WO2019102562A1 - Actionneur d'affichage et robot - Google Patents

Actionneur d'affichage et robot 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
English (en)
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 PCT/JP2017/042100 priority Critical patent/WO2019102562A1/fr
Priority to JP2018568450A priority patent/JPWO2019102562A1/ja
Publication of WO2019102562A1 publication Critical patent/WO2019102562A1/fr

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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

L'invention concerne un actionneur d'affichage (10A) pourvu de poignées (12L, 12R), qu'un opérateur peut saisir, et d'un affichage (13), qui peut être monté sur un bras de robot. L'actionneur d'affichage (10A) est également pourvu de boutons (15L) qui sont disposés dans une zone dans laquelle, pendant que l'opérateur saisit la poignée (12L), lesdits boutons peuvent être actionnés par la main de préhension, et/ou de boutons (15R) qui sont disposés dans une zone dans laquelle, pendant que l'opérateur saisit la poignée (12R), lesdits boutons peuvent être actionnés par la main de préhension.
PCT/JP2017/042100 2017-11-22 2017-11-22 Actionneur d'affichage et robot WO2019102562A1 (fr)

Priority Applications (2)

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PCT/JP2017/042100 WO2019102562A1 (fr) 2017-11-22 2017-11-22 Actionneur d'affichage et robot
JP2018568450A JPWO2019102562A1 (ja) 2017-11-22 2017-11-22 表示操作器および人協働ロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/042100 WO2019102562A1 (fr) 2017-11-22 2017-11-22 Actionneur d'affichage et robot

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JP2001260062A (ja) * 2000-03-17 2001-09-25 Yaskawa Electric Corp 産業用ロボットの教示装置
JP2004154881A (ja) * 2002-11-05 2004-06-03 Toyo Koken Kk 荷役機械
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