WO2019102562A1 - Display actuator and cobot - Google Patents

Display actuator and cobot Download PDF

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Publication number
WO2019102562A1
WO2019102562A1 PCT/JP2017/042100 JP2017042100W WO2019102562A1 WO 2019102562 A1 WO2019102562 A1 WO 2019102562A1 JP 2017042100 W JP2017042100 W JP 2017042100W WO 2019102562 A1 WO2019102562 A1 WO 2019102562A1
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WO
WIPO (PCT)
Prior art keywords
display
operator
button
grip
robot arm
Prior art date
Application number
PCT/JP2017/042100
Other languages
French (fr)
Japanese (ja)
Inventor
智也 山下
悠樹 水主
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2018568450A priority Critical patent/JPWO2019102562A1/en
Priority to PCT/JP2017/042100 priority patent/WO2019102562A1/en
Publication of WO2019102562A1 publication Critical patent/WO2019102562A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Definitions

  • the present invention relates to a display / operation device capable of performing an operation on a robot arm and a human cooperation robot.
  • an arm robot which can teach a position to an arm unit by an operator directly operating the arm unit of the robot.
  • an operating unit for directly operating the arm unit is attached to the arm unit, and the operator directly grips the operating unit with his hand and moves the arm unit to move the arm unit in the product manufacturing process. Teach the specific position to pass. Thereby, the arm robot sequentially moves the arm unit to the taught position in the manufacturing process of the product.
  • the robot control device described in Patent Document 1 includes an operation device for operating a hand guide robot, and the operation device includes an operation rod, a display unit, and a button.
  • the operation device includes an operation rod, a display unit, and a button.
  • Patent Document 1 which is the above-mentioned prior art, the operator can not press the button while holding the operating rod, so when pressing the button, it was necessary to release the hand from the operating rod. For this reason, the operation apparatus of patent document 1 had the problem that operation to a robot arm takes an effort.
  • the present invention has been made in view of the above, and an object thereof is to obtain a display operation device capable of easily operating a robot arm.
  • the present invention relates to a display grip capable of being gripped by an operator, a display capable of being attached to a robot arm, and a grip by an operator. And a button disposed in the gripped hand-operable area.
  • the display / operation device has an effect that the robot arm can be easily operated.
  • FIG. 2 is a diagram showing a configuration of a display / operator according to a first embodiment.
  • FIG. 2 is a diagram showing the configuration of the back side of the display / operation device according to the first embodiment
  • FIG. 6 is a diagram showing the configuration of a display / operator according to a second embodiment.
  • a diagram showing a configuration of a display / operator according to a third embodiment A diagram showing a configuration of a display / operator according to a fourth embodiment
  • FIG. 1 is a diagram showing the configuration of a human-collaborating robot provided with a display / operation device according to a first embodiment of the present invention.
  • the human collaboration robot 1 is a hand guide robot that works with a human, and can perform an operation according to the force externally applied by the operator.
  • An example of the human collaboration robot 1 is an arm robot.
  • the human-collaborating robot 1 is a robot arm 30 for performing work on a work object such as a product, and a display / operation device 10A attached near the tip 20 of the robot arm 30 and operated by being held by the operator have.
  • An example of the work on the work target by the human-collaborating robot 1 is a work of gripping the work target with the tip portion 20 of the robot arm 30, and a work of moving the grabbed work target.
  • the human-collaborating robot 1 performs the work on the work target at the tip 20 of the robot arm 30.
  • the robot arm 30 has a plurality of joints, and the tip 20 can be moved to various positions by rotation and extension of the joints.
  • FIG. 2 is a diagram for explaining an operation method of the human-collaborating robot according to the first embodiment.
  • the display controller 10A is configured to be grippable by the operator and to be attached to a robot arm 30, which is an arm portion of the human-collaborating robot 1.
  • the display controller 10A can be moved together with the robot arm 30 by being attached to the robot arm 30.
  • the display controller 10A moves the robot arm 30 in a direction corresponding to the operation by being operated by the operator in a state of being attached to the robot arm 30.
  • the human-collaboration robot 1 has a teaching function that allows the operator to teach the robot arm 30 a position by directly grasping and operating the grips 11L and 11R of the display / operation device 10A described later with the hand. Have. For example, when it is desired to move the distal end portion 20 of the robot arm 30 from the first position to the third position via the second position, the operator can change the distal end portion 20 of the robot arm 30 from first to third The robot arm 30 is taught the position by sequentially moving to the position of.
  • the operator inputs an instruction to determine the position of the distal end 20 in the first position while the distal end 20 is in the first position, and moves the distal end 20 to the second position. After that, with the tip 20 in the second position, an instruction to determine the position of the tip 20 is input to the display controller 10A. Furthermore, after moving the tip 20 to the third position, the operator inputs an instruction to determine the position of the tip 20 to the display controller 10A with the tip 20 in the third position.
  • the operator presses a button for determining the position displayed on the display operation device 10A. The operator can teach the movement trajectory of the tip 20 to the human-collaborating robot 1 by specifying a plurality of positions.
  • the display operation device 10A is provided with a position detection device such as a position sensor (not shown).
  • This position detection device is a device attached to the distal end portion 20 to detect the position of the distal end portion 20.
  • the display controller 10A receives an instruction to determine the position of the tip 20, the display controller 10A transmits the position detected by the position detection device to a control device (not shown) that controls the human-collaborating robot 1.
  • the first to third positions detected by the position detection device of the display operator 10A are transmitted to the control device and registered in the control device.
  • the robot 1 can move the tip 20 of the robot arm 30 sequentially to the taught first to third positions.
  • the display controller 10A may use a rotation angle detection device (not shown) attached to the joint of the robot arm 30 instead of the position detection device.
  • the rotation angle detection device is a device that detects the rotation angle of the joint of the robot arm 30.
  • the display operator 10A sends a teaching position determination signal to a control device (not shown) that controls the human-collaborating robot 1.
  • the control device always periodically receives the rotation angle detected by the rotation angle detection device, and calculates the position of the tip 20 by coordinate conversion.
  • the control device registers the position of the tip 20 calculated from the joint angle of the robot arm 30 in the control device as the first to third positions at the timing when the teaching position determination signal is received.
  • the robot 1 can move the tip 20 of the robot arm 30 sequentially to the taught first to third positions.
  • the control device may be disposed in the human collaboration robot 1 or may be disposed outside the human collaboration robot 1.
  • the robot arm 30 is movable by a force applied to the display controller 10A by the operator holding the display controller 10A, and a button 15L or 15R described later displayed by the display controller 10A is pressed. It is movable by that.
  • the buttons 15 L and 15 R such as switch buttons are buttons for instructing a minute movement of the robot arm 30.
  • the buttons 15L and 15R are movement buttons that receive an instruction to move the robot arm 30 by a short distance in the specific direction.
  • the robot arm 30 is moved largely by the force of the hand by the operator, and is moved smaller than the movement by the force of the hand by pressing the buttons 15L and 15R by the operator. Thereby, the robot arm 30 is moved to a position desired by the operator by the force of the hand by the operator and the depression of the button 15L, 15R.
  • FIG. 3 is a diagram showing the configuration of the display controller according to the first embodiment.
  • FIG. 4 is a diagram showing the configuration of the back side of the display operation device according to the first embodiment.
  • the configuration of the display operator 10A will be described using an axial direction in a state where the display operator 10A is attached to the robot arm 30.
  • the vertical side of the upper surface of the display / operation device 10A is taken as the Y-axis direction
  • the horizontal side of the upper surface of the display / operation device 10A is taken as the X-axis direction
  • the direction perpendicular to the top surface of the vessel 10A is taken as the Z-axis direction.
  • the Y-axis direction is the vertical direction
  • the X-axis direction and the Z-axis direction are the horizontal direction.
  • the configuration of the display controller 10A will be described using an axial direction in a state where the display controller 10A is attached to the robot arm 30.
  • the directions of the respective axes are the same as in FIG. 4 and subsequent figures.
  • the display controller 10A includes two grips 11L and 11R gripped by the operator.
  • the gripping portions 11L and 11R continue to be gripped both when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the buttons 15L and 15R.
  • the display controller 10A includes the display unit 13 having a touch panel display screen.
  • An example of a display screen used for the display unit 13 is a liquid crystal panel or an organic EL (ElectroLuminescence) panel.
  • the upper surface of the display unit 13 is parallel to the XY plane. That is, the display unit 13 includes a flat display screen.
  • the grips 11 ⁇ / b> L and 11 ⁇ / b> R are disposed at opposing positions with the central portion of the display unit 13.
  • a grip 11L that can be gripped with the left hand is disposed on the left side of the display unit 13
  • a grip 11R that can be gripped with the right hand is disposed on the right of the display unit 13.
  • the gripping portion 11L is disposed at one end of the display / operation device 10A in the X-axis direction
  • the gripping portion 11R is disposed at the other end of the display / operation device 10A in the X-axis direction.
  • positioned at 10 A of display operators may be any one of the holding parts 11L and 11R.
  • buttons 15L that can be operated in a state where the operator grips the gripping portion 11L are displayed.
  • the button 15L is displayed at a position where it can be pressed by the left thumb while the operator holds the grip 11L with the left hand.
  • buttons 15R that can be operated in a state where the operator grips the gripping portion 11R are displayed.
  • the button 15R is displayed at a position where the operator can hold down the grip 11R with the right hand while pressing with the thumb of the right hand.
  • the button 15L is disposed in an area that can be operated by the operator while holding the holding unit 11L, and the button 15R is operated by the hand while holding the holding unit 11R. It is arranged in the operable area.
  • the buttons 15L and 15R may be disposed in an area where the operator can operate in a state in which the grips 11L and 11R are gripped by both hands. In the following description, a case where a plurality of buttons 15L and a plurality of buttons 15R are displayed on the display unit 13 will be described.
  • a connector 17 provided at the center of the back surface of the display operation device 10A and projecting to the rear of the display operation device 10A is provided.
  • the connector 17 is attached to the robot arm 30 so as to be able to be joined to the robot arm 30.
  • buttons 15L and 15R displayed on the display unit 13 function as the gripping units 11L and 11R when operated in a state of being gripped by the operator.
  • the grips 11L and 11R also have grips 12L and 12R that can be gripped by the operator when moving the robot arm 30.
  • the grips 12 ⁇ / b> L and 12 ⁇ / b> R can be attached to the robot arm 30 together with the display unit 13.
  • the grips 12L and 12R move the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
  • the grips 12 ⁇ / b> L and 12 ⁇ / b> R that can be gripped by the operator are disposed at opposing positions via the central portion of the display unit 13.
  • the grip portion 12L is disposed at the left end portion of the grip portion 11L
  • the grip portion 12R is disposed at the right end portion of the grip portion 11R.
  • the grip 12L that can be gripped by the left hand is disposed on the left side of the display unit 13
  • the grip 12R that can be gripped by the right hand is disposed on the right of the display unit 13.
  • the grip portions 12L, 12R are configured to include a columnar member so that they can be easily grasped by a finger other than the thumb.
  • grip parts 12L and 12R are arranged so that a pillar axis direction of grip parts 12L and 12R may turn into a Y-axis direction.
  • the gripping portion 11L is provided with a convex portion 14 as a three-dimensional shaped portion capable of causing the finger of the operator to recognize the position of the button 15L by a tactile sensation.
  • the convex portion 14 on the grip portion 11L side is disposed in the vicinity of the button 15L at a position between the grip portion 12L and the button 15L to be displayed.
  • the grip portion 11R is provided with a convex portion 14 as a three-dimensional shape portion capable of causing the finger of the operator to recognize the position of the button 15R.
  • the convex portion 14 on the grip portion 11R side is disposed in the vicinity of the button 15R at a position between the grip portion 12R and the button 15R to be displayed.
  • the convex portion 14 is disposed in the same plane as the display screen of the display unit 13.
  • the convex portion 14 has a convex shape that can be confirmed by the operator with a finger, and guides the operator's finger to the position of the button 15L, 15R without the operator visually observing the position of the button 15L, 15R. be able to.
  • the convex portion 14 is disposed close to the buttons 15L and 15R in order to indicate the positions of the buttons 15L and 15R. Therefore, the operator can move the thumb over the buttons 15L and 15R by only slightly shifting the thumb toward the buttons 15L and 15R after confirming the convex portion 14 with the thumb.
  • the three-dimensional shape portion is not limited to the convex portion 14 and may be a concave portion having a concave shape.
  • the buttons 15L and 15R are buttons for designating detailed positions which are difficult to operate by the operator's manual operation.
  • the first button 15L is associated with an instruction for moving the tip 20 in a first direction
  • the second button 15L is for moving the tip 20 in a second direction.
  • An instruction is associated, and an instruction for moving the tip 20 in the third direction is associated with the third button 15L.
  • an instruction for moving the tip 20 in the fourth direction is associated with the fourth button 15R, and the tip 20 is moved in the fifth direction for the fifth button 15R.
  • An instruction for moving the distal end portion 20 in the sixth direction is associated with the sixth button 15R.
  • the display unit 13 displays the first to third buttons 15L at the left end of the display screen so that the operator can easily operate it with the left hand, and the fourth to the right end of the display screen so that the operator can easily operate it with the right hand.
  • the sixth button 15R is displayed, and information on the human-collaborating robot 1 is displayed at the central portion.
  • the display unit 13 displays the button 15L at a position where the operator can press the thumb of the left hand while holding the grip 12L with four fingers other than the thumb of the left hand.
  • the display unit 13 displays the button 15R at a position where the operator can press the thumb of the right hand while holding the grip 12R with four fingers other than the thumb of the right hand.
  • buttons 15L and 15R are arranged in the vicinity of the grips 12L and 12R. Then, the buttons 15L and 15R are displayed on the display unit 13 so as to be aligned in the Y-axis direction.
  • buttons 15L and 15R are arranged in a direction parallel to the column axis direction of the grips 12L and 12R. That is, in the display controller 10A, the grips 12L and 12R are arranged at a specific interval such that the column axis direction of the grips 12L and 12R becomes the Y axis direction, and the buttons 15L are arranged in the Y axis direction
  • the 15Rs are arranged in the Y-axis direction.
  • the buttons 15L and 15R are arranged in a direction parallel to the column axes of the grips 12L and 12R.
  • the display controller 10A is attached to the robot arm 30.
  • the operator When the operator operates the robot arm 30, the operator holds the grips 12L and 12R with the four fingers other than the thumb with respect to the display / operation device 10A. Then, the operator operates the robot arm 30 by pressing the buttons 15L and 15R while changing the position of the thumb.
  • the grips 12L and 12R and the buttons 15L and 15R of the grips 11L and 11R are gripped by the operator.
  • the buttons 15L and 15R the grips 12L and 12R of the grips 11L and 11R and the buttons 15L and 15R are gripped by the operator.
  • the operator presses the buttons 15L and 15R
  • the grips 12L and 12R of the grips 11L and 11R and the buttons 15L and 15R are gripped by the operator.
  • the operator holds the grip 11L with the five fingers of the left hand, and the operator holds the grip 11R with the five fingers of the right hand.
  • the operator may grip the grips 12L and 12R with one to three fingers.
  • the operator may remove the thumb from the grips 11L and 11R at a timing at which the convex portion 14 is not confirmed or at a timing at which the buttons 15L and 15R are not pressed.
  • buttons 15L and 15R arranged in the vicinity of each convex portion 14. That is, the operator remembers in advance the arrangement of the buttons 15L, 15R and which instruction is associated with each button 15L, 15R, and the operator moves the robot arm 30 largely.
  • the force is applied to the grips 12L and 12R to move the robot arm 30.
  • the operator presses the button 15L, 15R corresponding to the direction to be moved.
  • the operator checks the convex portion 14 corresponding to the direction in which the robot arm 30 is desired to be moved with the thumb without visually observing the buttons 15L and 15R while gripping the grips 11L and 11R. Then, in a state where the operator holds the grips 11L and 11R, the operator presses the buttons 15L and 15R arranged close to the confirmed convex portion 14 without visually observing the buttons 15L and 15R.
  • the operator can operate the buttons 15L and 15R while holding the grips 11L and 11R.
  • the operator can operate the buttons 15L and 15R without changing the grips 12L and 12R while holding the grips 12L and 12R. Therefore, the operator can perform fine position adjustment using the buttons 15L and 15R while moving the robot arm 30 in a state in which the gripping portions 11L and 11R are gripped.
  • the operator does not divide the teaching operation to the human-collaborating robot 1 and moves the tip 20 by applying a force to the grips 12L, 12R, and presses the button 15L, 15R. And the moving operation of the distal end portion 20 can be performed continuously.
  • the operator can confirm the convex portion 14 with his / her finger, so it is not necessary to visually confirm the convex portion 14 and the buttons 15 L and 15 R. Therefore, the operator can operate the buttons 15L and 15R without visually recognizing the convex portion 14 and the buttons 15L and 15R. As a result, the operator can operate the buttons 15L and 15R while keeping the eyes in line with the robot arm 30 or the work object, so that the operability of the display operation device 10A is improved.
  • buttons 15L and 15R are disposed in the gripping portions 11L and 11R. Specifically, the buttons 15L and 15R are disposed in the vicinity of the grips 12L and 12R. Therefore, when the human-collaborating robot 1 is used, the operator can press the buttons 15L, 15R while gripping the grips 11L, 11R.
  • the operator when teaching the position to the tip 20, the operator often aligns the line of sight with the work object or the tip 20. For this reason, when the human-collaboration robot of the comparative example in which the button is disposed at a position away from the grip portion is used, the operator needs to switch the line of sight when performing the operation on the button.
  • the buttons 15L and 15R are disposed in the holding portions 11L and 11R, and further, the convex portion 14 is provided in the vicinity of the buttons 15L and 15R. Therefore, when the human-collaborating robot 1 is used, the operator can confirm the convex portion 14 with a finger without visually checking the buttons 15L and 15R. As a result, the operator can press the buttons 15L, 15R without looking at the buttons 15L, 15R. As a result, the operator can press the buttons 15L and 15R while aligning the line of sight with the work object or the tip portion 20.
  • the buttons 15L and 15R are disposed in the area where the operator can operate the grip portions 12L and 12R in a state of being gripped by both hands.
  • the operator can press the buttons 15L and 15R without releasing the fingers from the grips 12L and 12R.
  • the operator can press the buttons 15L and 15R while aligning the line of sight with the work object or the tip portion 20. Therefore, the operator can easily operate the robot arm 30.
  • Second Embodiment Second Embodiment A second embodiment of the present invention will now be described with reference to FIG.
  • the grip portion is formed such that the axial direction of the grip portion is the X-axis direction.
  • FIG. 5 is a diagram showing the configuration of the display / operation device according to the second embodiment.
  • constituent elements achieving the same functions as those of the display operation device 10A according to the first embodiment shown in FIG. 3 are given the same reference numerals, and duplicate explanations are omitted.
  • the display operation device 10B of the second embodiment and a part of the robot arm 30 are illustrated.
  • the configuration of the display operator 10B will be described using an axial direction in a state where the display operator 10B is attached to the robot arm 30.
  • the display controller 10B of the second embodiment has the same function as the display controller 10A of the first embodiment.
  • the display operation device 10 ⁇ / b> B includes a display unit 23 having the same function as the display unit 13 and a protrusion 24 having the same function and shape as the protrusion 14.
  • the display unit 23 also displays buttons 25L and 25R which are the same as the buttons 15L and 15R.
  • the display controller 10B includes grips 22L and 22R instead of the grips 12L and 12R.
  • the display operation device 10B includes a gripping portion gripped by the left hand of the operator and a gripping portion gripped by the right hand of the operator.
  • Each gripping portion according to the second embodiment is gripped between when the operator operates the robot arm 30 with the force of the hand and when the operator operates the robot arm 30 with the buttons 25L and 25R. to continue.
  • the grip that can be gripped by the left hand may be referred to as the left grip
  • the grip that can be gripped by the right may be referred to as the right grip.
  • the arrangement direction of the grips 12L and 12R is different from the arrangement direction of the grips 22L and 22R. Similar to the grips 12L and 12R, the grips 22L and 22R are gripped by the operator when moving the robot arm 30. The grips 22L and 22R move the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
  • the grips 22L and 22R are arranged at the positions where the grips 12L and 12R are arranged. That is, a grip 22L that can be gripped by the left hand is disposed on the left side of the display unit 23, and a grip 22R that can be gripped by the right hand is disposed on the right of the display unit 23.
  • the grips 22L and 22R are configured to include columnar members so that they can be easily grasped by fingers other than the thumb.
  • the grips 22L and 22R are arranged on the display controller 10B such that the column axial direction of the columnar members of the grip 22L and the column axial direction of the columnar members of the grip 22R are coaxial. There is.
  • the grips 22L and 22R are disposed such that the column axial direction of the grips 22L and 22R is the X-axis direction.
  • the left hand side grip portion is configured to include the grip portion 22L, the convex portion 24 and the button 25L
  • the right hand side grip portion is the grip portion 22R, the convex portion 24 and the button And 25R.
  • positioned at display operation tool 10B may be any one of a left-hand side holding part and a right-hand side holding part.
  • the display unit 23 is disposed at the same position as the display unit 13, and the convex portion 24 is disposed at the same position as the convex portion 14.
  • the display unit 23 displays the buttons 25L and 25R at the same positions as the buttons 15L and 15R. That is, the display unit 23 displays the operable button 25L on the left side of the screen in a state where the operator grips the left-hand side grip portion, and operates the button 25R operable in the state where the operator grips the right-hand side grip portion Display on the right side of the screen. At this time, the display unit 23 displays the button 25L at a position where the operator can press the left thumb while holding the grip 22L with four fingers other than the left thumb, as in the display 13. In addition, the display unit 23 displays the button 25R at a position where the operator can press the thumb of the right hand while holding the grip 22R with four fingers other than the thumb of the right hand.
  • buttons 25L, 25R are arranged in a direction perpendicular to the column axis direction of the grips 22L, 22R. That is, in the display controller 10B, the grips 22L and 22R are arranged such that the column axial direction of the grips 22L and 22R is the X axis direction, and the buttons 25L are arranged in the Y axis direction and the button 25R is in the Y axis direction It is arranged to line up. As described above, in the display controller 10B, the column axial direction of the grips 22L and 22R is coaxial, and the buttons 25L and 25R are arranged in a direction perpendicular to the column axial direction of the grips 22L and 22R. .
  • the buttons 25L and 25R are disposed in the vicinity of the grips 22L and 22R as in the display controller 10A. Further, in the display controller 10B, the convex portion 24 of the left-hand side grip portion is disposed in the vicinity of the button 25L at a position between the grip portion 22L and the button 25L. Further, the convex portion 24 of the right-hand side grip portion is disposed in the vicinity of the button 25R at a position between the grip portion 22R and the button 25R.
  • the button 25L is operated in a state where the operator grips the left hand side grip portion
  • the button 25L displayed on the display portion 23 is also a part of the left hand side grip portion.
  • the button 25R is operated in a state where the operator grips the right-hand side grip portion
  • the button 25R displayed on the display unit 23 is also a part of the right-hand side grip portion.
  • the operator can operate the buttons 25L and 25R while gripping the left-hand side grip portion and the right-hand side grip portion by using the display operation device 10B.
  • the operator can operate the buttons 25L and 25R without changing the grips 22L and 22R while holding the grips 22L and 22R.
  • buttons 25L and 25R are disposed in the area where the operator can operate the grips 22L and 22R with both hands. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
  • the grip portion is formed such that the axial direction of the grip portion is the X-axis direction. Further, the display portion and the convex portion are disposed on the columnar member, and the columnar member of the display portion and the convex portion is joined to the columnar member of the grip portion.
  • FIG. 6 is a diagram showing the configuration of the display / operation device according to the third embodiment.
  • constituent elements in FIG. 6 constituent elements achieving the same functions as the display operation unit 10A of the first embodiment shown in FIG. 3 or the display operation unit 10B of the second embodiment shown in FIG. And duplicate explanations are omitted.
  • the display operation device 10C of the third embodiment and a part of the robot arm 30 are illustrated.
  • the configuration of the display controller 10C will be described using the axial direction in a state where the display controller 10C is attached to the robot arm 30.
  • the display operator 10C of the third embodiment has the same function as the display operators 10A and 10B.
  • the display operation device 10C includes display portions 33L and 33R having the same function as the display portion 13 and a convex portion 34 having the same function and shape as the convex portion 14.
  • the display unit 33L displays a button 35L which is a button similar to the button 15L
  • the display unit 33R displays a button 35R which is a button similar to the button 15R.
  • the display operation device 10C includes grip portions 32L and 32R having the same shape as the grip portions 22L and 22R.
  • the display controller 10C is provided with a left hand side grip held by the left hand of the operator and a right hand side grip held by the right hand of the operator.
  • Each gripping portion in the third embodiment is gripped between when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the buttons 35L and 35R. to continue.
  • the arrangement direction of the grips 12L and 12R is different from the arrangement direction of the grips 32L and 32R. Further, the arrangement position and the shape of the display unit 23 and the arrangement position and the shape of the display units 33L and 33R are different between the display operation unit 10C and the display operation unit 10B. Further, in the display controller 10C and the display controller 10B, the arrangement position of the convex portion 24 and the arrangement position of the convex portion 34 are different.
  • the grips 32L and 32R are gripped by the operator when the robot arm 30 is moved.
  • the grips 32L and 32R move the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
  • the grips 32L and 32R are disposed at the positions where the grips 22L and 22R were disposed. That is, a grip 32L that can be gripped by the left hand is disposed on the left of the display 33L, and a grip 32R that can be gripped by the right is disposed on the right of the display 33R.
  • the display unit 33L is disposed on the robot arm 30 side which is the right end side of the grip unit 32L
  • the display unit 33R is on the robot arm 30 side which is the left end side of the grip unit 32R. It is arranged.
  • the grips 32L and 32R are configured to include columnar members so that they can be easily grasped by fingers other than the thumb.
  • the grips 32L and 32R are arranged such that the column axial directions of the grips 32L and 32R are coaxial with the X axis direction.
  • positioned at 10 C of display operators may be any one of a left-hand side holding part and a right-hand side holding part.
  • the display portions 33L and 33R of the display controller 10C are disposed on side portions of the columnar members. Therefore, the display portions 33L and 33R have curved upper surfaces which can be disposed on the side surfaces of the columnar members.
  • the side surface of the columnar member on which the display portions 33L and 33R are disposed has a surface parallel to the side surfaces of the grip portions 32L and 32R.
  • the display units 33L and 33R include curved display screens. Therefore, the buttons 35L and 35R are disposed on the curved surface.
  • the buttons 35L and 35R are arranged along the circumferential direction of the columnar member. In the display controller 10C, the buttons 35L and 35R are disposed in the vicinity of the grips 32L and 32R, similarly to the display operators 10A and 10B.
  • the convex part 34 is arrange
  • the convex portion 34 is disposed on a curved surface which is a side surface of the columnar member.
  • positioned has a surface parallel to the side surface of grip part 32L, 32R. Therefore, the convex part 34 is arrange
  • the convex portion 34 is disposed in the vicinity of the button 35L at a position between the grip portion 32L and the button 35L, and in the right-hand side grip portion, at the position between the grip portion 32R and the button 35R.
  • the convex portion 34 is disposed in the vicinity of the button 35R. Further, the convex portions 34 are arranged along the circumferential direction of the columnar member.
  • the first columnar member in which the display portions 33L and 33R are disposed, the second columnar member in which the convex portion 34 is disposed, and the third columnar members included in the grip portions 32L and 32R are coaxial with each other. It is integrally formed to line up with.
  • the columnar members in which the display portions 33L and 33R are disposed, the columnar members in which the convex portions 34 are disposed, and the columnar members of the grip portions 32L and 32R are curved surfaces of the display portions 33L and 33R, and the convex portions 34.
  • the curved surfaces arranged in the above are joined so as to be parallel to the curved surfaces of the grip portions 32L and 32R.
  • the left hand side grip portion is configured to include the grip portion 32L, the convex portion 34, and the button 35L
  • the right hand side grip portion is the grip portion 32R, the convex portion 34, and the button It is comprised including 35R.
  • the button 35L operable in the state where the operator grips the left-hand side grip portion is displayed on the display portion 33L at the right end side of the grip portion 32L, and the operation is performed in the state where the operator grips the right-hand side grip portion
  • a possible button 35R is displayed on the display 33R on the left end side of the grip 32R.
  • the display unit 33L displays the button 35L at a position where the operator can press the left thumb while holding the grip 32L with four fingers other than the left thumb, as in the display unit 13.
  • the display unit 33R displays the button 35R at a position where the operator can press the thumb of the right hand while holding the grip 32R with four fingers other than the thumb of the right hand.
  • buttons 35L and 35R are disposed along a plane perpendicular to the column axial direction of the grips 32L and 32R. That is, in the display controller 10C, the grips 32L and 32R are disposed such that the column axis direction of the grips 32L and 32R is the X axis direction, and the button 35L is disposed so as to surround the X axis direction. It is arranged to surround the axial direction. Thus, in the display / operation device 10C, the column axial direction of the grips 32L and 32R is coaxial, and the buttons 35L and 35R are disposed along a plane perpendicular to the column axial direction of the grips 32L and 32R. .
  • the button 35L displayed on the display portion 33L is also a part of the left hand side gripping portion.
  • the button 35R displayed on the display portion 33R is also a part of the right-hand side grip portion.
  • the operator can operate the buttons 35L and 35R while gripping the left-hand side grip portion and the right-hand side grip portion by using the display operation device 10C.
  • the operator can operate the buttons 35L and 35R without changing the grips 32L and 32R while holding the grips 32L and 32R.
  • buttons 35L and 35R are disposed in an area where the operator can operate the grip portions 32L and 32R with both hands. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
  • the display / operation device of the fourth embodiment is attached to the robot arm 30 such that the grip part encloses a part of the side surface of the columnar member of the robot arm 30.
  • FIG. 7 is a diagram showing the configuration of the display / operation device according to the fourth embodiment. Among components shown in FIG. 7, components that achieve the same functions as those of the display operation device 10A according to the first embodiment shown in FIG. 3 are given the same reference numerals, and redundant description will be omitted.
  • FIG. 7 illustrates the display / operation device 10D of the fourth embodiment and a part of the robot arm 30. In the fourth embodiment, the configuration of the display operator 10D will be described using an axial direction in a state where the display operator 10D is attached to the robot arm 30.
  • the display controller 10D of the fourth embodiment has the same function as the display controller 10A of the first embodiment.
  • the display operation device 10D includes a display unit 43 having the same function as the display unit 13, and a convex portion 44 having the same function and shape as the convex portion 14. Similar to the display unit 13, the display unit 43 includes a flat display screen. Further, the display unit 43 displays a button 45X which is the same button as the buttons 15L and 15R. Further, the display operation device 10D includes a grip portion 42X instead of the grip portions 12L and 12R.
  • the display controller 10D is provided with a grip that is gripped by the operator's left hand or right hand.
  • the grasping portion of the fourth embodiment continues to be grasped both when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the button 45X.
  • the shape and the arrangement position of the grip portions 12L and 12R and the shape and the arrangement position of the grip portion 42X are different between the display operation device 10D and the display operation device 10A. Similar to the grips 12L and 12R, the grip 42X is gripped by the operator when the robot arm 30 is moved. The grip unit 42X moves the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
  • a grip portion 42X that can be gripped by the left hand or the right hand is disposed on the side surface of the robot arm 30.
  • the grip portion 42X is formed using a cylindrical member or a semi-cylindrical member that can cover a part of the side surface portion of the robot arm 30.
  • the grip portion 42X is arranged such that the central axis of the grip portion 42X and the central axis of the robot arm 30 at the position where the grip portion 42X is attached among the robot arms 30 are the same. Is attached.
  • the grip portion 42X is disposed such that the column axial direction of the grip portion 42X is the Y-axis direction. Similar to the grip portions 12L and 12R, the grip portion 42X is configured to be easily grasped by a finger other than the thumb.
  • the grip portion is configured to include a grip portion 42X, a convex portion 44, and a button 45X.
  • positioned at display operation device 10D may be hold
  • the grip portion may be gripped by either the left hand or the right hand, so in the following description, the case where the grip portion is gripped by the left hand will be described.
  • the display unit 43 is disposed on the upper side in the vertical direction of the grip unit 42X.
  • the display unit 43 displays the operable button 45X in the vicinity of the grip unit 42X in a state where the operator holds the grip unit.
  • the display unit 43 displays the button 45X at a position where the operator can press the left thumb while holding the grip 42X with four fingers other than the left thumb, as in the display 13.
  • the button 45X is disposed in the vicinity of the grip portion 42X as in the display / operation devices 10A to 10C.
  • the display unit 43 may display information other than the button 45X.
  • the display unit 43 displays the button 45X on the lower side of the display screen so that the operator can easily operate it.
  • the convex portion 44 is disposed in the vicinity of the button 45X at a position between the button 45X and the grip portion 42X.
  • buttons 45X are arranged in a direction perpendicular to the column axis direction of the grip portion 42X. That is, in the display controller 10D, the grip portion 42X is disposed such that the column axis direction of the grip portion 42X is the Y axis direction, and the buttons 45X are disposed so as to be aligned in the X axis direction. Thus, in the display / operation device 10D, the grip portion 42X is coaxial with the robot arm 30, and the buttons 45X are arranged in a direction perpendicular to the column axial direction of the grip portion 42X.
  • the button 45X displayed on the display unit 43 is also a part of the holding unit. Therefore, the operator can operate the button 45X while holding the grip by using the display operation device 10D. In other words, the operator can operate the button 45X without changing the grip portion 42X while holding the grip portion 42X.
  • the grip portion 42X may be part of the robot arm 30.
  • the grip portion 42X may be configured using a part of the robot arm 30. With this configuration, the grip portion 42X functions as the robot arm 30, and also functions as the display operation device 10D.
  • the button 45X is disposed in an area where the operator can operate the grip portion 42X. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
  • Embodiment 5 Fifth Embodiment A fifth embodiment of the present invention will now be described with reference to FIG.
  • the display / operation device of the fifth embodiment is attached to the robot arm 30 so that the grip part encloses a part of the side surface of the columnar member of the robot arm 30. Further, the display portion and the convex portion are disposed on the columnar member, and the columnar member of the display portion and the convex portion is joined to the columnar member of the grip portion.
  • FIG. 8 is a diagram showing the configuration of the display / operation device according to the fifth embodiment. Among components shown in FIG. 8, components that achieve the same functions as display controller 10A of the first embodiment shown in FIG. 3 and display controller 10D of the fourth embodiment shown in FIG. And duplicate explanations are omitted.
  • the display operation device 10E of the fifth embodiment and a part of the robot arm 30 are illustrated.
  • the configuration of the display operator 10E will be described using an axial direction in a state where the display operator 10E is attached to the robot arm 30.
  • the display controller 10E of the fifth embodiment has the same function as the display controller 10D of the fourth embodiment.
  • the display operation device 10E includes a display unit 53 having the same function as the display unit 43, and a projection 54 having the same function and shape as the projection 44.
  • the display unit 53 includes a curved display screen as in the case of the display units 33L and 33R. Further, the display unit 53 displays a button 55X which is the same button as the button 45X. Further, the display operation device 10E is provided with a grip portion 52X having the same function and shape as the grip portion 42X.
  • the display controller 10E is provided with a grip that is gripped by the operator's left hand or right hand.
  • the grasping portion of the fifth embodiment continues to be grasped between when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the button 55X.
  • the arrangement position and the shape of the display unit 43 and the arrangement position and the shape of the display unit 53 are different between the display operation device 10E and the display operation device 10D. Further, in the display / operation device 10E and the display / operation device 10D, the arrangement position of the convex portion 44 and the arrangement position of the convex portion 54 are different. And in display operation tool 10E, grip part 52X is arranged in the same position as grip part 42X.
  • the grip portion 52X is gripped by the operator when moving the robot arm 30.
  • the grip unit 52X moves the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
  • the grip portion 52 ⁇ / b> X is formed using a cylindrical member or a semi-cylindrical member that can cover a part of the side surface portion of the robot arm 30.
  • the grip 52X is such that the central axis of the grip 52X is the same as the central axis of the robot arm 30 at the position where the grip 52X is attached to the robot arm 30. Is attached.
  • the grip portion 52X is configured to be easily gripped by a finger other than the thumb.
  • the grip portion 52X is disposed such that the column axial direction of the grip portion 52X is the Y-axis direction.
  • the display unit 53 is disposed on the side surface portion of the columnar members included in the grip unit 52X. Therefore, the display unit 53 has a curved upper surface which can be disposed on the side surface of the columnar member.
  • buttons 55X are arranged along the circumferential direction of the columnar member. Further, the convex portions 54 are arranged along the circumferential direction of the columnar member.
  • the grip portion is configured to include a grip portion 52X, a convex portion 54, and a button 55X.
  • positioned at the display operation device 10E may be hold
  • the grip portion may be gripped by either the left hand or the right hand, so in the following description, the case where the grip portion is gripped by the left hand will be described.
  • the display unit 53 is disposed on the upper side in the vertical direction of the grip unit 52X.
  • the display unit 53 displays an operable button 55X in the vicinity of the grip unit 52X in a state where the operator grips the grip unit.
  • the display unit 53 displays the button 55X at a position where the operator can press the left thumb while holding the grip 52X with four fingers other than the left thumb, as in the display 13.
  • the button 55X is disposed in the vicinity of the grip 52X, similarly to the display operators 10A to 10D.
  • the convex portion 54 is disposed in the vicinity of the button 55X at a position between the button 55X and the grip portion 52X.
  • the button 55X is disposed along a plane perpendicular to the column axial direction of the grip portion 52X. That is, in the display controller 10E, the grip portion 52X is disposed such that the column axis direction of the grip portion 52X is the Y axis direction, and the button 55X is disposed so as to surround the Y axis direction. Thus, in the display / operation device 10E, the grip 52X is coaxial with the robot arm 30, and the button 55X is disposed along a plane perpendicular to the column axial direction of the grip 52X.
  • the button 55X displayed on the display unit 53 is also a part of the holding unit. Therefore, the operator can operate the button 55X while holding the grip by using the display operation device 10E. In other words, the operator can operate the button 55X without changing the grip 52X while holding the grip 52X.
  • the grip 52X may be a part of the robot arm 30, as in the case of the grip 42X. With this configuration, the grip 52X functions as the robot arm 30, and also functions as the display controller 10E.
  • the button 55X is disposed in an area where the operator can operate the grip 52X. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
  • buttons 15L, 15R, 25L, 25R, 35L, 35R, 45X, 55X are displayed on the display screen, but the buttons 15L, 15R, 25L, 25R are described. , 35L, 35R, 45X, 55X may be buttons not displayed on the display screen.
  • the configuration shown in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and one of the configurations is possible within the scope of the present invention. Parts can be omitted or changed.
  • Single-person collaboration robot 10A to 10E display controller, 11L, 11R grip portion, 12L, 12R, 22L, 22R, 32L, 32R, 42X, 52X grip portion, 13, 23, 33L, 33R, 43, 53 display portion 14, 24, 34, 44, 44 convex portions, 15L, 15R, 25L, 25R, 35L, 35R, 45X, 55X buttons, 20 tips, 30 robot arms.

Abstract

A display actuator (10A) is provided with grips (12L, 12R), which an operator can grasp, and a display (13), which can be installed on a robot arm. The display actuator (10A) also is provided with buttons (15L) that are disposed in an area in which, while the operator is gripping the grip (12L), said buttons can be operated by the gripping hand, and/or buttons (15R) that are disposed in an area in which, while the operator is gripping the grip (12R), said buttons can be operated by the gripping hand.

Description

表示操作器および人協働ロボットDisplay controller and human collaboration robot
　本発明は、ロボットアームへの操作を行うことができる表示操作器および人協働ロボットに関する。 The present invention relates to a display / operation device capable of performing an operation on a robot arm and a human cooperation robot.
　近年、人と共に働く人協働ロボットの開発が進められている。人協働ロボットの中には、ロボットのアーム部を操作者が直接操作することでアーム部へ位置を教示することが可能なアームロボットがある。このアームロボットは、アーム部を直接操作するための操作器がアーム部に取り付けられており、操作者が操作器を直接手で掴んでアーム部を移動させることによって、製品の製造工程においてアーム部が通過すべき特定の位置を教示する。これにより、アームロボットは、製品の製造工程において、教示された位置へアーム部を順番に移動させる。 In recent years, development of a human collaboration robot working with a human has been advanced. Among human-collaboration robots, there is an arm robot which can teach a position to an arm unit by an operator directly operating the arm unit of the robot. In this arm robot, an operating unit for directly operating the arm unit is attached to the arm unit, and the operator directly grips the operating unit with his hand and moves the arm unit to move the arm unit in the product manufacturing process. Teach the specific position to pass. Thereby, the arm robot sequentially moves the arm unit to the taught position in the manufacturing process of the product.
　特許文献１に記載のロボット制御装置は、ハンドガイドロボットを操作するための操作装置を備えており、この操作装置が、操作棹、表示部およびボタンを備えている。この操作装置が使用される際には、操作者が、操作棹でハンドガイドロボットを操作し、必要に応じてボタンを押下する。 The robot control device described in Patent Document 1 includes an operation device for operating a hand guide robot, and the operation device includes an operation rod, a display unit, and a button. When this operation device is used, the operator operates the hand guide robot with the operation rod and presses a button as necessary.
特開２０１０－２６９４１９号公報JP, 2010-269419, A
　しかしながら、上記従来の技術である特許文献１では、操作者は、操作棹を把持しながらボタンを押下することができないので、ボタンを押下する際には操作棹から手を離す必要があった。このため、特許文献１の操作装置は、ロボットアームへの操作に手間がかかるという問題があった。 However, in Patent Document 1 which is the above-mentioned prior art, the operator can not press the button while holding the operating rod, so when pressing the button, it was necessary to release the hand from the operating rod. For this reason, the operation apparatus of patent document 1 had the problem that operation to a robot arm takes an effort.
　本発明は、上記に鑑みてなされたものであって、ロボットアームを容易に操作することができる表示操作器を得ることを目的とする。 The present invention has been made in view of the above, and an object thereof is to obtain a display operation device capable of easily operating a robot arm.
　上述した課題を解決し、目的を達成するために、本発明は、表示操作器において、操作者が把持可能なグリップ部と、ロボットアームに取り付け可能な表示部と、操作者がグリップ部を把持しつつ、該把持した手で操作可能な領域に配置されたボタンと、を備える。 In order to solve the problems described above and achieve the object, the present invention relates to a display grip capable of being gripped by an operator, a display capable of being attached to a robot arm, and a grip by an operator. And a button disposed in the gripped hand-operable area.
　本発明にかかる表示操作器は、ロボットアームを容易に操作することができるという効果を奏する。 The display / operation device according to the present invention has an effect that the robot arm can be easily operated.
本発明の実施の形態１にかかる表示操作器を備えた人協働ロボットの構成を示す図The figure which shows the structure of the human cooperation robot provided with the display operation tool concerning Embodiment 1 of this invention. 実施の形態１にかかる人協働ロボットの操作方法を説明するための図Figure for explaining the operation method of the human collaboration robot according to the first embodiment 実施の形態１にかかる表示操作器の構成を示す図FIG. 2 is a diagram showing a configuration of a display / operator according to a first embodiment. 実施の形態１にかかる表示操作器の裏側の構成を示す図FIG. 2 is a diagram showing the configuration of the back side of the display / operation device according to the first embodiment 実施の形態２にかかる表示操作器の構成を示す図FIG. 6 is a diagram showing the configuration of a display / operator according to a second embodiment. 実施の形態３にかかる表示操作器の構成を示す図A diagram showing a configuration of a display / operator according to a third embodiment 実施の形態４にかかる表示操作器の構成を示す図A diagram showing a configuration of a display / operator according to a fourth embodiment 実施の形態５にかかる表示操作器の構成を示す図A diagram showing a configuration of a display / operator according to a fifth embodiment
　以下に、本発明の実施の形態にかかる表示操作器および人協働ロボットを図面に基づいて詳細に説明する。なお、これらの実施の形態によりこの発明が限定されるものではない。 Hereinafter, a display operator and a human cooperation robot according to an embodiment of the present invention will be described in detail based on the drawings. Note that the present invention is not limited by these embodiments.
実施の形態１．
　図１は、本発明の実施の形態１にかかる表示操作器を備えた人協働ロボットの構成を示す図である。人協働ロボット１は、人と共に働くハンドガイドロボットであり、操作者によって外部から加えられる力に応じた動作を行うことができる。人協働ロボット１の、一例はアームロボットである。 Embodiment 1
FIG. 1 is a diagram showing the configuration of a human-collaborating robot provided with a display / operation device according to a first embodiment of the present invention. The human collaboration robot 1 is a hand guide robot that works with a human, and can perform an operation according to the force externally applied by the operator. An example of the human collaboration robot 1 is an arm robot.
　人協働ロボット１は、製品といった作業対象物への作業を実行するロボットアーム３０と、ロボットアーム３０の先端部２０の近傍に取り付けられるとともに操作者によって把持されて操作される表示操作器１０Ａとを有している。 The human-collaborating robot 1 is a robot arm 30 for performing work on a work object such as a product, and a display / operation device 10A attached near the tip 20 of the robot arm 30 and operated by being held by the operator have.
　人協働ロボット１による作業対象物への作業の例は、ロボットアーム３０の先端部２０で作業対象物を掴む作業、および掴んだ作業対象物を移動させる作業である。このように、人協働ロボット１は、ロボットアーム３０の先端部２０で作業対象物への作業を実行する。ロボットアーム３０は、複数の関節部を有しており、関節部の回転および伸縮によって種々の位置に先端部２０を移動することができる。 An example of the work on the work target by the human-collaborating robot 1 is a work of gripping the work target with the tip portion 20 of the robot arm 30, and a work of moving the grabbed work target. As described above, the human-collaborating robot 1 performs the work on the work target at the tip 20 of the robot arm 30. The robot arm 30 has a plurality of joints, and the tip 20 can be moved to various positions by rotation and extension of the joints.
　図２は、実施の形態１にかかる人協働ロボットの操作方法を説明するための図である。表示操作器１０Ａは、操作者によって把持可能であり且つ人協働ロボット１のアーム部であるロボットアーム３０に取り付け可能なよう構成されている。表示操作器１０Ａは、ロボットアーム３０に取り付けられることによってロボットアーム３０とともに移動することが可能となる。 FIG. 2 is a diagram for explaining an operation method of the human-collaborating robot according to the first embodiment. The display controller 10A is configured to be grippable by the operator and to be attached to a robot arm 30, which is an arm portion of the human-collaborating robot 1. The display controller 10A can be moved together with the robot arm 30 by being attached to the robot arm 30.
　表示操作器１０Ａは、ロボットアーム３０に取り付けられた状態で操作者に操作されることによって操作に対応する方向にロボットアーム３０を移動させる。人協働ロボット１は、操作者が表示操作器１０Ａの後述する把持部１１Ｌ，１１Ｒを直接手で掴んで操作することによって、操作者がロボットアーム３０に位置を教示することができるティーチング機能を有している。例えば、ロボットアーム３０の先端部２０を第１の位置から第２の位置を経由して第３の位置へ移動させたい場合、操作者は、ロボットアーム３０の先端部２０を第１から第３の位置へ順番に移動させることによって、ロボットアーム３０に位置を教示する。具体的には、操作者は、先端部２０が第１の位置にある状態で先端部２０の位置を決定する指示を表示操作器１０Ａに入力し、先端部２０を第２の位置に移動させた後、先端部２０が第２の位置にある状態で先端部２０の位置を決定する指示を表示操作器１０Ａに入力する。さらに、操作者は、先端部２０を第３の位置に移動させた後、先端部２０が第３の位置にある状態で先端部２０の位置を決定する指示を表示操作器１０Ａに入力する。操作者は、先端部２０の位置を決定する指示を表示操作器１０Ａに入力する際には、表示操作器１０Ａに表示される、位置を決定するためのボタンを押下する。操作者は、複数の位置を指定することによって、人協働ロボット１に対して先端部２０の移動軌跡を教示することが可能となる。 The display controller 10A moves the robot arm 30 in a direction corresponding to the operation by being operated by the operator in a state of being attached to the robot arm 30. The human-collaboration robot 1 has a teaching function that allows the operator to teach the robot arm 30 a position by directly grasping and operating the grips 11L and 11R of the display / operation device 10A described later with the hand. Have. For example, when it is desired to move the distal end portion 20 of the robot arm 30 from the first position to the third position via the second position, the operator can change the distal end portion 20 of the robot arm 30 from first to third The robot arm 30 is taught the position by sequentially moving to the position of. Specifically, the operator inputs an instruction to determine the position of the distal end 20 in the first position while the distal end 20 is in the first position, and moves the distal end 20 to the second position. After that, with the tip 20 in the second position, an instruction to determine the position of the tip 20 is input to the display controller 10A. Furthermore, after moving the tip 20 to the third position, the operator inputs an instruction to determine the position of the tip 20 to the display controller 10A with the tip 20 in the third position. When the operator inputs an instruction to determine the position of the distal end portion 20 to the display operation device 10A, the operator presses a button for determining the position displayed on the display operation device 10A. The operator can teach the movement trajectory of the tip 20 to the human-collaborating robot 1 by specifying a plurality of positions.
　表示操作器１０Ａには、図示しない位置センサといった位置検出装置が配置されている。この位置検出装置は、先端部２０に取り付けられて先端部２０の位置を検出する装置である。表示操作器１０Ａは、先端部２０の位置を決定する指示を受付けると、位置検出装置が検出した位置を、人協働ロボット１を制御する図示しない制御装置に送信する。これにより、表示操作器１０Ａの位置検出装置が検出した第１から第３の位置が制御装置に送信されて、制御装置に登録される。これにより、人協働ロボット１は、ロボットアーム３０の先端部２０を、教示された第１から第３の位置へ順番に移動させることが可能となる。 The display operation device 10A is provided with a position detection device such as a position sensor (not shown). This position detection device is a device attached to the distal end portion 20 to detect the position of the distal end portion 20. When the display controller 10A receives an instruction to determine the position of the tip 20, the display controller 10A transmits the position detected by the position detection device to a control device (not shown) that controls the human-collaborating robot 1. Thereby, the first to third positions detected by the position detection device of the display operator 10A are transmitted to the control device and registered in the control device. As a result, the robot 1 can move the tip 20 of the robot arm 30 sequentially to the taught first to third positions.
　なお、表示操作器１０Ａは、位置検出装置の代わりに、ロボットアーム３０の関節部に取り付けられた図示しない回転角度検出装置を利用してもよい。この回転角度検出装置は、ロボットアーム３０の関節部の回転角度を検出する装置である。この場合、表示操作器１０Ａは、先端部２０の教示位置を決定する指示を受付けると、教示位置決定信号を人協働ロボット１を制御する図示しない制御装置に送る。制御装置は、回転角度検出装置が検出した回転角度を、常時周期的に受信しており、先端部２０の位置も座標変換して計算している。制御装置は、教示位置決定信号を受信したタイミングで、ロボットアーム３０の関節角度から計算した先端部２０の位置を、第１から第３の位置として、制御装置に登録する。これにより、人協働ロボット１は、ロボットアーム３０の先端部２０を、教示された第１から第３の位置へ順番に移動させることが可能となる。なお、制御装置は、人協働ロボット１内に配置されてもよいし、人協働ロボット１の外部に配置されてもよい。 The display controller 10A may use a rotation angle detection device (not shown) attached to the joint of the robot arm 30 instead of the position detection device. The rotation angle detection device is a device that detects the rotation angle of the joint of the robot arm 30. In this case, when an instruction to determine the teaching position of the tip 20 is received, the display operator 10A sends a teaching position determination signal to a control device (not shown) that controls the human-collaborating robot 1. The control device always periodically receives the rotation angle detected by the rotation angle detection device, and calculates the position of the tip 20 by coordinate conversion. The control device registers the position of the tip 20 calculated from the joint angle of the robot arm 30 in the control device as the first to third positions at the timing when the teaching position determination signal is received. As a result, the robot 1 can move the tip 20 of the robot arm 30 sequentially to the taught first to third positions. Note that the control device may be disposed in the human collaboration robot 1 or may be disposed outside the human collaboration robot 1.
　ロボットアーム３０は、表示操作器１０Ａを把持する操作者によって表示操作器１０Ａへ力が加えられることにより移動可能であるとともに、表示操作器１０Ａによって表示される後述のボタン１５Ｌ，１５Ｒが押下されることによって移動可能である。スイッチボタンといったボタン１５Ｌ，１５Ｒは、ロボットアーム３０の微細な移動を指示するためのボタンである。換言すると、ボタン１５Ｌ，１５Ｒは、ロボットアーム３０を特定方向に短距離ずつ移動させる指示を受付ける移動ボタンである。 The robot arm 30 is movable by a force applied to the display controller 10A by the operator holding the display controller 10A, and a button 15L or 15R described later displayed by the display controller 10A is pressed. It is movable by that. The buttons 15 L and 15 R such as switch buttons are buttons for instructing a minute movement of the robot arm 30. In other words, the buttons 15L and 15R are movement buttons that receive an instruction to move the robot arm 30 by a short distance in the specific direction.
　ロボットアーム３０は、操作者による手の力によって大きく移動させられ、操作者によるボタン１５Ｌ，１５Ｒの押下によって、手の力による移動よりも小さく移動させられる。これにより、ロボットアーム３０は、操作者による手の力とボタン１５Ｌ，１５Ｒの押下とで、操作者が所望する位置に移動させられる。 The robot arm 30 is moved largely by the force of the hand by the operator, and is moved smaller than the movement by the force of the hand by pressing the buttons 15L and 15R by the operator. Thereby, the robot arm 30 is moved to a position desired by the operator by the force of the hand by the operator and the depression of the button 15L, 15R.
　つぎに、表示操作器１０Ａの詳細な構成について説明する。図３は、実施の形態１にかかる表示操作器の構成を示す図である。図４は、実施の形態１にかかる表示操作器の裏側の構成を示す図である。実施の形態１では、表示操作器１０Ａがロボットアーム３０に取り付けられた状態での軸方向を用いて、表示操作器１０Ａの構成を説明する。 Below, the detailed structure of 10 A of display operators is demonstrated. FIG. 3 is a diagram showing the configuration of the display controller according to the first embodiment. FIG. 4 is a diagram showing the configuration of the back side of the display operation device according to the first embodiment. In the first embodiment, the configuration of the display operator 10A will be described using an axial direction in a state where the display operator 10A is attached to the robot arm 30.
　図３および図４では、右手系のＸＹＺ座標において、表示操作器１０Ａの上面が有する縦の辺をＹ軸方向とし、表示操作器１０Ａの上面が有する横の辺をＸ軸方向とし、表示操作器１０Ａの上面に垂直な方向をＺ軸方向としている。表示操作器１０Ａが、ロボットアーム３０に取り付けられた状態では、Ｙ軸方向は、鉛直方向であり、Ｘ軸方向およびＺ軸方向は、水平方向である。以下の説明では、表示操作器１０Ａが、ロボットアーム３０に取り付けられた状態での軸方向を用いて、表示操作器１０Ａの構成を説明する。なお、各軸の方向は、図４以降の図においても同様とする。 In FIGS. 3 and 4, in the right-handed XYZ coordinates, the vertical side of the upper surface of the display / operation device 10A is taken as the Y-axis direction, and the horizontal side of the upper surface of the display / operation device 10A is taken as the X-axis direction The direction perpendicular to the top surface of the vessel 10A is taken as the Z-axis direction. In the state where the display controller 10A is attached to the robot arm 30, the Y-axis direction is the vertical direction, and the X-axis direction and the Z-axis direction are the horizontal direction. In the following description, the configuration of the display controller 10A will be described using an axial direction in a state where the display controller 10A is attached to the robot arm 30. The directions of the respective axes are the same as in FIG. 4 and subsequent figures.
　表示操作器１０Ａは、操作者によって把持される２つの把持部１１Ｌ，１１Ｒを備えている。把持部１１Ｌ，１１Ｒは、操作者が手の力でロボットアーム３０を操作する際と、操作者がボタン１５Ｌ，１５Ｒでロボットアーム３０を操作する際と、の何れの間も把持され続ける。 The display controller 10A includes two grips 11L and 11R gripped by the operator. The gripping portions 11L and 11R continue to be gripped both when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the buttons 15L and 15R.
　また、表示操作器１０Ａは、タッチパネル式の表示画面を有した表示部１３を備えている。表示部１３に用いられる表示画面の例は、液晶パネルまたは有機ＥＬ（ElectroLuminescence）パネルである。表示部１３の上面は、ＸＹ平面に平行である。すなわち、表示部１３は、平板状の表示画面を備えている。 Further, the display controller 10A includes the display unit 13 having a touch panel display screen. An example of a display screen used for the display unit 13 is a liquid crystal panel or an organic EL (ElectroLuminescence) panel. The upper surface of the display unit 13 is parallel to the XY plane. That is, the display unit 13 includes a flat display screen.
　把持部１１Ｌ，１１Ｒは、表示部１３の中央部を介して対向する位置に配置されている。表示操作器１０Ａでは、表示部１３の左側には左手で把持可能な把持部１１Ｌが配置されており、表示部１３の右側には右手で把持可能な把持部１１Ｒが配置されている。具体的には、把持部１１Ｌは、表示操作器１０ＡのＸ軸方向の一方の端部に配置され、把持部１１Ｒは、表示操作器１０ＡのＸ軸方向の他方の端部に配置されている。なお、表示操作器１０Ａに配置される把持部は、把持部１１Ｌ，１１Ｒの何れか一方でもよい。 The grips 11 </ b> L and 11 </ b> R are disposed at opposing positions with the central portion of the display unit 13. In the display controller 10A, a grip 11L that can be gripped with the left hand is disposed on the left side of the display unit 13, and a grip 11R that can be gripped with the right hand is disposed on the right of the display unit 13. Specifically, the gripping portion 11L is disposed at one end of the display / operation device 10A in the X-axis direction, and the gripping portion 11R is disposed at the other end of the display / operation device 10A in the X-axis direction. . In addition, the holding part arrange | positioned at 10 A of display operators may be any one of the holding parts 11L and 11R.
　表示部１３の把持部１１Ｌ側である左端部には、操作者が把持部１１Ｌを把持した状態で操作可能な１または複数のボタン１５Ｌが表示される。換言すると、ボタン１５Ｌは、操作者が左手で把持部１１Ｌを把持したまま左手の親指で押下可能な位置に表示される。 At the left end portion of the display unit 13 on the side of the gripping portion 11L, one or more buttons 15L that can be operated in a state where the operator grips the gripping portion 11L are displayed. In other words, the button 15L is displayed at a position where it can be pressed by the left thumb while the operator holds the grip 11L with the left hand.
　また、表示部１３の把持部１１Ｒ側である右端部には、操作者が把持部１１Ｒを把持した状態で操作可能な１または複数のボタン１５Ｒが表示される。換言すると、ボタン１５Ｒは、操作者が右手で把持部１１Ｒを把持したまま右手の親指で押下可能な位置に表示される。ボタン１５Ｌは、操作者が把持部１１Ｌを把持しつつ、該把持した手で操作可能な領域に配置されており、ボタン１５Ｒは、操作者が把持部１１Ｒを把持しつつ、該把持した手で操作可能な領域に配置されている。なお、ボタン１５Ｌ，１５Ｒは、操作者が把持部１１Ｌ，１１Ｒを両手で把持した状態で操作可能な領域に配置されていてもよい。なお、以下の説明では、表示部１３において複数のボタン１５Ｌと複数のボタン１５Ｒとが表示される場合について説明する。 Further, at the right end portion of the display unit 13 on the side of the gripping portion 11R, one or more buttons 15R that can be operated in a state where the operator grips the gripping portion 11R are displayed. In other words, the button 15R is displayed at a position where the operator can hold down the grip 11R with the right hand while pressing with the thumb of the right hand. The button 15L is disposed in an area that can be operated by the operator while holding the holding unit 11L, and the button 15R is operated by the hand while holding the holding unit 11R. It is arranged in the operable area. Note that the buttons 15L and 15R may be disposed in an area where the operator can operate in a state in which the grips 11L and 11R are gripped by both hands. In the following description, a case where a plurality of buttons 15L and a plurality of buttons 15R are displayed on the display unit 13 will be described.
　表示操作器１０Ａの裏側には、表示操作器１０Ａの裏面中央に設けられて表示操作器１０Ａの後方に突出しているコネクタ１７が設けられている。このコネクタ１７は、ロボットアーム３０に取り付けられてロボットアーム３０に接合可能な構成を有している。 On the back side of the display operation device 10A, a connector 17 provided at the center of the back surface of the display operation device 10A and projecting to the rear of the display operation device 10A is provided. The connector 17 is attached to the robot arm 30 so as to be able to be joined to the robot arm 30.
　上述したように、ボタン１５Ｌは、操作者が把持部１１Ｌを把持した状態で操作されるので、表示部１３に表示されるボタン１５Ｌは、把持部１１Ｌの一部でもある。また、ボタン１５Ｒは、操作者が把持部１１Ｒを把持した状態で操作されるので、表示部１３に表示されるボタン１５Ｒは、把持部１１Ｒの一部でもある。このように、表示部１３に表示されるボタン１５Ｌ，１５Ｒは、操作者に把持された状態で操作される場合には把持部１１Ｌ，１１Ｒとして機能する。 As described above, since the button 15L is operated in a state in which the operator holds the holding unit 11L, the button 15L displayed on the display unit 13 is also a part of the holding unit 11L. Further, since the button 15R is operated in a state in which the operator holds the holding unit 11R, the button 15R displayed on the display unit 13 is also a part of the holding unit 11R. As described above, the buttons 15L and 15R displayed on the display unit 13 function as the gripping units 11L and 11R when operated in a state of being gripped by the operator.
　また、把持部１１Ｌ，１１Ｒは、ロボットアーム３０を移動させる際に操作者によって握られるグリップ部１２Ｌ，１２Ｒを有している。グリップ部１２Ｌ，１２Ｒは、表示部１３とともにロボットアーム３０に取り付け可能である。グリップ部１２Ｌ，１２Ｒは、操作者から力が加えられると、操作者からの力をロボットアーム３０に伝えることによってロボットアーム３０を移動させる。 The grips 11L and 11R also have grips 12L and 12R that can be gripped by the operator when moving the robot arm 30. The grips 12 </ b> L and 12 </ b> R can be attached to the robot arm 30 together with the display unit 13. The grips 12L and 12R move the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
　操作者が把持可能なグリップ部１２Ｌ，１２Ｒは、表示部１３の中央部を介して対向する位置に配置されている。グリップ部１２Ｌは、把持部１１Ｌの左端部に配置されており、グリップ部１２Ｒは、把持部１１Ｒの右端部に配置されている。このように、表示部１３の左側には左手で握ることができるグリップ部１２Ｌが配置されており、表示部１３の右側には右手で握ることができるグリップ部１２Ｒが配置されている。グリップ部１２Ｌ，１２Ｒは、親指以外の指で容易に握ることができるよう、柱状部材を含んで構成されている。そして、表示操作器１０Ａでは、グリップ部１２Ｌ，１２Ｒの柱軸方向がＹ軸方向となるよう、グリップ部１２Ｌ，１２Ｒが配置されている。 The grips 12 </ b> L and 12 </ b> R that can be gripped by the operator are disposed at opposing positions via the central portion of the display unit 13. The grip portion 12L is disposed at the left end portion of the grip portion 11L, and the grip portion 12R is disposed at the right end portion of the grip portion 11R. As described above, the grip 12L that can be gripped by the left hand is disposed on the left side of the display unit 13, and the grip 12R that can be gripped by the right hand is disposed on the right of the display unit 13. The grip portions 12L, 12R are configured to include a columnar member so that they can be easily grasped by a finger other than the thumb. And in display operation tool 10A, grip parts 12L and 12R are arranged so that a pillar axis direction of grip parts 12L and 12R may turn into a Y-axis direction.
　また、把持部１１Ｌは、ボタン１５Ｌの位置を操作者の指に触感で認識させることができる立体形状部として凸部１４を備えている。把持部１１Ｌ側の凸部１４は、グリップ部１２Ｌと、表示されるボタン１５Ｌとの間の位置でボタン１５Ｌの近傍に配置されている。また、把持部１１Ｒは、ボタン１５Ｒの位置を操作者の指に触感で認識させることができる立体形状部として凸部１４を備えている。把持部１１Ｒ側の凸部１４は、グリップ部１２Ｒと表示されるボタン１５Ｒとの間の位置でボタン１５Ｒの近傍に配置されている。 In addition, the gripping portion 11L is provided with a convex portion 14 as a three-dimensional shaped portion capable of causing the finger of the operator to recognize the position of the button 15L by a tactile sensation. The convex portion 14 on the grip portion 11L side is disposed in the vicinity of the button 15L at a position between the grip portion 12L and the button 15L to be displayed. In addition, the grip portion 11R is provided with a convex portion 14 as a three-dimensional shape portion capable of causing the finger of the operator to recognize the position of the button 15R. The convex portion 14 on the grip portion 11R side is disposed in the vicinity of the button 15R at a position between the grip portion 12R and the button 15R to be displayed.
　凸部１４は、表示部１３の表示画面と同一面内に配置されている。凸部１４は、操作者が指で確認可能な凸形状を有しており、操作者がボタン１５Ｌ，１５Ｒの位置を目視することなく、ボタン１５Ｌ，１５Ｒの位置に操作者の指を誘導することができる。 The convex portion 14 is disposed in the same plane as the display screen of the display unit 13. The convex portion 14 has a convex shape that can be confirmed by the operator with a finger, and guides the operator's finger to the position of the button 15L, 15R without the operator visually observing the position of the button 15L, 15R. be able to.
　凸部１４は、ボタン１５Ｌ，１５Ｒの位置を示すために、ボタン１５Ｌ，１５Ｒに近接配置されている。したがって、操作者は、凸部１４を親指で確認した後、親指を少しだけボタン１５Ｌ，１５Ｒ側にずらすだけで、ボタン１５Ｌ，１５Ｒの上に親指を移動させることができる。なお、立体形状部は、凸部１４に限らず凹形状の凹部であってもよい。 The convex portion 14 is disposed close to the buttons 15L and 15R in order to indicate the positions of the buttons 15L and 15R. Therefore, the operator can move the thumb over the buttons 15L and 15R by only slightly shifting the thumb toward the buttons 15L and 15R after confirming the convex portion 14 with the thumb. The three-dimensional shape portion is not limited to the convex portion 14 and may be a concave portion having a concave shape.
　ボタン１５Ｌ，１５Ｒは、操作者の手作業では操作が困難な細かな位置を指定するためのボタンである。第１のボタン１５Ｌには、先端部２０を第１の方向に移動させるための指示が対応付けされており、第２のボタン１５Ｌには、先端部２０を第２の方向に移動させるための指示が対応付けされており、第３のボタン１５Ｌには、先端部２０を第３の方向に移動させるための指示が対応付けされている。また、第４のボタン１５Ｒには、先端部２０を第４の方向に移動させるための指示が対応付けされており、第５のボタン１５Ｒには、先端部２０を第５の方向に移動させるための指示が対応付けされており、第６のボタン１５Ｒには、先端部２０を第６の方向に移動させるための指示が対応付けされている。 The buttons 15L and 15R are buttons for designating detailed positions which are difficult to operate by the operator's manual operation. The first button 15L is associated with an instruction for moving the tip 20 in a first direction, and the second button 15L is for moving the tip 20 in a second direction. An instruction is associated, and an instruction for moving the tip 20 in the third direction is associated with the third button 15L. Further, an instruction for moving the tip 20 in the fourth direction is associated with the fourth button 15R, and the tip 20 is moved in the fifth direction for the fifth button 15R. An instruction for moving the distal end portion 20 in the sixth direction is associated with the sixth button 15R.
　表示部１３は、操作者が左手で操作しやすいよう表示画面の左端部に第１から第３のボタン１５Ｌを表示し、操作者が右手で操作しやすいよう表示画面の右端部に第４から第６のボタン１５Ｒを表示し、中央部に、人協働ロボット１に関する情報を表示する。このとき、表示部１３は、操作者が左手の親指以外の４本の指でグリップ部１２Ｌを握ったまま左手の親指で押下可能な位置にボタン１５Ｌを表示する。また、表示部１３は、操作者が右手の親指以外の４本の指でグリップ部１２Ｒを握ったまま右手の親指で押下可能な位置にボタン１５Ｒを表示する。このように、表示操作器１０Ａでは、ボタン１５Ｌ，１５Ｒは、グリップ部１２Ｌ，１２Ｒの近傍に配置されている。そして、ボタン１５Ｌ，１５Ｒは、Ｙ軸方向に並ぶよう表示部１３上に表示される。 The display unit 13 displays the first to third buttons 15L at the left end of the display screen so that the operator can easily operate it with the left hand, and the fourth to the right end of the display screen so that the operator can easily operate it with the right hand. The sixth button 15R is displayed, and information on the human-collaborating robot 1 is displayed at the central portion. At this time, the display unit 13 displays the button 15L at a position where the operator can press the thumb of the left hand while holding the grip 12L with four fingers other than the thumb of the left hand. In addition, the display unit 13 displays the button 15R at a position where the operator can press the thumb of the right hand while holding the grip 12R with four fingers other than the thumb of the right hand. As described above, in the display controller 10A, the buttons 15L and 15R are arranged in the vicinity of the grips 12L and 12R. Then, the buttons 15L and 15R are displayed on the display unit 13 so as to be aligned in the Y-axis direction.
　具体的には、ボタン１５Ｌ，１５Ｒは、グリップ部１２Ｌ，１２Ｒの柱軸方向と平行な方向に並べて配置されている。すなわち、表示操作器１０Ａでは、グリップ部１２Ｌ，１２Ｒの柱軸方向がＹ軸方向となるよう特定の間隔をあけてグリップ部１２Ｌ，１２Ｒが配置されるとともに、ボタン１５ＬがＹ軸方向に並びボタン１５ＲがＹ軸方向に並ぶよう配置されている。このように、グリップ部１２Ｌ，１２Ｒの柱軸方向が平行であって同軸方向でない場合、ボタン１５Ｌ，１５Ｒは、グリップ部１２Ｌ，１２Ｒの柱軸方向と平行な方向に並べて配置される。 Specifically, the buttons 15L and 15R are arranged in a direction parallel to the column axis direction of the grips 12L and 12R. That is, in the display controller 10A, the grips 12L and 12R are arranged at a specific interval such that the column axis direction of the grips 12L and 12R becomes the Y axis direction, and the buttons 15L are arranged in the Y axis direction The 15Rs are arranged in the Y-axis direction. As described above, when the column axes of the grips 12L and 12R are parallel and not coaxial, the buttons 15L and 15R are arranged in a direction parallel to the column axes of the grips 12L and 12R.
　表示操作器１０Ａは、ロボットアーム３０に取り付けられる。操作者がロボットアーム３０を操作する際には、操作者は、表示操作器１０Ａに対して、親指以外の４本の指でグリップ部１２Ｌ，１２Ｒを握っておく。そして、操作者は、親指の位置を変更しながらボタン１５Ｌ，１５Ｒを押下することでロボットアーム３０を操作する。操作者が凸部１４を確認する際には、把持部１１Ｌ，１１Ｒのグリップ部１２Ｌ，１２Ｒおよびボタン１５Ｌ，１５Ｒが操作者によって把持される。操作者がボタン１５Ｌ，１５Ｒを押下する際には、把持部１１Ｌ，１１Ｒのグリップ部１２Ｌ，１２Ｒおよびボタン１５Ｌ，１５Ｒが操作者によって把持される。このように、表示操作器１０Ａは、操作者によって左手の５本の指で把持部１１Ｌが把持され、操作者によって右手の５本の指で把持部１１Ｒが把持される。 The display controller 10A is attached to the robot arm 30. When the operator operates the robot arm 30, the operator holds the grips 12L and 12R with the four fingers other than the thumb with respect to the display / operation device 10A. Then, the operator operates the robot arm 30 by pressing the buttons 15L and 15R while changing the position of the thumb. When the operator confirms the projection 14, the grips 12L and 12R and the buttons 15L and 15R of the grips 11L and 11R are gripped by the operator. When the operator presses the buttons 15L and 15R, the grips 12L and 12R of the grips 11L and 11R and the buttons 15L and 15R are gripped by the operator. Thus, in the display / operation device 10A, the operator holds the grip 11L with the five fingers of the left hand, and the operator holds the grip 11R with the five fingers of the right hand.
　なお、操作者は、１本から３本の指でグリップ部１２Ｌ，１２Ｒを握ってもよい。また、操作者は、凸部１４を確認しないタイミング、またはボタン１５Ｌ，１５Ｒを押下しないタイミングでは、親指を把持部１１Ｌ，１１Ｒから外してもよい。 The operator may grip the grips 12L and 12R with one to three fingers. In addition, the operator may remove the thumb from the grips 11L and 11R at a timing at which the convex portion 14 is not confirmed or at a timing at which the buttons 15L and 15R are not pressed.
　操作者は、予め各凸部１４の近傍に配置されているボタン１５Ｌ，１５Ｒの種類を覚えておく。すなわち、操作者は、予めボタン１５Ｌ，１５Ｒの配置と、各ボタン１５Ｌ，１５Ｒに何れの指示が対応付けされているかを覚えておく、そして、操作者は、ロボットアーム３０を大きく移動させる場合には、グリップ部１２Ｌ，１２Ｒに力をかけてロボットアーム３０を移動させる。また、操作者は、ロボットアーム３０を小さく移動させる場合には、移動させたい方向に対応するボタン１５Ｌ，１５Ｒを押下する。このとき、操作者は、把持部１１Ｌ，１１Ｒを把持した状態で、ボタン１５Ｌ，１５Ｒを目視することなく、ロボットアーム３０を移動させたい方向に対応する凸部１４を親指で確認する。そして、操作者は、把持部１１Ｌ，１１Ｒを把持した状態で、ボタン１５Ｌ，１５Ｒを目視することなく、確認した凸部１４に近接配置されているボタン１５Ｌ，１５Ｒを押下する。 The operator remembers in advance the types of buttons 15L and 15R arranged in the vicinity of each convex portion 14. That is, the operator remembers in advance the arrangement of the buttons 15L, 15R and which instruction is associated with each button 15L, 15R, and the operator moves the robot arm 30 largely. The force is applied to the grips 12L and 12R to move the robot arm 30. Further, when moving the robot arm 30 small, the operator presses the button 15L, 15R corresponding to the direction to be moved. At this time, the operator checks the convex portion 14 corresponding to the direction in which the robot arm 30 is desired to be moved with the thumb without visually observing the buttons 15L and 15R while gripping the grips 11L and 11R. Then, in a state where the operator holds the grips 11L and 11R, the operator presses the buttons 15L and 15R arranged close to the confirmed convex portion 14 without visually observing the buttons 15L and 15R.
　このように、操作者は、把持部１１Ｌ，１１Ｒを把持した状態でボタン１５Ｌ，１５Ｒへの操作が可能である。換言すると、操作者は、グリップ部１２Ｌ，１２Ｒを握ったままグリップ部１２Ｌ，１２Ｒを握り替えることなくボタン１５Ｌ，１５Ｒへの操作が可能である。したがって、操作者は、把持部１１Ｌ，１１Ｒを把持した状態でロボットアーム３０を移動させつつ、ボタン１５Ｌ，１５Ｒを用いて細かな位置調整を行うことができる。この結果、操作者は、人協働ロボット１への教示操作が分断されることなく、グリップ部１２Ｌ，１２Ｒに力をかけることによる先端部２０の移動操作と、ボタン１５Ｌ，１５Ｒを押下することによる先端部２０の移動操作と、を連続的に行なうことができる。 Thus, the operator can operate the buttons 15L and 15R while holding the grips 11L and 11R. In other words, the operator can operate the buttons 15L and 15R without changing the grips 12L and 12R while holding the grips 12L and 12R. Therefore, the operator can perform fine position adjustment using the buttons 15L and 15R while moving the robot arm 30 in a state in which the gripping portions 11L and 11R are gripped. As a result, the operator does not divide the teaching operation to the human-collaborating robot 1 and moves the tip 20 by applying a force to the grips 12L, 12R, and presses the button 15L, 15R. And the moving operation of the distal end portion 20 can be performed continuously.
　また、人協働ロボット１では、操作者が、凸部１４を指で確認できるので凸部１４およびボタン１５Ｌ，１５Ｒを目で確認する必要がない。したがって、操作者は、凸部１４およびボタン１５Ｌ，１５Ｒを視認することなくボタン１５Ｌ，１５Ｒを操作することができる。この結果、操作者は、目線をロボットアーム３０または作業対象物に合わせたままボタン１５Ｌ，１５Ｒを操作できるので、表示操作器１０Ａの操作性が向上する。 Further, in the human-collaborating robot 1, the operator can confirm the convex portion 14 with his / her finger, so it is not necessary to visually confirm the convex portion 14 and the buttons 15 L and 15 R. Therefore, the operator can operate the buttons 15L and 15R without visually recognizing the convex portion 14 and the buttons 15L and 15R. As a result, the operator can operate the buttons 15L and 15R while keeping the eyes in line with the robot arm 30 or the work object, so that the operability of the display operation device 10A is improved.
　ところで、ボタンが把持部に配置されていない比較例の人協働ロボットが用いられる場合、操作者は、把持部を把持しながらボタンを押下することができず、把持部から手を離したうえでボタンを押下する必要があった。一方、人協働ロボット１では、ボタン１５Ｌ，１５Ｒが把持部１１Ｌ，１１Ｒに配置されている。具体的には、ボタン１５Ｌ，１５Ｒが、グリップ部１２Ｌ，１２Ｒの近傍に配置されている。したがって、人協働ロボット１が用いられる場合、操作者は、把持部１１Ｌ，１１Ｒを把持しながらボタン１５Ｌ，１５Ｒを押下することができる。 By the way, when the human-collaborating robot according to the comparative example in which the button is not disposed in the gripping unit is used, the operator can not press the button while gripping the gripping unit, and releases the hand from the gripping unit. Had to press the button. On the other hand, in the human-collaboration robot 1, the buttons 15L and 15R are disposed in the gripping portions 11L and 11R. Specifically, the buttons 15L and 15R are disposed in the vicinity of the grips 12L and 12R. Therefore, when the human-collaborating robot 1 is used, the operator can press the buttons 15L, 15R while gripping the grips 11L, 11R.
　また、操作者は、先端部２０に位置を教示する際には、作業対象物または先端部２０に視線を合わせることが多い。このため、ボタンがグリップ部から離れた位置に配置されている比較例の人協働ロボットが用いられる場合、操作者は、ボタンへの操作を行う際に視線を切替える必要があった。一方、人協働ロボット１では、ボタン１５Ｌ，１５Ｒが把持部１１Ｌ，１１Ｒに配置されており、さらにボタン１５Ｌ，１５Ｒの近傍に凸部１４が設けられている。したがって、人協働ロボット１が用いられる場合、操作者は、ボタン１５Ｌ，１５Ｒを目視することなく凸部１４を指で確認することができる。この結果、操作者は、ボタン１５Ｌ，１５Ｒを目視することなくボタン１５Ｌ，１５Ｒを押下することができる。これにより、操作者は、作業対象物または先端部２０に視線を合わせながら、ボタン１５Ｌ，１５Ｒを押下することが可能となる。 In addition, when teaching the position to the tip 20, the operator often aligns the line of sight with the work object or the tip 20. For this reason, when the human-collaboration robot of the comparative example in which the button is disposed at a position away from the grip portion is used, the operator needs to switch the line of sight when performing the operation on the button. On the other hand, in the human-collaboration robot 1, the buttons 15L and 15R are disposed in the holding portions 11L and 11R, and further, the convex portion 14 is provided in the vicinity of the buttons 15L and 15R. Therefore, when the human-collaborating robot 1 is used, the operator can confirm the convex portion 14 with a finger without visually checking the buttons 15L and 15R. As a result, the operator can press the buttons 15L, 15R without looking at the buttons 15L, 15R. As a result, the operator can press the buttons 15L and 15R while aligning the line of sight with the work object or the tip portion 20.
　このように実施の形態１では、ボタン１５Ｌ，１５Ｒが、操作者がグリップ部１２Ｌ，１２Ｒを両手で把持した状態で操作可能な領域に配置されている。この構成により、操作者は、グリップ部１２Ｌ，１２Ｒから指を離すことなく、ボタン１５Ｌ，１５Ｒを押下することができる。また、操作者は、作業対象物または先端部２０に視線を合わせながら、ボタン１５Ｌ，１５Ｒを押下することができる。したがって、操作者は、ロボットアーム３０を容易に操作することが可能となる。 As described above, in the first embodiment, the buttons 15L and 15R are disposed in the area where the operator can operate the grip portions 12L and 12R in a state of being gripped by both hands. With this configuration, the operator can press the buttons 15L and 15R without releasing the fingers from the grips 12L and 12R. In addition, the operator can press the buttons 15L and 15R while aligning the line of sight with the work object or the tip portion 20. Therefore, the operator can easily operate the robot arm 30.
実施の形態２．
　つぎに、図５を用いてこの発明の実施の形態２について説明する。実施の形態２の表示操作器は、表示操作器がロボットアーム３０に取り付けられた場合に、グリップ部の軸方向がＸ軸方向となるようグリップ部が形成されている。 Second Embodiment
Second Embodiment A second embodiment of the present invention will now be described with reference to FIG. In the display / operation device of the second embodiment, when the display / operation device is attached to the robot arm 30, the grip portion is formed such that the axial direction of the grip portion is the X-axis direction.
　図５は、実施の形態２にかかる表示操作器の構成を示す図である。図５の各構成要素のうち図３に示す実施の形態１の表示操作器１０Ａと同一機能を達成する構成要素については同一符号を付しており、重複する説明は省略する。図５では、実施の形態２の表示操作器１０Ｂと、ロボットアーム３０の一部とを図示している。実施の形態２では、表示操作器１０Ｂが、ロボットアーム３０に取り付けられた状態での軸方向を用いて、表示操作器１０Ｂの構成を説明する。 FIG. 5 is a diagram showing the configuration of the display / operation device according to the second embodiment. Among constituent elements in FIG. 5, constituent elements achieving the same functions as those of the display operation device 10A according to the first embodiment shown in FIG. 3 are given the same reference numerals, and duplicate explanations are omitted. In FIG. 5, the display operation device 10B of the second embodiment and a part of the robot arm 30 are illustrated. In the second embodiment, the configuration of the display operator 10B will be described using an axial direction in a state where the display operator 10B is attached to the robot arm 30.
　実施の形態２の表示操作器１０Ｂは、実施の形態１の表示操作器１０Ａと同様の機能を有している。表示操作器１０Ｂは、表示部１３と同様の機能を有した表示部２３と、凸部１４と同様の機能および形状を有した凸部２４とを備えている。また、表示部２３は、ボタン１５Ｌ，１５Ｒと同様のボタンであるボタン２５Ｌ，２５Ｒを表示する。また、表示操作器１０Ｂは、グリップ部１２Ｌ，１２Ｒの代わりにグリップ部２２Ｌ，２２Ｒを備えている。 The display controller 10B of the second embodiment has the same function as the display controller 10A of the first embodiment. The display operation device 10 </ b> B includes a display unit 23 having the same function as the display unit 13 and a protrusion 24 having the same function and shape as the protrusion 14. The display unit 23 also displays buttons 25L and 25R which are the same as the buttons 15L and 15R. Further, the display controller 10B includes grips 22L and 22R instead of the grips 12L and 12R.
　表示操作器１０Ｂは、操作者の左手によって把持される把持部と、操作者の右手によって把持される把持部とを備えている。実施の形態２の各把持部は、操作者が手の力でロボットアーム３０を操作する際と、操作者がボタン２５Ｌ，２５Ｒでロボットアーム３０を操作する際と、の何れの間も把持され続ける。なお、以下の説明では、表示操作器１０Ｂが備える把持部のうち、左手で把持可能な把持部を左手側把持部といい、右手で把持可能な把持部を右手側把持部という場合がある。 The display operation device 10B includes a gripping portion gripped by the left hand of the operator and a gripping portion gripped by the right hand of the operator. Each gripping portion according to the second embodiment is gripped between when the operator operates the robot arm 30 with the force of the hand and when the operator operates the robot arm 30 with the buttons 25L and 25R. to continue. In the following description, among the grips included in the display operation device 10B, the grip that can be gripped by the left hand may be referred to as the left grip, and the grip that can be gripped by the right may be referred to as the right grip.
　表示操作器１０Ｂと表示操作器１０Ａとでは、グリップ部１２Ｌ，１２Ｒの配置方向と、グリップ部２２Ｌ，２２Ｒの配置方向とが異なっている。グリップ部２２Ｌ，２２Ｒは、グリップ部１２Ｌ，１２Ｒと同様に、ロボットアーム３０を移動させる際に操作者によって握られる。グリップ部２２Ｌ，２２Ｒは、操作者から力が加えられると、操作者からの力をロボットアーム３０に伝えることによってロボットアーム３０を移動させる。 In the display / operation device 10B and the display / operation device 10A, the arrangement direction of the grips 12L and 12R is different from the arrangement direction of the grips 22L and 22R. Similar to the grips 12L and 12R, the grips 22L and 22R are gripped by the operator when moving the robot arm 30. The grips 22L and 22R move the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
　表示操作器１０Ｂでは、グリップ部１２Ｌ，１２Ｒの配置されていた位置にグリップ部２２Ｌ，２２Ｒが配置されている。すなわち、表示部２３の左側には左手で握ることができるグリップ部２２Ｌが配置されており、表示部２３の右側には右手で握ることができるグリップ部２２Ｒが配置されている。 In the display controller 10B, the grips 22L and 22R are arranged at the positions where the grips 12L and 12R are arranged. That is, a grip 22L that can be gripped by the left hand is disposed on the left side of the display unit 23, and a grip 22R that can be gripped by the right hand is disposed on the right of the display unit 23.
　グリップ部２２Ｌ，２２Ｒは、グリップ部１２Ｌ，１２Ｒと同様に、親指以外の指で容易に握ることができるよう、柱状部材を含んで構成されている。実施の形態２では、グリップ部２２Ｌの柱状部材の柱軸方向とグリップ部２２Ｒの柱状部材の柱軸方向とが、同軸方向となるよう、グリップ部２２Ｌ，２２Ｒが表示操作器１０Ｂに配置されている。また、表示操作器１０Ｂでは、グリップ部２２Ｌ，２２Ｒの柱軸方向がＸ軸方向となるようグリップ部２２Ｌ，２２Ｒが配置されている。 Similar to the grips 12L and 12R, the grips 22L and 22R are configured to include columnar members so that they can be easily grasped by fingers other than the thumb. In the second embodiment, the grips 22L and 22R are arranged on the display controller 10B such that the column axial direction of the columnar members of the grip 22L and the column axial direction of the columnar members of the grip 22R are coaxial. There is. In the display controller 10B, the grips 22L and 22R are disposed such that the column axial direction of the grips 22L and 22R is the X-axis direction.
　表示操作器１０Ｂでは、左手側把持部が、グリップ部２２Ｌと、凸部２４と、ボタン２５Ｌとを含んで構成されており、右手側把持部が、グリップ部２２Ｒと、凸部２４と、ボタン２５Ｒとを含んで構成されている。なお、表示操作器１０Ｂに配置される把持部は、左手側把持部および右手側把持部の何れか一方でもよい。 In the display operation device 10B, the left hand side grip portion is configured to include the grip portion 22L, the convex portion 24 and the button 25L, and the right hand side grip portion is the grip portion 22R, the convex portion 24 and the button And 25R. In addition, the holding part arrange | positioned at display operation tool 10B may be any one of a left-hand side holding part and a right-hand side holding part.
　また、表示操作器１０Ｂでは、表示部１３と同様の位置に表示部２３が配置され、凸部１４と同様の位置に凸部２４が配置されている。 In the display controller 10B, the display unit 23 is disposed at the same position as the display unit 13, and the convex portion 24 is disposed at the same position as the convex portion 14.
　また、表示部２３は、ボタン１５Ｌ，１５Ｒと同様の位置にボタン２５Ｌ，２５Ｒを表示する。すなわち、表示部２３は、操作者が左手側把持部を把持した状態で操作可能なボタン２５Ｌを画面の左側に表示し、操作者が右手側把持部を把持した状態で操作可能なボタン２５Ｒを画面の右側に表示する。このとき、表示部２３は、表示部１３と同様に、操作者が左手の親指以外の４本の指でグリップ部２２Ｌを握ったまま左手の親指で押下可能な位置にボタン２５Ｌを表示する。また、表示部２３は、操作者が右手の親指以外の４本の指でグリップ部２２Ｒを握ったまま右手の親指で押下可能な位置にボタン２５Ｒを表示する。 In addition, the display unit 23 displays the buttons 25L and 25R at the same positions as the buttons 15L and 15R. That is, the display unit 23 displays the operable button 25L on the left side of the screen in a state where the operator grips the left-hand side grip portion, and operates the button 25R operable in the state where the operator grips the right-hand side grip portion Display on the right side of the screen. At this time, the display unit 23 displays the button 25L at a position where the operator can press the left thumb while holding the grip 22L with four fingers other than the left thumb, as in the display 13. In addition, the display unit 23 displays the button 25R at a position where the operator can press the thumb of the right hand while holding the grip 22R with four fingers other than the thumb of the right hand.
　具体的には、ボタン２５Ｌ，２５Ｒは、グリップ部２２Ｌ，２２Ｒの柱軸方向と垂直な方向に並べて配置されている。すなわち、表示操作器１０Ｂでは、グリップ部２２Ｌ，２２Ｒの柱軸方向がＸ軸方向となるようグリップ部２２Ｌ，２２Ｒが配置されるとともに、ボタン２５ＬがＹ軸方向に並びボタン２５ＲがＹ軸方向に並ぶよう配置されている。このように、表示操作器１０Ｂは、グリップ部２２Ｌ，２２Ｒの柱軸方向が同軸方向であり、ボタン２５Ｌ，２５Ｒが、グリップ部２２Ｌ，２２Ｒの柱軸方向と垂直な方向に並べて配置されている。 Specifically, the buttons 25L, 25R are arranged in a direction perpendicular to the column axis direction of the grips 22L, 22R. That is, in the display controller 10B, the grips 22L and 22R are arranged such that the column axial direction of the grips 22L and 22R is the X axis direction, and the buttons 25L are arranged in the Y axis direction and the button 25R is in the Y axis direction It is arranged to line up. As described above, in the display controller 10B, the column axial direction of the grips 22L and 22R is coaxial, and the buttons 25L and 25R are arranged in a direction perpendicular to the column axial direction of the grips 22L and 22R. .
　このように、表示操作器１０Ｂでは、表示操作器１０Ａと同様にボタン２５Ｌ，２５Ｒは、グリップ部２２Ｌ，２２Ｒの近傍に配置されている。また、表示操作器１０Ｂでは、左手側把持部の凸部２４は、グリップ部２２Ｌとボタン２５Ｌとの間の位置でボタン２５Ｌの近傍に配置されている。また、右手側把持部の凸部２４は、グリップ部２２Ｒとボタン２５Ｒとの間の位置でボタン２５Ｒの近傍に配置されている。 As described above, in the display controller 10B, the buttons 25L and 25R are disposed in the vicinity of the grips 22L and 22R as in the display controller 10A. Further, in the display controller 10B, the convex portion 24 of the left-hand side grip portion is disposed in the vicinity of the button 25L at a position between the grip portion 22L and the button 25L. Further, the convex portion 24 of the right-hand side grip portion is disposed in the vicinity of the button 25R at a position between the grip portion 22R and the button 25R.
　上述したように、ボタン２５Ｌは、操作者が左手側把持部を把持した状態で操作されるので、表示部２３に表示されるボタン２５Ｌは、左手側把持部の一部でもある。また、ボタン２５Ｒは、操作者が右手側把持部を把持した状態で操作されるので、表示部２３に表示されるボタン２５Ｒは、右手側把持部の一部でもある。 As described above, since the button 25L is operated in a state where the operator grips the left hand side grip portion, the button 25L displayed on the display portion 23 is also a part of the left hand side grip portion. Further, since the button 25R is operated in a state where the operator grips the right-hand side grip portion, the button 25R displayed on the display unit 23 is also a part of the right-hand side grip portion.
　したがって、操作者は、表示操作器１０Ｂを用いることにより、左手側把持部および右手側把持部を把持した状態でボタン２５Ｌ，２５Ｒへの操作が可能である。換言すると、操作者は、グリップ部２２Ｌ，２２Ｒを握ったままグリップ部２２Ｌ，２２Ｒを握り替えることなくボタン２５Ｌ，２５Ｒへの操作が可能である。 Therefore, the operator can operate the buttons 25L and 25R while gripping the left-hand side grip portion and the right-hand side grip portion by using the display operation device 10B. In other words, the operator can operate the buttons 25L and 25R without changing the grips 22L and 22R while holding the grips 22L and 22R.
　このように実施の形態２では、ボタン２５Ｌ，２５Ｒが、操作者がグリップ部２２Ｌ，２２Ｒを両手で把持した状態で操作可能な領域に配置されている。したがって、操作者は、実施の形態１と同様にロボットアーム３０を容易に操作することが可能となる。 As described above, in the second embodiment, the buttons 25L and 25R are disposed in the area where the operator can operate the grips 22L and 22R with both hands. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
実施の形態３．
　つぎに、図６を用いてこの発明の実施の形態３について説明する。実施の形態３の表示操作器は、表示操作器がロボットアーム３０に取り付けられた場合に、グリップ部の軸方向がＸ軸方向となるようグリップ部が形成されている。さらに、表示部および凸部が柱状部材上に配置され、表示部および凸部の柱状部材がグリップ部の柱状部材に接合されている。 Third Embodiment
Next, a third embodiment of the present invention will be described with reference to FIG. In the display / operation device according to the third embodiment, when the display / operation device is attached to the robot arm 30, the grip portion is formed such that the axial direction of the grip portion is the X-axis direction. Further, the display portion and the convex portion are disposed on the columnar member, and the columnar member of the display portion and the convex portion is joined to the columnar member of the grip portion.
　図６は、実施の形態３にかかる表示操作器の構成を示す図である。図６の各構成要素のうち図３に示す実施の形態１の表示操作器１０Ａまたは図５に示す実施の形態２の表示操作器１０Ｂと同一機能を達成する構成要素については同一符号を付しており、重複する説明は省略する。図６では、実施の形態３の表示操作器１０Ｃと、ロボットアーム３０の一部とを図示している。実施の形態３では、表示操作器１０Ｃが、ロボットアーム３０に取り付けられた状態での軸方向を用いて、表示操作器１０Ｃの構成を説明する。 FIG. 6 is a diagram showing the configuration of the display / operation device according to the third embodiment. Among constituent elements in FIG. 6, constituent elements achieving the same functions as the display operation unit 10A of the first embodiment shown in FIG. 3 or the display operation unit 10B of the second embodiment shown in FIG. And duplicate explanations are omitted. In FIG. 6, the display operation device 10C of the third embodiment and a part of the robot arm 30 are illustrated. In the third embodiment, the configuration of the display controller 10C will be described using the axial direction in a state where the display controller 10C is attached to the robot arm 30.
　実施の形態３の表示操作器１０Ｃは、表示操作器１０Ａ，１０Ｂと同様の機能を有している。表示操作器１０Ｃは、表示部１３と同様の機能を有した表示部３３Ｌ，３３Ｒと、凸部１４と同様の機能および形状を有した凸部３４とを備えている。また、表示部３３Ｌは、ボタン１５Ｌと同様のボタンであるボタン３５Ｌを表示し、表示部３３Ｒは、ボタン１５Ｒと同様のボタンであるボタン３５Ｒを表示する。また、表示操作器１０Ｃは、グリップ部２２Ｌ，２２Ｒと同様の形状を有したグリップ部３２Ｌ，３２Ｒを備えている。 The display operator 10C of the third embodiment has the same function as the display operators 10A and 10B. The display operation device 10C includes display portions 33L and 33R having the same function as the display portion 13 and a convex portion 34 having the same function and shape as the convex portion 14. In addition, the display unit 33L displays a button 35L which is a button similar to the button 15L, and the display unit 33R displays a button 35R which is a button similar to the button 15R. Further, the display operation device 10C includes grip portions 32L and 32R having the same shape as the grip portions 22L and 22R.
　表示操作器１０Ｃは、操作者の左手によって把持される左手側把持部と、操作者の右手によって把持される右手側把持部とを備えている。実施の形態３の各把持部は、操作者が手の力でロボットアーム３０を操作する際と、操作者がボタン３５Ｌ，３５Ｒでロボットアーム３０を操作する際と、の何れの間も把持され続ける。 The display controller 10C is provided with a left hand side grip held by the left hand of the operator and a right hand side grip held by the right hand of the operator. Each gripping portion in the third embodiment is gripped between when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the buttons 35L and 35R. to continue.
　表示操作器１０Ｃと表示操作器１０Ａとでは、グリップ部１２Ｌ，１２Ｒの配置方向と、グリップ部３２Ｌ，３２Ｒの配置方向とが異なっている。また、表示操作器１０Ｃと表示操作器１０Ｂとでは、表示部２３の配置位置および形状と、表示部３３Ｌ，３３Ｒの配置位置および形状と、が異なっている。また、表示操作器１０Ｃと表示操作器１０Ｂとでは、凸部２４の配置位置と、凸部３４の配置位置とが異なっている。 In the display / operation device 10C and the display / operation device 10A, the arrangement direction of the grips 12L and 12R is different from the arrangement direction of the grips 32L and 32R. Further, the arrangement position and the shape of the display unit 23 and the arrangement position and the shape of the display units 33L and 33R are different between the display operation unit 10C and the display operation unit 10B. Further, in the display controller 10C and the display controller 10B, the arrangement position of the convex portion 24 and the arrangement position of the convex portion 34 are different.
　グリップ部３２Ｌ，３２Ｒは、グリップ部１２Ｌ，１２Ｒおよびグリップ部２２Ｌ，２２Ｒと同様に、ロボットアーム３０を移動させる際に操作者によって握られる。グリップ部３２Ｌ，３２Ｒは、操作者から力が加えられると、操作者からの力をロボットアーム３０に伝えることによってロボットアーム３０を移動させる。 Similar to the grips 12L and 12R and the grips 22L and 22R, the grips 32L and 32R are gripped by the operator when the robot arm 30 is moved. The grips 32L and 32R move the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
　表示操作器１０Ｃでは、グリップ部２２Ｌ，２２Ｒの配置されていた位置にグリップ部３２Ｌ，３２Ｒが配置されている。すなわち、表示部３３Ｌの左側には左手で握ることができるグリップ部３２Ｌが配置されており、表示部３３Ｒの右側には右手で握ることができるグリップ部３２Ｒが配置されている。具体的には、表示操作器１０Ｃでは、グリップ部３２Ｌの右端側であるロボットアーム３０側に表示部３３Ｌが配置されており、グリップ部３２Ｒの左端側であるロボットアーム３０側に表示部３３Ｒが配置されている。 In the display controller 10C, the grips 32L and 32R are disposed at the positions where the grips 22L and 22R were disposed. That is, a grip 32L that can be gripped by the left hand is disposed on the left of the display 33L, and a grip 32R that can be gripped by the right is disposed on the right of the display 33R. Specifically, in the display controller 10C, the display unit 33L is disposed on the robot arm 30 side which is the right end side of the grip unit 32L, and the display unit 33R is on the robot arm 30 side which is the left end side of the grip unit 32R. It is arranged.
　グリップ部３２Ｌ，３２Ｒは、グリップ部１２Ｌ，１２Ｒおよびグリップ部２２Ｌ，２２Ｒと同様に、親指以外の指で容易に握ることができるよう、柱状部材を含んで構成されている。実施の形態３では、グリップ部３２Ｌ，３２Ｒの柱軸方向がＸ軸方向かつ同軸方向となるようグリップ部３２Ｌ，３２Ｒが配置されている。なお、表示操作器１０Ｃに配置される把持部は、左手側把持部および右手側把持部の何れか一方でもよい。 Similar to the grips 12L and 12R and the grips 22L and 22R, the grips 32L and 32R are configured to include columnar members so that they can be easily grasped by fingers other than the thumb. In the third embodiment, the grips 32L and 32R are arranged such that the column axial directions of the grips 32L and 32R are coaxial with the X axis direction. In addition, the holding part arrange | positioned at 10 C of display operators may be any one of a left-hand side holding part and a right-hand side holding part.
　表示操作器１０Ｃの表示部３３Ｌ，３３Ｒは、柱状部材の側面部分に配置されている。したがって、表示部３３Ｌ，３３Ｒは、柱状部材の側面に配置可能な曲面状の上面を有している。表示部３３Ｌ，３３Ｒが配置されている柱状部材の側面は、グリップ部３２Ｌ，３２Ｒの側面と平行な面を有している。このように、表示部３３Ｌ，３３Ｒは、曲板状の表示画面を備えている。したがって、ボタン３５Ｌ，３５Ｒは、曲面上に配置されている。ボタン３５Ｌ，３５Ｒは、柱状部材の周方向に沿って並ぶよう配置されている。表示操作器１０Ｃでは、表示操作器１０Ａ，１０Ｂと同様にボタン３５Ｌ，３５Ｒは、グリップ部３２Ｌ，３２Ｒの近傍に配置される。 The display portions 33L and 33R of the display controller 10C are disposed on side portions of the columnar members. Therefore, the display portions 33L and 33R have curved upper surfaces which can be disposed on the side surfaces of the columnar members. The side surface of the columnar member on which the display portions 33L and 33R are disposed has a surface parallel to the side surfaces of the grip portions 32L and 32R. As described above, the display units 33L and 33R include curved display screens. Therefore, the buttons 35L and 35R are disposed on the curved surface. The buttons 35L and 35R are arranged along the circumferential direction of the columnar member. In the display controller 10C, the buttons 35L and 35R are disposed in the vicinity of the grips 32L and 32R, similarly to the display operators 10A and 10B.
　また、凸部３４は、柱状部材の側面部分に配置されている。換言すると、凸部３４は、柱状部材の側面である曲面に配置されている。凸部３４が配置されている柱状部材の側面は、グリップ部３２Ｌ，３２Ｒの側面と平行な面を有している。したがって、凸部３４は、表示部３３Ｌ，３３Ｒの表示画面と平行な面内に配置されている。左手側把持部では、グリップ部３２Ｌとボタン３５Ｌとの間の位置でボタン３５Ｌの近傍に凸部３４が配置されており、右手側把持部では、グリップ部３２Ｒとボタン３５Ｒとの間の位置でボタン３５Ｒの近傍に凸部３４が配置されている。また、凸部３４は、柱状部材の周方向に沿って並ぶよう配置されている。 Moreover, the convex part 34 is arrange | positioned at the side part of a columnar member. In other words, the convex portion 34 is disposed on a curved surface which is a side surface of the columnar member. The side surface of the columnar member in which the convex part 34 is arrange | positioned has a surface parallel to the side surface of grip part 32L, 32R. Therefore, the convex part 34 is arrange | positioned in the surface parallel to the display screen of display part 33L, 33R. In the left-hand side grip portion, the convex portion 34 is disposed in the vicinity of the button 35L at a position between the grip portion 32L and the button 35L, and in the right-hand side grip portion, at the position between the grip portion 32R and the button 35R. The convex portion 34 is disposed in the vicinity of the button 35R. Further, the convex portions 34 are arranged along the circumferential direction of the columnar member.
　表示部３３Ｌ，３３Ｒが配置される第１の柱状部材と、凸部３４が配置される第２の柱状部材と、グリップ部３２Ｌ，３２Ｒが有している第３の柱状部材とは、同軸方向に並ぶよう一体形成されている。換言すると、表示部３３Ｌ，３３Ｒが配置される柱状部材と、凸部３４が配置される柱状部材と、グリップ部３２Ｌ，３２Ｒの柱状部材とは、表示部３３Ｌ，３３Ｒの曲面と、凸部３４の配置されている曲面と、グリップ部３２Ｌ，３２Ｒの曲面とが平行となるよう接合されている。 The first columnar member in which the display portions 33L and 33R are disposed, the second columnar member in which the convex portion 34 is disposed, and the third columnar members included in the grip portions 32L and 32R are coaxial with each other. It is integrally formed to line up with. In other words, the columnar members in which the display portions 33L and 33R are disposed, the columnar members in which the convex portions 34 are disposed, and the columnar members of the grip portions 32L and 32R are curved surfaces of the display portions 33L and 33R, and the convex portions 34. The curved surfaces arranged in the above are joined so as to be parallel to the curved surfaces of the grip portions 32L and 32R.
　表示操作器１０Ｃでは、左手側把持部が、グリップ部３２Ｌと、凸部３４と、ボタン３５Ｌとを含んで構成されており、右手側把持部が、グリップ部３２Ｒと、凸部３４と、ボタン３５Ｒとを含んで構成されている。そして、操作者が左手側把持部を把持した状態で操作可能なボタン３５Ｌが、グリップ部３２Ｌの右端部側にある表示部３３Ｌに表示され、操作者が右手側把持部を把持した状態で操作可能なボタン３５Ｒが、グリップ部３２Ｒの左端部側にある表示部３３Ｒに表示される。このとき、表示部３３Ｌは、表示部１３と同様に、操作者が左手の親指以外の４本の指でグリップ部３２Ｌを握ったまま左手の親指で押下可能な位置にボタン３５Ｌを表示する。また、表示部３３Ｒは、操作者が右手の親指以外の４本の指でグリップ部３２Ｒを握ったまま右手の親指で押下可能な位置にボタン３５Ｒを表示する。 In the display controller 10C, the left hand side grip portion is configured to include the grip portion 32L, the convex portion 34, and the button 35L, and the right hand side grip portion is the grip portion 32R, the convex portion 34, and the button It is comprised including 35R. Then, the button 35L operable in the state where the operator grips the left-hand side grip portion is displayed on the display portion 33L at the right end side of the grip portion 32L, and the operation is performed in the state where the operator grips the right-hand side grip portion A possible button 35R is displayed on the display 33R on the left end side of the grip 32R. At this time, the display unit 33L displays the button 35L at a position where the operator can press the left thumb while holding the grip 32L with four fingers other than the left thumb, as in the display unit 13. In addition, the display unit 33R displays the button 35R at a position where the operator can press the thumb of the right hand while holding the grip 32R with four fingers other than the thumb of the right hand.
　具体的には、ボタン３５Ｌ，３５Ｒは、グリップ部３２Ｌ，３２Ｒの柱軸方向と垂直な面に沿って配置されている。すなわち、表示操作器１０Ｃでは、グリップ部３２Ｌ，３２Ｒの柱軸方向がＸ軸方向となるようグリップ部３２Ｌ，３２Ｒが配置されるとともに、ボタン３５ＬがＸ軸方向を囲うよう配置されボタン３５ＲがＸ軸方向を囲うよう配置されている。このように、表示操作器１０Ｃは、グリップ部３２Ｌ，３２Ｒの柱軸方向が同軸方向であり、ボタン３５Ｌ，３５Ｒが、グリップ部３２Ｌ，３２Ｒの柱軸方向と垂直な面に沿って配置される。 Specifically, the buttons 35L and 35R are disposed along a plane perpendicular to the column axial direction of the grips 32L and 32R. That is, in the display controller 10C, the grips 32L and 32R are disposed such that the column axis direction of the grips 32L and 32R is the X axis direction, and the button 35L is disposed so as to surround the X axis direction. It is arranged to surround the axial direction. Thus, in the display / operation device 10C, the column axial direction of the grips 32L and 32R is coaxial, and the buttons 35L and 35R are disposed along a plane perpendicular to the column axial direction of the grips 32L and 32R. .
　上述したように、ボタン３５Ｌは、操作者が左手側把持部を把持した状態で操作されるので、表示部３３Ｌに表示されるボタン３５Ｌは、左手側把持部の一部でもある。また、ボタン３５Ｒは、操作者が右手側把持部を把持した状態で操作されるので、表示部３３Ｒに表示されるボタン３５Ｒは、右手側把持部の一部でもある。 As described above, since the button 35L is operated in a state in which the operator holds the left hand side gripping portion, the button 35L displayed on the display portion 33L is also a part of the left hand side gripping portion. Further, since the button 35R is operated in a state where the operator grips the right-hand side grip portion, the button 35R displayed on the display portion 33R is also a part of the right-hand side grip portion.
　したがって、操作者は、表示操作器１０Ｃを用いることにより、左手側把持部および右手側把持部を把持した状態でボタン３５Ｌ，３５Ｒへの操作が可能である。換言すると、操作者は、グリップ部３２Ｌ，３２Ｒを握ったままグリップ部３２Ｌ，３２Ｒを握り替えることなくボタン３５Ｌ，３５Ｒへの操作が可能である。 Therefore, the operator can operate the buttons 35L and 35R while gripping the left-hand side grip portion and the right-hand side grip portion by using the display operation device 10C. In other words, the operator can operate the buttons 35L and 35R without changing the grips 32L and 32R while holding the grips 32L and 32R.
　このように実施の形態３では、ボタン３５Ｌ，３５Ｒが、操作者がグリップ部３２Ｌ，３２Ｒを両手で把持した状態で操作可能な領域に配置されている。したがって、操作者は、実施の形態１と同様にロボットアーム３０を容易に操作することが可能となる。 As described above, in the third embodiment, the buttons 35L and 35R are disposed in an area where the operator can operate the grip portions 32L and 32R with both hands. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
実施の形態４．
　つぎに、図７を用いてこの発明の実施の形態４について説明する。実施の形態４の表示操作器は、グリップ部がロボットアーム３０の柱状部材の側面の一部を囲うようロボットアーム３０に取り付けられる。 Fourth Embodiment
Fourth Embodiment A fourth embodiment of the present invention will now be described with reference to FIG. The display / operation device of the fourth embodiment is attached to the robot arm 30 such that the grip part encloses a part of the side surface of the columnar member of the robot arm 30.
　図７は、実施の形態４にかかる表示操作器の構成を示す図である。図７の各構成要素のうち図３に示す実施の形態１の表示操作器１０Ａと同一機能を達成する構成要素については同一符号を付しており、重複する説明は省略する。図７では、実施の形態４の表示操作器１０Ｄと、ロボットアーム３０の一部とを図示している。実施の形態４では、表示操作器１０Ｄが、ロボットアーム３０に取り付けられた状態での軸方向を用いて、表示操作器１０Ｄの構成を説明する。 FIG. 7 is a diagram showing the configuration of the display / operation device according to the fourth embodiment. Among components shown in FIG. 7, components that achieve the same functions as those of the display operation device 10A according to the first embodiment shown in FIG. 3 are given the same reference numerals, and redundant description will be omitted. FIG. 7 illustrates the display / operation device 10D of the fourth embodiment and a part of the robot arm 30. In the fourth embodiment, the configuration of the display operator 10D will be described using an axial direction in a state where the display operator 10D is attached to the robot arm 30.
　実施の形態４の表示操作器１０Ｄは、実施の形態１の表示操作器１０Ａと同様の機能を有している。表示操作器１０Ｄは、表示部１３と同様の機能を有した表示部４３と、凸部１４と同様の機能および形状を有した凸部４４とを備えている。表示部４３は、表示部１３と同様に平板状の表示画面を備えている。また、表示部４３は、ボタン１５Ｌ，１５Ｒと同様のボタンであるボタン４５Ｘを表示する。また、表示操作器１０Ｄは、グリップ部１２Ｌ，１２Ｒの代わりにグリップ部４２Ｘを備えている。 The display controller 10D of the fourth embodiment has the same function as the display controller 10A of the first embodiment. The display operation device 10D includes a display unit 43 having the same function as the display unit 13, and a convex portion 44 having the same function and shape as the convex portion 14. Similar to the display unit 13, the display unit 43 includes a flat display screen. Further, the display unit 43 displays a button 45X which is the same button as the buttons 15L and 15R. Further, the display operation device 10D includes a grip portion 42X instead of the grip portions 12L and 12R.
　表示操作器１０Ｄは、操作者の左手または右手によって把持される把持部を備えている。実施の形態４の把持部は、操作者が手の力でロボットアーム３０を操作する際と、操作者がボタン４５Ｘでロボットアーム３０を操作する際と、の何れの間も把持され続ける。　　　 The display controller 10D is provided with a grip that is gripped by the operator's left hand or right hand. The grasping portion of the fourth embodiment continues to be grasped both when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the button 45X.
　表示操作器１０Ｄと表示操作器１０Ａとでは、グリップ部１２Ｌ，１２Ｒの形状および配置位置と、グリップ部４２Ｘの形状および配置位置とが異なっている。グリップ部４２Ｘは、グリップ部１２Ｌ，１２Ｒと同様に、ロボットアーム３０を移動させる際に操作者によって握られる。グリップ部４２Ｘは、操作者から力が加えられると、操作者からの力をロボットアーム３０に伝えることによってロボットアーム３０を移動させる。 The shape and the arrangement position of the grip portions 12L and 12R and the shape and the arrangement position of the grip portion 42X are different between the display operation device 10D and the display operation device 10A. Similar to the grips 12L and 12R, the grip 42X is gripped by the operator when the robot arm 30 is moved. The grip unit 42X moves the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
　表示操作器１０Ｄでは、ロボットアーム３０の側面部に、左手または右手によって握ることができるグリップ部４２Ｘが配置されている。グリップ部４２Ｘは、ロボットアーム３０の側面部の一部を覆うことができる筒状部材または半筒状部材を用いて形成されている。グリップ部４２Ｘがロボットアーム３０に取り付けられる際には、グリップ部４２Ｘの中心軸とロボットアーム３０のうちグリップ部４２Ｘが取り付けられる位置でのロボットアーム３０の中心軸とが同じになるようグリップ部４２Ｘが取り付けられる。実施の形態４では、グリップ部４２Ｘの柱軸方向がＹ軸方向となるようグリップ部４２Ｘが配置される。グリップ部４２Ｘは、グリップ部１２Ｌ，１２Ｒと同様に、親指以外の指で容易に握ることができるよう構成されている。 In the display / operation device 10D, a grip portion 42X that can be gripped by the left hand or the right hand is disposed on the side surface of the robot arm 30. The grip portion 42X is formed using a cylindrical member or a semi-cylindrical member that can cover a part of the side surface portion of the robot arm 30. When the grip portion 42X is attached to the robot arm 30, the grip portion 42X is arranged such that the central axis of the grip portion 42X and the central axis of the robot arm 30 at the position where the grip portion 42X is attached among the robot arms 30 are the same. Is attached. In the fourth embodiment, the grip portion 42X is disposed such that the column axial direction of the grip portion 42X is the Y-axis direction. Similar to the grip portions 12L and 12R, the grip portion 42X is configured to be easily grasped by a finger other than the thumb.
　表示操作器１０Ｄでは、把持部が、グリップ部４２Ｘと、凸部４４と、ボタン４５Ｘとを含んで構成されている。なお、表示操作器１０Ｄに配置される把持部は、左手および右手の両方で把持されてもよい。把持部は、左手および右手の何れで把持されてもよいので、以下の説明では把持部が左手で把持される場合について説明する。 In the display controller 10D, the grip portion is configured to include a grip portion 42X, a convex portion 44, and a button 45X. In addition, the holding part arrange | positioned at display operation device 10D may be hold | gripped with both a left hand and a right hand. The grip portion may be gripped by either the left hand or the right hand, so in the following description, the case where the grip portion is gripped by the left hand will be described.
　表示操作器１０Ｄでは、グリップ部４２Ｘの鉛直方向の上側に表示部４３が配置される。また、表示部４３は、操作者が把持部を把持した状態で操作可能なボタン４５Ｘをグリップ部４２Ｘの近傍に表示する。このとき、表示部４３は、表示部１３と同様に、操作者が左手の親指以外の４本の指でグリップ部４２Ｘを握ったまま左手の親指で押下可能な位置にボタン４５Ｘを表示する。このように、表示操作器１０Ｄでは、表示操作器１０Ａ～１０Ｃと同様にボタン４５Ｘは、グリップ部４２Ｘの近傍に配置される。 In the display controller 10D, the display unit 43 is disposed on the upper side in the vertical direction of the grip unit 42X. In addition, the display unit 43 displays the operable button 45X in the vicinity of the grip unit 42X in a state where the operator holds the grip unit. At this time, the display unit 43 displays the button 45X at a position where the operator can press the left thumb while holding the grip 42X with four fingers other than the left thumb, as in the display 13. As described above, in the display / operation device 10D, the button 45X is disposed in the vicinity of the grip portion 42X as in the display / operation devices 10A to 10C.
　なお、表示部４３は、ボタン４５Ｘ以外の情報を表示させてもよい。この場合、表示部４３は、操作者が操作しやすいよう、ボタン４５Ｘを表示画面の下側に表示させる。また、凸部４４は、ボタン４５Ｘとグリップ部４２Ｘとの間の位置でボタン４５Ｘの近傍に配置されている。 The display unit 43 may display information other than the button 45X. In this case, the display unit 43 displays the button 45X on the lower side of the display screen so that the operator can easily operate it. The convex portion 44 is disposed in the vicinity of the button 45X at a position between the button 45X and the grip portion 42X.
　具体的には、ボタン４５Ｘは、グリップ部４２Ｘの柱軸方向と垂直な方向に並べて配置されている。すなわち、表示操作器１０Ｄでは、グリップ部４２Ｘの柱軸方向がＹ軸方向となるようグリップ部４２Ｘが配置されるとともに、ボタン４５ＸがＸ軸方向に並ぶよう配置されている。このように、表示操作器１０Ｄは、グリップ部４２Ｘがロボットアーム３０と同軸方向であり、ボタン４５Ｘは、グリップ部４２Ｘの柱軸方向と垂直な方向に並べて配置される。 Specifically, the buttons 45X are arranged in a direction perpendicular to the column axis direction of the grip portion 42X. That is, in the display controller 10D, the grip portion 42X is disposed such that the column axis direction of the grip portion 42X is the Y axis direction, and the buttons 45X are disposed so as to be aligned in the X axis direction. Thus, in the display / operation device 10D, the grip portion 42X is coaxial with the robot arm 30, and the buttons 45X are arranged in a direction perpendicular to the column axial direction of the grip portion 42X.
　上述したように、ボタン４５Ｘは、操作者が把持部を把持した状態で操作されるので、表示部４３に表示されるボタン４５Ｘは、把持部の一部でもある。したがって、操作者は、表示操作器１０Ｄを用いることにより、把持部を把持した状態でボタン４５Ｘへの操作が可能である。換言すると、操作者は、グリップ部４２Ｘを握ったままグリップ部４２Ｘを握り替えることなくボタン４５Ｘへの操作が可能である。 As described above, since the button 45X is operated in a state in which the operator holds the holding unit, the button 45X displayed on the display unit 43 is also a part of the holding unit. Therefore, the operator can operate the button 45X while holding the grip by using the display operation device 10D. In other words, the operator can operate the button 45X without changing the grip portion 42X while holding the grip portion 42X.
　なお、グリップ部４２Ｘは、ロボットアーム３０の一部であってもよい。換言すると、ロボットアーム３０の一部を用いてグリップ部４２Ｘが構成されてもよい。この構成により、グリップ部４２Ｘは、ロボットアーム３０として機能するとともに、表示操作器１０Ｄとして機能する。 The grip portion 42X may be part of the robot arm 30. In other words, the grip portion 42X may be configured using a part of the robot arm 30. With this configuration, the grip portion 42X functions as the robot arm 30, and also functions as the display operation device 10D.
　このように実施の形態４では、ボタン４５Ｘが、操作者がグリップ部４２Ｘを把持した状態で操作可能な領域に配置されている。したがって、操作者は、実施の形態１と同様にロボットアーム３０を容易に操作することが可能となる。 As described above, in the fourth embodiment, the button 45X is disposed in an area where the operator can operate the grip portion 42X. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
実施の形態５．
　つぎに、図８を用いてこの発明の実施の形態５について説明する。実施の形態５の表示操作器は、グリップ部がロボットアーム３０の柱状部材の側面の一部を囲うようロボットアーム３０に取り付けられる。さらに、表示部および凸部が柱状部材上に配置され、表示部および凸部の柱状部材がグリップ部の柱状部材に接合されている。 Embodiment 5
Fifth Embodiment A fifth embodiment of the present invention will now be described with reference to FIG. The display / operation device of the fifth embodiment is attached to the robot arm 30 so that the grip part encloses a part of the side surface of the columnar member of the robot arm 30. Further, the display portion and the convex portion are disposed on the columnar member, and the columnar member of the display portion and the convex portion is joined to the columnar member of the grip portion.
　図８は、実施の形態５にかかる表示操作器の構成を示す図である。図８の各構成要素のうち図３に示す実施の形態１の表示操作器１０Ａおよび図７に示す実施の形態４の表示操作器１０Ｄと同一機能を達成する構成要素については同一符号を付しており、重複する説明は省略する。図８では、実施の形態５の表示操作器１０Ｅと、ロボットアーム３０の一部とを図示している。実施の形態５では、表示操作器１０Ｅが、ロボットアーム３０に取り付けられた状態での軸方向を用いて、表示操作器１０Ｅの構成を説明する。 FIG. 8 is a diagram showing the configuration of the display / operation device according to the fifth embodiment. Among components shown in FIG. 8, components that achieve the same functions as display controller 10A of the first embodiment shown in FIG. 3 and display controller 10D of the fourth embodiment shown in FIG. And duplicate explanations are omitted. In FIG. 8, the display operation device 10E of the fifth embodiment and a part of the robot arm 30 are illustrated. In the fifth embodiment, the configuration of the display operator 10E will be described using an axial direction in a state where the display operator 10E is attached to the robot arm 30.
　実施の形態５の表示操作器１０Ｅは、実施の形態４の表示操作器１０Ｄと同様の機能を有している。表示操作器１０Ｅは、表示部４３と同様の機能を有した表示部５３と、凸部４４と同様の機能および形状を有した凸部５４とを備えている。表示部５３は、表示部３３Ｌ，３３Ｒと同様に曲板状の表示画面を備えている。また、表示部５３は、ボタン４５Ｘと同様のボタンであるボタン５５Ｘを表示する。また、表示操作器１０Ｅは、グリップ部４２Ｘと同様の機能および形状を有したグリップ部５２Ｘを備えている。 The display controller 10E of the fifth embodiment has the same function as the display controller 10D of the fourth embodiment. The display operation device 10E includes a display unit 53 having the same function as the display unit 43, and a projection 54 having the same function and shape as the projection 44. The display unit 53 includes a curved display screen as in the case of the display units 33L and 33R. Further, the display unit 53 displays a button 55X which is the same button as the button 45X. Further, the display operation device 10E is provided with a grip portion 52X having the same function and shape as the grip portion 42X.
　表示操作器１０Ｅは、操作者の左手または右手によって把持される把持部を備えている。実施の形態５の把持部は、操作者が手の力でロボットアーム３０を操作する際と、操作者がボタン５５Ｘでロボットアーム３０を操作する際と、の何れの間も把持され続ける。　　　 The display controller 10E is provided with a grip that is gripped by the operator's left hand or right hand. The grasping portion of the fifth embodiment continues to be grasped between when the operator operates the robot arm 30 with the force of a hand and when the operator operates the robot arm 30 with the button 55X.
　表示操作器１０Ｅと表示操作器１０Ｄとでは、表示部４３の配置位置および形状と、表示部５３の配置位置および形状と、が異なっている。また、表示操作器１０Ｅと表示操作器１０Ｄとでは、凸部４４の配置位置と、凸部５４の配置位置とが異なっている。そして、表示操作器１０Ｅでは、グリップ部４２Ｘと同様の位置にグリップ部５２Ｘが配置されている。 The arrangement position and the shape of the display unit 43 and the arrangement position and the shape of the display unit 53 are different between the display operation device 10E and the display operation device 10D. Further, in the display / operation device 10E and the display / operation device 10D, the arrangement position of the convex portion 44 and the arrangement position of the convex portion 54 are different. And in display operation tool 10E, grip part 52X is arranged in the same position as grip part 42X.
　グリップ部５２Ｘは、グリップ部４２Ｘと同様に、ロボットアーム３０を移動させる際に操作者によって握られる。グリップ部５２Ｘは、操作者から力が加えられると、操作者からの力をロボットアーム３０に伝えることによってロボットアーム３０を移動させる。 Similar to the grip portion 42X, the grip portion 52X is gripped by the operator when moving the robot arm 30. The grip unit 52X moves the robot arm 30 by transmitting the force from the operator to the robot arm 30 when a force is applied from the operator.
　グリップ部５２Ｘは、ロボットアーム３０の側面部の一部を覆うことができる筒状部材または半筒状部材を用いて形成されている。グリップ部５２Ｘがロボットアーム３０に取り付けられる際には、グリップ部５２Ｘの中心軸とロボットアーム３０のうちグリップ部５２Ｘが取り付けられる位置でのロボットアーム３０の中心軸とが同じになるようグリップ部５２Ｘが取り付けられる。 The grip portion 52 </ b> X is formed using a cylindrical member or a semi-cylindrical member that can cover a part of the side surface portion of the robot arm 30. When the grip 52X is attached to the robot arm 30, the grip 52X is such that the central axis of the grip 52X is the same as the central axis of the robot arm 30 at the position where the grip 52X is attached to the robot arm 30. Is attached.
　グリップ部５２Ｘは、グリップ部４２Ｘと同様に、親指以外の指で容易に握ることができるよう構成されている。実施の形態５では、グリップ部４２Ｘと同様に、グリップ部５２Ｘの柱軸方向がＹ軸方向となるようグリップ部５２Ｘが配置されている。 Similar to the grip portion 42X, the grip portion 52X is configured to be easily gripped by a finger other than the thumb. In the fifth embodiment, similarly to the grip portion 42X, the grip portion 52X is disposed such that the column axial direction of the grip portion 52X is the Y-axis direction.
　表示操作器１０Ｅでは、グリップ部５２Ｘが有している柱状部材のうちの側面部分に表示部５３が配置されている。したがって、表示部５３は、柱状部材の側面に配置可能な曲面状の上面を有している。 In the display controller 10E, the display unit 53 is disposed on the side surface portion of the columnar members included in the grip unit 52X. Therefore, the display unit 53 has a curved upper surface which can be disposed on the side surface of the columnar member.
　また、ボタン５５Ｘは、柱状部材の周方向に沿って並ぶよう配置されている。また、凸部５４は、柱状部材の周方向に沿って並ぶよう配置されている。 Further, the buttons 55X are arranged along the circumferential direction of the columnar member. Further, the convex portions 54 are arranged along the circumferential direction of the columnar member.
　表示操作器１０Ｅでは、把持部が、グリップ部５２Ｘと、凸部５４と、ボタン５５Ｘとを含んで構成されている。なお、表示操作器１０Ｅに配置される把持部は、左手および右手の両方で把持されてもよい。把持部は、左手および右手の何れで把持されてもよいので、以下の説明では把持部が左手で把持される場合について説明する。 In the display controller 10E, the grip portion is configured to include a grip portion 52X, a convex portion 54, and a button 55X. In addition, the holding part arrange | positioned at the display operation device 10E may be hold | gripped with both the left hand and the right hand. The grip portion may be gripped by either the left hand or the right hand, so in the following description, the case where the grip portion is gripped by the left hand will be described.
　表示操作器１０Ｅでは、グリップ部５２Ｘの鉛直方向の上側に表示部５３が配置される。また、表示部５３は、操作者が把持部を把持した状態で操作可能なボタン５５Ｘをグリップ部５２Ｘの近傍に表示する。このとき、表示部５３は、表示部１３と同様に、操作者が左手の親指以外の４本の指でグリップ部５２Ｘを握ったまま左手の親指で押下可能な位置にボタン５５Ｘを表示する。このように、表示操作器１０Ｅでは、表示操作器１０Ａ～１０Ｄと同様にボタン５５Ｘは、グリップ部５２Ｘの近傍に配置される。また、凸部５４は、ボタン５５Ｘとグリップ部５２Ｘとの間の位置でボタン５５Ｘの近傍に配置されている。 In the display controller 10E, the display unit 53 is disposed on the upper side in the vertical direction of the grip unit 52X. In addition, the display unit 53 displays an operable button 55X in the vicinity of the grip unit 52X in a state where the operator grips the grip unit. At this time, the display unit 53 displays the button 55X at a position where the operator can press the left thumb while holding the grip 52X with four fingers other than the left thumb, as in the display 13. As described above, in the display controller 10E, the button 55X is disposed in the vicinity of the grip 52X, similarly to the display operators 10A to 10D. Further, the convex portion 54 is disposed in the vicinity of the button 55X at a position between the button 55X and the grip portion 52X.
　具体的には、ボタン５５Ｘは、グリップ部５２Ｘの柱軸方向と垂直な面に沿って配置されている。すなわち、表示操作器１０Ｅでは、グリップ部５２Ｘの柱軸方向がＹ軸方向となるようグリップ部５２Ｘが配置されるとともに、ボタン５５ＸがＹ軸方向を囲うよう配置されている。このように、表示操作器１０Ｅは、グリップ部５２Ｘがロボットアーム３０と同軸方向であり、ボタン５５Ｘが、グリップ部５２Ｘの柱軸方向と垂直な面に沿って配置されている。 Specifically, the button 55X is disposed along a plane perpendicular to the column axial direction of the grip portion 52X. That is, in the display controller 10E, the grip portion 52X is disposed such that the column axis direction of the grip portion 52X is the Y axis direction, and the button 55X is disposed so as to surround the Y axis direction. Thus, in the display / operation device 10E, the grip 52X is coaxial with the robot arm 30, and the button 55X is disposed along a plane perpendicular to the column axial direction of the grip 52X.
　上述したように、ボタン５５Ｘは、操作者が把持部を把持した状態で操作されるので、表示部５３に表示されるボタン５５Ｘは、把持部の一部でもある。したがって、操作者は、表示操作器１０Ｅを用いることにより、把持部を把持した状態でボタン５５Ｘへの操作が可能である。換言すると、操作者は、グリップ部５２Ｘを握ったままグリップ部５２Ｘを握り替えることなくボタン５５Ｘへの操作が可能である。 As described above, since the button 55X is operated in a state in which the operator holds the holding unit, the button 55X displayed on the display unit 53 is also a part of the holding unit. Therefore, the operator can operate the button 55X while holding the grip by using the display operation device 10E. In other words, the operator can operate the button 55X without changing the grip 52X while holding the grip 52X.
　なお、グリップ部５２Ｘは、グリップ部４２Ｘと同様に、ロボットアーム３０の一部であってもよい。この構成により、グリップ部５２Ｘは、ロボットアーム３０として機能するとともに、表示操作器１０Ｅとして機能する。 The grip 52X may be a part of the robot arm 30, as in the case of the grip 42X. With this configuration, the grip 52X functions as the robot arm 30, and also functions as the display controller 10E.
　このように実施の形態５では、ボタン５５Ｘが、操作者がグリップ部５２Ｘを把持した状態で操作可能な領域に配置されている。したがって、操作者は、実施の形態１と同様にロボットアーム３０を容易に操作することが可能となる。 As described above, in the fifth embodiment, the button 55X is disposed in an area where the operator can operate the grip 52X. Therefore, the operator can easily operate the robot arm 30 as in the first embodiment.
　なお、上述した実施の形態１から５では、ボタン１５Ｌ，１５Ｒ，２５Ｌ，２５Ｒ，３５Ｌ，３５Ｒ，４５Ｘ，５５Ｘが、表示画面に表示される場合について説明したが、ボタン１５Ｌ，１５Ｒ，２５Ｌ，２５Ｒ，３５Ｌ，３５Ｒ，４５Ｘ，５５Ｘは、表示画面に表示されないボタンであってもよい。 In the first to fifth embodiments described above, the buttons 15L, 15R, 25L, 25R, 35L, 35R, 45X, 55X are displayed on the display screen, but the buttons 15L, 15R, 25L, 25R are described. , 35L, 35R, 45X, 55X may be buttons not displayed on the display screen.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration shown in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and one of the configurations is possible within the scope of the present invention. Parts can be omitted or changed.
　１　人協働ロボット、１０Ａ～１０Ｅ　表示操作器、１１Ｌ，１１Ｒ　把持部、１２Ｌ，１２Ｒ，２２Ｌ，２２Ｒ，３２Ｌ，３２Ｒ，４２Ｘ，５２Ｘ　グリップ部、１３，２３，３３Ｌ，３３Ｒ，４３，５３　表示部、１４，２４，３４，４４，５４　凸部、１５Ｌ，１５Ｒ，２５Ｌ，２５Ｒ，３５Ｌ，３５Ｒ，４５Ｘ，５５Ｘ　ボタン、２０　先端部、３０　ロボットアーム。 Single-person collaboration robot, 10A to 10E display controller, 11L, 11R grip portion, 12L, 12R, 22L, 22R, 32L, 32R, 42X, 52X grip portion, 13, 23, 33L, 33R, 43, 53 display portion 14, 24, 34, 44, 44 convex portions, 15L, 15R, 25L, 25R, 35L, 35R, 45X, 55X buttons, 20 tips, 30 robot arms.

Claims (10)

  1. 　操作者が把持可能なグリップ部と、
    　ロボットアームに取り付け可能な表示部と、
    　前記操作者が前記グリップ部を把持しつつ、該把持した手で操作可能な領域に配置されたボタンと、
    　を備えることを特徴とする表示操作器。     A grip that can be gripped by the operator,
    A display unit attachable to the robot arm,
    A button disposed in an area that can be operated by the hand while the operator holds the grip;
    A display controller characterized by comprising.
  2. 　前記表示部は、タッチパネル式の表示画面に前記ボタンを表示し、
    　前記グリップ部と前記表示画面に表示される前記ボタンとの間に配置されて前記ボタンの位置を操作者に触感で認識させる立体形状部をさらに備える、
    　ことを特徴とする請求項１に記載の表示操作器。     The display unit displays the button on a touch panel display screen,
    It further comprises a three-dimensional shape portion which is disposed between the grip portion and the button displayed on the display screen and causes the operator to recognize the position of the button by touch.
    The display controller according to claim 1, characterized in that:
  3. 　前記グリップ部は、前記表示部とともに前記ロボットアームに取り付け可能である、
    　ことを特徴とする請求項１または２に記載の表示操作器。     The grip unit is attachable to the robot arm together with the display unit.
    The display controller according to claim 1 or 2, characterized in that:
  4. 　前記グリップ部は、前記ロボットアームの一部である、
    　ことを特徴とする請求項１または２に記載の表示操作器。     The grip portion is a part of the robot arm
    The display controller according to claim 1 or 2, characterized in that:
  5. 　前記表示画面は平板状であり、前記立体形状部は、前記表示画面と同一面内に配置される、
    　ことを特徴とする請求項２に記載の表示操作器。     The display screen has a flat plate shape, and the three-dimensional shape portion is disposed in the same plane as the display screen.
    The display controller according to claim 2, characterized in that:
  6. 　前記表示画面は曲板状であり、前記立体形状部は、前記表示画面と平行な面内に配置される、
    　ことを特徴とする請求項２に記載の表示操作器。     The display screen has a curved plate shape, and the three-dimensional shape portion is disposed in a plane parallel to the display screen.
    The display controller according to claim 2, characterized in that:
  7. 　前記グリップ部は、第１の柱状部材を含んで構成されており、
    　前記立体形状部は、前記第１の柱状部材よりも前記表示画面側に設けられた第２の柱状部材上に配置されており、
    　前記曲板状の表示画面を表示する表示部は、第３の柱状部材を含んで構成されており、
    　前記第１の柱状部材と、前記２の柱状部材と、前記第３の柱状部材とが同軸方向に並べられて一体形成されている、
    　ことを特徴とする請求項６に記載の表示操作器。     The grip portion is configured to include a first columnar member,
    The three-dimensional shape portion is disposed on a second columnar member provided closer to the display screen than the first columnar member,
    The display unit for displaying the curved plate-shaped display screen is configured to include a third columnar member,
    The first columnar member, the two columnar members, and the third columnar member are coaxially aligned and integrally formed.
    The display controller according to claim 6, characterized in that:
  8. 　前記ボタンは、前記ロボットアームを特定方向に移動させる指示を受付ける移動ボタンである、
    　ことを特徴とする請求項１から７のいずれか１つに記載の表示操作器。     The button is a move button that receives an instruction to move the robot arm in a specific direction.
    The display controller according to any one of claims 1 to 7, characterized in that:
  9. 　ロボットアームの動作を制御する制御部と、
    　前記制御部によって制御されるとともに、操作者によって操作されるロボットアームと、
    　前記操作者によって操作される表示操作器と、
    　を備え、
    　前記表示操作器は、
    　前記操作者が把持可能なグリップ部と、
    　前記ロボットアームに取り付けられた表示部と、
    　前記操作者が前記グリップ部を把持しつつ、該把持した手で操作可能な領域に配置されたボタンと、
    　を有することを特徴とする人協働ロボット。     A control unit that controls the operation of the robot arm;
    A robot arm controlled by the control unit and operated by an operator;
    A display controller operated by the operator;
    Equipped with
    The display controller is
    A grip portion that can be gripped by the operator;
    A display unit attached to the robot arm;
    A button disposed in an area that can be operated by the hand while the operator holds the grip;
    Human-collaborating robot characterized by having.
  10. 　前記表示部は、タッチパネル式の表示画面に前記ボタンを表示し、
    　前記表示操作器は、
    　前記グリップ部と前記表示画面に表示される前記ボタンとの間に配置されて前記ボタンの位置を操作者に触感で認識させる立体形状部をさらに有する、
    　ことを特徴とする請求項９に記載の人協働ロボット。     The display unit displays the button on a touch panel display screen,
    The display controller is
    It further has a three-dimensional shape portion which is disposed between the grip portion and the button displayed on the display screen and causes the operator to recognize the position of the button by touch.
    The robot according to claim 9, characterized in that:
PCT/JP2017/042100 2017-11-22 2017-11-22 Display actuator and cobot WO2019102562A1 (en)

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