記載のイネーブルスイッチであって、
    　前記保持力検出部において、前記操作者による前記操作部の保持による押し込み量が実質的に無い。     The enable switch according to any one of claims 1 to 4,
    In the holding force detection unit, there is substantially no pushing amount due to holding of the operation unit by the operator.
  6. 　請求項１ないし５のいずれか１つに記載のイネーブルスイッチであって、
    　前記警告部が、前記操作部の振動により前記操作者に警告を通知する。     The enable switch according to any one of claims 1 to 5,
    The warning unit notifies the operator of a warning by vibration of the operation unit.
  7. 　請求項１ないし６のいずれか１つに記載のイネーブルスイッチを備える操作部。 An operation unit comprising the enable switch according to any one of claims 1 to 6.
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