Safety switching devices and operating devices

Abstract

The present invention provides a safety switch device and an operating device, wherein the safety switch device is installed on a portable terminal for operating a machine, and the operating device is provided with the safety switch device and is used to operate the machine. The safety switch device comprises: a first supporting member and a second supporting member, wherein the first supporting member and the second supporting member are formed to fix the portable terminal; and a gripping portion, which is used for an operator to hold the safety switch device with his hand. The safety switch device comprises: an enabling switch, which is used to send a signal allowing a robot to act; and an emergency stop button, which is used to send a signal to stop the robot. The first supporting member and the second supporting member are formed to be able to fix multiple types of portable terminals of different sizes. The gripping portion is arranged at the central portion of the shape of the back of the portable terminal corresponding to the center of gravity position of the portable terminal.

Description

Technical Field

[0001] The present invention relates to a safety switch device and an operating device. The safety switch device is installed in a portable terminal for operating a machine, and the operating device is provided with the safety switch device and is used for operating the machine. Background Art

[0002] A machine such as a robot is controlled by a control device of the machine. In the prior art, a technique is known in which an operating device that can be carried by an operator is connected to the control device of the machine so that the operator can easily operate the machine (for example, Japanese Patent Publication No. 2004-122243 and Japanese Patent Publication No. 2001-38661). The operating device of the machine is formed to be able to communicate with the control device of the machine via a communication line.

[0003] In recent years, a technology has been proposed for using a portable terminal such as a tablet computer as an operating device for a machine (for example, Japanese Patent Publication No. 2018-167396 and Japanese Patent Publication No. 2017-202550). Portable terminals such as tablet computers include a touch panel display. The portable terminal can display information related to the machine. The operator can confirm the state of the machine and the set values ​​used to make the machine move. In addition, by operating the images of buttons and the like displayed on the display, the machine can be operated or specified information can be input. In this way, the operator can operate the machine and input information even at a location far away from the control device. Summary of the invention

[0004] When the operating device is connected to the control device, the operator can stand in various positions and operate the machine while observing the state of the machine. For example, the operator can manually drive the robot while checking the position and posture of the robot.

[0005] A device for a worker to hold an operating device with one hand when the operating device has a portable terminal is proposed. The worker can hold the operating device with one hand and operate it with the other hand. In addition, when the operating device is held with one hand and the machine is continuously operated, there is a problem that the burden on the wrist becomes large and the worker becomes tired. In particular, when the worker performs the operation for a long time, the worker's fatigue increases.

[0006] In addition, when a portable terminal with a large screen is used, the weight of the portable terminal increases. Alternatively, a safety switch such as an emergency stop button that instantly stops the machine can be configured in the device for holding the portable terminal by hand. When the safety switch is installed, the weight of the operating device increases. When the weight of the operating device increases, there is a problem of increased burden on the operator.

[0007] The first method disclosed in the present invention is a safety switch device, which is installed on a portable terminal for operating a machine. The safety switch device includes: a fixing mechanism, which is formed to fix the portable terminal; and a gripping portion, which is supported by the fixing mechanism and is used for an operator to hold with his hand. The safety switch device includes: an enabling switch, which is arranged on the gripping portion and is used to send a signal to allow the machine to move; and an emergency stop button, which is used to send a signal to stop the machine. The fixing mechanism is formed to be able to fix multiple types of portable terminals of different sizes. The gripping portion is supported by the fixing mechanism in a manner such that it is arranged at the central portion of the shape of the back side of the portable terminal corresponding to the center of gravity position of the portable terminal.

[0008] A second aspect of the present disclosure is an operating device for operating a machine, comprising the safety switch device described above and a mobile terminal fixed to the safety switch device. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of a robot device in an embodiment.

[0010] Figure 2 It is a block diagram of a robot device in an embodiment.

[0011] Figure 3 This is a perspective view of the first operating device according to the embodiment as seen from the front.

[0012] Figure 4 This is a perspective view of the first operating device as seen from the rear side.

[0013] Figure 5 is a side view of the first operating device.

[0014] Figure 6 is a first cross-sectional view of the first operating device.

[0015] Figure 7 is a second cross-sectional view of the first operating device.

[0016] Figure 8 This is a perspective view of the second operating device according to the embodiment as seen from the rear side.

[0017] Fig. 9 It is an enlarged side view of the grip portion of the third operating device in the embodiment.

[0018] Fig.10 This is a perspective view of the fourth operating device in the embodiment as seen from the rear side.

[0019] Fig.11 It is a side view of the fifth operating device in the embodiment.

[0020] Fig.12is a rear view of the fifth operating device.

[0021] Fig.13 This is a perspective view of the sixth operating device in the embodiment as seen from the front.

[0022] Fig.14 This is a perspective view of the sixth operating device as seen from the rear side.

[0023] Fig.15 This is a perspective view of the sixth operating device as seen from the bottom.

[0024] Fig.16 This is a perspective view of the seventh operating device as seen from the rear side.

[0025] Fig.17 is a cross-sectional view of the seventh operating device. DETAILED DESCRIPTION

[0026] Reference Figures 1 to 17 The safety switch device and the operating device for operating a machine provided with the safety switch device in the embodiment will be described. In the present embodiment, a robot and a hand will be described as examples of a machine operated by the operating device.

[0027] Figure 1 This is a schematic diagram of the robot device in this embodiment. Figure 2 : is a block diagram of the robot device in this embodiment. Figure 1 and Figure 2 The robot device 5 includes a hand 2 as a working tool and a robot 1 that moves the hand 2. The robot 1 of the present embodiment is a multi-joint robot including a plurality of joints.

[0028] The robot 1 includes a base portion 14 fixed to a setting surface and a revolving base 13 supported by the base portion 14. The revolving base 13 rotates relative to the base portion 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is rotatably supported on the revolving base 13 via a joint portion. The upper arm 11 is rotatably supported on the lower arm 12 via a joint portion. The robot 1 includes a wrist 15 connected to an end of the upper arm 11. The wrist 15 is rotatably supported on the upper arm 11 via a joint portion. The wrist 15 includes a flange 16 formed in a rotatable manner. The hand 2 is fixed to the flange 16 of the wrist 15.

[0029] The robot 1 of this embodiment has six drive axes, but is not limited to this form. The robot can adopt any robot that can change the position and posture of the working tool. In addition, the working tool can adopt a working tool corresponding to the work performed by the robot device. For example, when the robot device performs spot welding, a spot welding gun can be used as the working tool.

[0030] The robot device 5 includes a robot control device 4 that controls the robot 1 and the hand 2. The robot control device 4 functions as a mechanical control device. The robot control device 4 includes a processing device (computer) having a CPU (Central Processing Unit) as a processor. The robot 1 and the hand 2 are connected to the robot control device 4 via a cable 17.

[0031] The robot device 5 includes a first operating device 81 connected to the robot control device 4 via a cable 53. The operating device of this embodiment functions as a teaching operating panel for setting the position and posture of the robot 1 and generating an operation program for the robot 1 and the hand 2.

[0032] exist Figure 3 2 shows a perspective view of the first operating device in this embodiment when viewed from the front side. Figure 4 , a perspective view of the first operating device as viewed from the back side is shown in FIG. Figure 5 A side view of the first operating device is shown in FIG. Figures 2 to 5 The first operating device 81 includes: a portable terminal 6 for operating the robot 1 and the hand 2; and a first safety switch device 21 formed to fix the portable terminal 6.

[0033] The portable terminal 6 in this embodiment is a tablet-type computing device (computer). The portable terminal 6 in this embodiment includes a control unit 73 and a touch panel display 72, and the control unit 73 includes a CPU. As the touch panel display 72, any display of a resistive film type, an electrostatic capacitance type, a surface acoustic wave type, etc. can be used.

[0034] The display 72 is formed so as to be able to display mechanical information such as the status of the robot 1 and the hand 2. In addition, the display 72 functions as an operation unit for the operator to input. The display 72 is formed so as to display images of buttons and the like for operating the robot 1 and the hand 2. The portable terminal 6 is formed so as to be able to send a command for operating the robot 1 and the hand 2 by pressing the screen of the display 72 with a finger.

[0035] The portable terminal in this embodiment is a tablet computer, but is not limited to this form. Any portable terminal that can be mechanically operated can be used. For example, the portable terminal can also be a smart phone.

[0036] The safety switch device 21 of this embodiment is formed so that the operator can support the operating device 81 with one hand. The safety switch device 21 includes a fixing mechanism 47 formed to fix the portable terminal 6. The safety switch device 21 is supported by the fixing mechanism 47 and has a grip 34 for the operator to hold with his hand 78.

[0037] In this embodiment, the direction extending in the substantially vertical direction when the operator holds the operating device 81 is referred to as the up-down direction. Arrow 91 indicates the up-down direction. In addition, the direction extending in the substantially horizontal direction when the operator holds the operating device 81 is referred to as the left-right direction. Arrow 92 indicates the left-right direction.

[0038] The fixing mechanism 47 of the present embodiment includes a first supporting member 31 having a first recessed portion 32 that engages with one end of the portable terminal 6. The first recessed portion 32 of the first safety switch device 21 has a shape that engages with the upper end of the portable terminal 6. The first recessed portion 32 is in close contact with the end of the portable terminal 6. The fixing mechanism 47 includes a second supporting member 41 having a second recessed portion 42 that engages with the other end of the portable terminal 6. The second recessed portion 42 of the first safety switch device 21 has a shape that engages with the lower end of the portable terminal 6. The second recessed portion 42 is in close contact with the end of the portable terminal 6. The fixing mechanism 47 of the first safety switch device 21 has a function of clamping the portable terminal 6 in the upper and lower directions by the first supporting member 31 and the second supporting member 41.

[0039] exist Figure 6 Shown along Figure 5 The cross-sectional view when the AA line is cut. Figure 7 Shown along Figure 5 A schematic cross-sectional view of the cut along line BB in FIG. Figures 5 to 7 The second support member 41 of the present embodiment is formed to slide relative to the first support member 31. The second support member 41 has: an engagement portion 43 having a second recessed portion 42 engaged with the portable terminal 6; and a sliding portion 44 formed to extend from the engagement portion 43. The engagement portion 43 of the present embodiment is formed so that the second recessed portion 42 extends in the left-right direction indicated by the arrow 92.

[0040] The first supporting member 31 has a hole portion 39 formed to extend along the length direction of the first supporting member 31. The sliding portion 44 of the second supporting member 41 is inserted into the hole portion 39. Inside the hole portion 39, the rod-shaped portion 35 is arranged so as to extend from the first supporting member 31 along the hole portion 39. One end surface of the rod-shaped portion 35 is fixed to the first supporting member 31. The sliding portion 44 of the second supporting member 41 has a hole portion 44a, and the rod-shaped portion 35 passes through the hole portion 44a. A spring 63 is arranged around the rod-shaped portion 35. The sliding portion 44 moves along the rod-shaped portion 35 in the direction indicated by the arrow 94. The spring 63 applies force to the sliding portion 44 in the extension direction of the spring 63.

[0041] When the operator installs the first support member 31 and the second support member 41 on the portable terminal 6, the operator pulls the engaging portion 43 of the second support member 41 in a direction away from the first support member 31. The spring 63 contracts, thereby applying force to the engaging portion 43 in a direction close to the first support member 31. The operator arranges the portable terminal 6 between the first recess 32 of the first support member 31 and the second recess 42 of the second support member 41. In addition, the operator can move the engaging portion 43 toward the first support member 31 according to the force of the spring 63, thereby clamping the portable terminal 6 by the first recess 32 and the second recess 42. The position of the second support member 41 relative to the first support member 31 can be determined according to the size of the portable terminal 6.

[0042] The fixing mechanism 47 of the safety switch device 21 includes a screw 62 as a fixing member for fixing the second support member 41 to the first support member 31. The screw 62 is inserted into the first support member 31 from the side surface of the first support member 31. By tightening the screw 62, the screw 62 presses the sliding portion 44 of the second support member 41. After the portable terminal 6 is clamped by the first recessed portion 32 and the second recessed portion 42, the screw 62 is tightened, thereby fixing the second support member 41 to the first support member 31.

[0043] In the fixing mechanism 47 of the present embodiment, the portable terminal 6 can be easily installed or removed. The operator can install the portable terminal 6 on the safety switch device 21 or remove it from the safety switch device 21 with a small number of operations. Therefore, for example, in a case where a plurality of robots are configured in a factory, the safety switch device of the present embodiment can be connected to the control device of each robot. Then, when the robot 1 is operated by the operating device 81, the portable terminal 6 can be fixed to the safety switch device 21 for use. When the robot 1 is not operated by the operating device 81, the portable terminal 6 can be removed from the safety switch device 21. In addition, the portable terminal can be removed from the safety switch device connected to one robot control device, and the portable terminal can be installed on the safety switch device connected to another robot control device. In this way, multiple robots can be operated by one portable terminal.

[0044] Furthermore, in the fixing mechanism 47 of the present embodiment, the second supporting member 41 slides relative to the first supporting member 31. By pulling the second supporting member 41 relative to the first supporting member 31, the second supporting member 41 can be fixed at any relative position relative to the first supporting member 31. That is, the distance between the second recess 42 of the second supporting member 41 and the first recess 32 of the first supporting member 31 can be adjusted. Therefore, in the fixing mechanism 47 of the present embodiment, multiple types of portable terminals of different sizes can be fixed. For example, in the fixing mechanism 47 of the present embodiment, a portable terminal having a first size can be fixed. In addition, a portable terminal having a second size larger than the first size can be fixed.

[0045] In addition, the fixing mechanism 47 is not limited to a mechanism in which the second supporting member 41 slides relative to the first supporting member 31, and any mechanism that can fix multiple types of portable terminals of different sizes can be adopted. For example, a mechanism in which the second supporting member is fixed to the outer periphery of the first supporting member by screws or the like can also be adopted.

[0046] Reference Figure 4 and Figure 5 The safety switch device 21 of the present embodiment has a gripping portion 34 for the operator to hold with a hand 78. The gripping portion 34 of the first safety switch device 21 is fixed to the first supporting member 31. The gripping portion 34 has a length direction indicated by an arrow 93. The gripping portion 34 is configured so that the length direction of the gripping portion 34 is parallel to the up-and-down direction indicated by the arrow 91. The gripping portion 34 has a contact surface 34a with which the palm (inside of the hand) of the operator's hand 78 contacts.

[0047] The gripping portion 34 is supported by the fixing mechanism 47 in such a manner that it is arranged at the central portion of the shape of the back side of the portable terminal 6 corresponding to the center of gravity of the portable terminal 6. In particular, the gripping portion 34 of the present embodiment is arranged just below the center of gravity of the portable terminal 6. The shape of the back side of the portable terminal 6 in the present embodiment is a rectangle. The gripping portion 34 is arranged at the approximate center of the back side of the portable terminal 6 in the left-right direction. In addition, the gripping portion 34 is arranged at the approximate center of the back side of the portable terminal 6 in the up-down direction. In this way, the gripping portion 34 is arranged near the position of the center of gravity of the rectangle.

[0048] It can be considered that the weight of the portable terminal 6 acts downward in the vertical direction from the center of gravity of the portable terminal 6. In this embodiment, the grip 34 is arranged directly below the center of gravity of the portable terminal 6, so the weight of the portable terminal 6 acts on the palm in a substantially vertical direction.

[0049] In the safety switch device, the gripping portion can be arranged at the peripheral portion of the shape of the back side of the portable terminal. For example, the gripping portion can be arranged at one end portion in the left-right direction of the portable terminal. In this case, the center of gravity of the portable terminal is arranged at a position laterally than the gripping portion. A force is applied to the operator's hand in the direction of rotation of the portable terminal (the direction in which the center of gravity of the portable terminal moves downward). That is, a force in a twisting direction is applied to the operator's hand. Therefore, when the operator performs a long-term operation, the wrist becomes fatigued. Alternatively, in the case where the portable terminal is heavy, the operator's wrist becomes fatigued even if the operation is performed for a short time.

[0050] In contrast, in the present embodiment, the operator can hold the operating device 81 in a manner such that the screen of the portable terminal 6 is parallel to the horizontal direction. In this case, the operator's hand 78 is arranged approximately directly below the center of gravity of the portable terminal 6. It is possible to suppress the situation where a force is applied to the operator's wrist in the direction of rotating the portable terminal. Therefore, it is possible to suppress fatigue of the operator's wrist. In particular, when the operator uses the operating device for a long time, fatigue of the operator can be suppressed. Alternatively, when using a heavy portable terminal, fatigue of the operator can be suppressed.

[0051] In the fixing mechanism 47 of the present embodiment, multiple types of portable terminals of different sizes can be fixed. In the case where a portable terminal of a different size from the portable terminal 6 of the present embodiment is fixed by the first safety switch device 21, the gripping portion 34 is sometimes slightly deviated from the position directly below the center of gravity of the portable terminal and is arranged near the position directly below the center of gravity. However, in this case, it is also possible to avoid the gripping portion being arranged at the peripheral portion of the portable terminal. That is, the gripping portion is arranged at the central portion of the shape of the back of the portable terminal corresponding to the center of gravity of the portable terminal. Here, the position arranged corresponding to the center of gravity of the portable terminal means being arranged at the position directly below the center of gravity of the portable terminal or near the position directly below the center of gravity of the portable terminal. Even in the case where the gripping portion 34 is arranged near the position directly below the center of gravity of the portable terminal 6, the fatigue of the operator can be suppressed by the safety switch device that arranges the gripping portion at the peripheral portion of the shape of the back of the portable terminal.

[0052] Reference Figure 4 , Figure 5 as well as Figure 7 A cavity is formed inside the gripping portion 34. An electronic circuit substrate 55 described later is disposed in the cavity. The gripping portion 34 in this embodiment has a mountain-shaped cross-sectional shape when cut in a direction perpendicular to the longitudinal direction indicated by the arrow 93. The contact surface 34a is formed as a curved surface so that it is easy to hold with the hand 78. The contact surface 34a is formed so that the central portion protrudes toward the front side and becomes lower as it moves from the central portion to both sides.

[0053] The gripping portion 34 has a cross-sectional shape that is symmetrical about a direction perpendicular to the longitudinal direction. Figure 7 , a center line 90 passing through the center of the gripping portion 34 in the left-right direction indicated by the arrow 92 is shown. The center line 90 is a line passing through the center of the gripping portion 34 in the width direction. The shape of the contact surface 34a of the gripping portion 34 is formed to be symmetrical with respect to the center line 90. The gripping portion 34 has a cross-sectional shape that is symmetrical with respect to the center line 90. By adopting this structure, the operator can hold the gripping portion 34 with both the right hand and the left hand. Moreover, the operator can operate the portable terminal 6 with the hand on the opposite side of the hand that holds the gripping portion 34. In addition, the cross-sectional shape of the gripping portion may not have a symmetrical shape. For example, in the case where it is decided to hold the gripping portion with the left hand, the contact surface may be formed to correspond to the shape of the palm of the left hand.

[0054] Reference Figure 4 and Figure 5The safety switch device 21 of the present embodiment includes belts 61a and 61b, which are pressing members formed to press the operator's hand 78 toward the gripping portion 34. The belts 61a and 61b are formed of a deformable material such as synthetic leather. The belts 61a and 61b are formed so that the operator's hand 78 is arranged between the belts 61a and 61b and the gripping portion 34. The belts 61a and 61b extend in the length direction of the gripping portion 34. The belt 61a is fixed to one end of the gripping portion 34 in the length direction. The belt 61b is fixed to the other end of the gripping portion 34 in the length direction. The belts 61a and 61b are formed so as to be fixed to or separated from each other by a fixing member such as a surface connector or a buckle.

[0055] After the operator grasps the grip portion 34 with the hand 78, the back of the hand (the front side of the hand) can be fixed by the belts 61a and 61b. The operator's hand 78 can be pressed toward the grip portion 34 by the belts 61a and 61b. In addition, the operator's hand 78 can be prevented from moving away from the grip portion 34. As a result, the operator can stably hold the operating device 81 even with one hand. In addition, the operator can stably hold the operating device 81 even if the operator does not hold the grip portion 34 firmly.

[0056] The pressing member is not limited to a belt, and any member formed to prevent the operator's hand from moving in a direction away from the gripping portion can be used. For example, a covering member such as a cloth formed in a manner to cover the back of the hand can be used instead of the belt. In addition, the covering member can be opened or closed by a connector or the like. The operator can put his hand in the open state of the covering member and close the covering member by a connector or the like to fix the hand to the gripping portion.

[0057] Reference Figures 3 to 5 The first safety switch device 21 includes an emergency stop button 52 and an enable switch 51 as operation switches for ensuring the safety of the operator or the robot. The emergency stop button 52 is a button for sending a signal to immediately stop the machine when the machine is being driven. The enable switch 51 is a permission switch for sending a signal to allow the machine to operate. For example, while the operator is pressing the enable switch 51, the machine can be operated. Moreover, when the operator releases his hand from the enable switch 51, the machine automatically stops.

[0058] The enabling switch 51 is arranged on the back side of the safety switch device 21 (the side opposite to the side where the screen of the portable terminal 6 is arranged). The enabling switch 51 of the first safety switch device 21 is arranged on the upper end surface of the grip portion 34 when the operator holds the operating device 81. The enabling switch 51 is formed to protrude in a direction parallel to the length direction of the grip portion 34. With this structure, as Figure 4As shown, the operator can press the enabling switch 51 with the thumb while gripping the grip portion 34. Alternatively, the operator can press the enabling switch 51 with the index finger.

[0059] Furthermore, by arranging the enabling switch 51 on the end surface of the grip portion 34, the operator can press the enabling switch 51 with the fingers of the hand gripping the grip portion 34 in both cases where the operator grips the grip portion 34 with the right hand and the operator grips the grip portion 34 with the left hand. Furthermore, the operator can press or release the enabling switch 51 at any time while gripping the grip portion 34.

[0060] The emergency stop button 52 of this embodiment is arranged on the front side of the safety switch device 21 (the side where the screen of the portable terminal 6 is arranged). The emergency stop button 52 of this embodiment is arranged at the upper end of the first support member 31. With this structure, the operator can press the emergency stop button 52 with the hand on the opposite side to the hand supporting the portable terminal 6.

[0061] In addition, the permission switch and the emergency stop button can be configured at any position of the safety switch device. For example, the permission switch can also be configured on the side of the gripping portion as described later. In addition, the emergency stop button can also be configured on the surface of the front side of the second supporting member.

[0062] Reference Figures 2 to 5 , the safety switch device 21 is connected to the robot control device 4 through the cable 53. The signal that the emergency stop button 52 or the enable switch 51 is pressed is transmitted to the robot control device 4 through the cable 53. For example, when the emergency stop button 52 is pressed, the emergency stop signal is transmitted to the robot control device 4. The robot control device 4 stops the driving of the robot 1 and the driving of the hand 2. In addition, the signal that the enable switch 51 is pressed is transmitted to the robot control device 4. In the case where the signal that the enable switch 51 is pressed is not received, the robot control device 4 sets the robot 1 and the hand 2 to a stopped state. Moreover, while the enable switch 51 is pressed, the robot control device 4 drives the robot 1 and the hand 2 in response to the operation of the portable terminal 6.

[0063] The portable terminal 6 of the present embodiment is connected to the safety switch device 21 via a cable 54. In the present embodiment, the safety switch device 21 is formed to be able to communicate with the portable terminal 6 through a USB (Universal Serial Bus) signal. In addition, the safety switch device 21 is formed to be able to communicate with the robot control device 4 through an Ethernet (registered trademark) signal. The safety switch device 21 includes an electronic circuit substrate 55, which has an electronic circuit for converting an Ethernet signal into a USB signal, or converting a USB signal into an Ethernet signal. In addition, the communication between the portable terminal and the safety switch device and the communication between the safety switch device and the robot control device can also be performed wirelessly.

[0064] In addition, the safety switch device 21 of this embodiment is powered from the robot control device 4 via the cable 53. The safety switch device 21 has a function of supplying power to the portable terminal 6 via the cable 54. The electronic circuit board 55 has a function of converting voltage. The portable terminal 6 can charge the internal battery with the power supplied via the cable 54.

[0065] The portable terminal 6 of this embodiment has the function of a camera. A lens 71 for capturing images is disposed on the back of the portable terminal 6. A hole portion 33 is formed at a position corresponding to the lens 71 in the first supporting member 31. The operating device 81 of this embodiment can capture images by the function of the camera included in the portable terminal 6. As described above, a hole portion corresponding to the position of the lens can be formed in the fixing mechanism 47 so that the image can be captured by the function of the camera included in the portable terminal.

[0066] exist Figure 8 2 shows a perspective view of the second operating device in this embodiment when viewed from the back side. The second operating device 82 includes a second safety switch device 22. The second safety switch device 22 has a pressing member for preventing the operator's hand from moving in a direction away from the gripping portion 34, which is different from the first safety switch device 21. The second safety switch device 22 has a pressing member 64 for pressing the operator's hand. The pressing member 64 is formed of a non-deformable material. For example, the pressing member 64 is formed of a resin or the like.

[0067] The pressing member 64 is formed to extend from the upper end of the gripping portion 34 toward the lower side. The pressing member 64 extends along the length direction of the gripping portion 34 indicated by the arrow 93. A space for inserting the operator's hand is formed between the gripping portion 34 and the pressing member 64. The pressing member 64 is separated from the gripping portion 34 and has a shape extending along the gripping portion 34. The operator can insert his hand between the gripping portion 34 and the pressing member 64. The pressing member 64 can prevent the operator's hand from leaving the gripping portion 34 by contacting the back of the operator's hand.

[0068] As described above, the pressing member 64 can be formed of a non-deformable material. Figure 8 The pressing member 64 shown is fixed to the gripping portion 34 at only the upper end portion, but the present invention is not limited to this form. The pressing member may be fixed to the gripping portion 34 at the lower end portion.

[0069] exist Fig. 9 2 is an enlarged side view of the third operating device in this embodiment. The third operating device 83 includes a third safety switch device 23. The structure of the gripping portion 34 of the third safety switch device 23 is different from that of the first safety switch device 21.

[0070] The grip portion 34 of the third safety switch device 23 includes a moving member 36 formed to be movable relative to the main body of the grip portion 34. The moving member 36 includes a contact surface 34a for contacting the palm of the operator. The moving member 36 has a support rod 36a extending toward the main body of the grip portion 34. The main body of the grip portion 34 has a hole portion 34b for inserting the support rod 36a. The hole portion 34b is formed so that the support rod 36a slides therein.

[0071] The movable member 36 has a rod-shaped portion 36b formed with an external thread. The main body of the gripping portion 34 has a hole portion 34c for inserting the rod-shaped portion 36b. The rod-shaped portion 36b extends toward the hole portion 34c of the main body of the gripping portion 34. The rod-shaped portion 36b is engaged with a dial 38 formed with an internal thread. The dial 38 is formed in a disc shape. The operator can move the rod-shaped portion 36b as shown by the arrow 96 by rotating the dial 38. As a result, the movable member 36 moves in the direction toward the belts 61a, 61b, or moves in the direction away from the belts 61a, 61b.

[0072] In this way, by adopting a structure in which the portion including the contact surface 34a of the grip portion 34 is moved toward the pressing member, the size of the space for inserting the operator's hand can be adjusted. The size of the space for inserting the operator's hand can be changed according to the size of the operator's hand. Therefore, the operator can hold the operating device more stably. Alternatively, the fatigue of the operator can be suppressed.

[0073] exist Fig.10, a perspective view of the fourth operating device in the present embodiment as viewed from the back side is shown in FIG. The fourth operating device 84 includes a fourth safety switch device 24. The aforementioned safety switch device is formed with a first support member 31 and a second support member 41 extending in the left-right direction indicated by arrow 92 when the operator holds the operating device. The fixing mechanism 47 of the fourth safety switch device 24 has a structure that clamps the portable terminal 6 in the left-right direction when the operator holds the fourth operating device 84.

[0074] The first support member 31 and the second support member 41 of the fourth safety switch device 24 are formed to extend in the left-right direction indicated by the arrow 92. The first support member 31 is engaged with one end portion in the left-right direction of the portable terminal 6. In addition, the second support member 41 is engaged with the other end portion in the left-right direction of the portable terminal 6. In contrast, the grip portion 34 is configured so that the length direction of the grip portion 34 indicated by the arrow 93 is parallel to the up-down direction of the operating device 84 indicated by the arrow 91.

[0075] In this way, the fixing mechanism 47 may be formed so that the first support member 31 and the second support member 41 extend in the left-right direction. Furthermore, the first support member and the second support member may be formed so as to sandwich the portable terminal from any direction.

[0076] exist Fig.11 2 shows a side view of the fifth operating device in this embodiment. The fifth operating device 85 includes a fifth safety switch device 25. The structure of the fifth safety switch device 25 in which the gripping portion 34 rotates relative to the fixing mechanism 47 is different from that of the first safety switch device 21. The fifth safety switch device 25 is formed so that the gripping portion 34 rotates relative to the first support member 31 and the second support member 41.

[0077] The fifth safety switch device 25 includes a fixed plate 66 fixed to the fixing mechanism 47 and a rotating plate 67 fixed to the gripping portion 34. In the present embodiment, the fixed plate 66 is fixed to the first supporting member 31. The rotating plate 67 is formed to rotate relative to the fixed plate 66. The rotating plate 67 of the present embodiment is formed to rotate around a rotation axis extending in a direction perpendicular to the back surface of the portable terminal 6 through the center of gravity position or a position near the center of gravity position of the portable terminal 6. In addition, the safety switch device 25 is formed so that the rotating plate 67 can be fixed to the fixed plate 66 by a fixing member such as a screw.

[0078] exist Fig.12 The rear view of the fifth operating device is shown in FIG. The gripping portion 34 of the fifth safety switch device 25 rotates relative to the fixing mechanism 47 including the first support member 31 as shown by arrow 95. When the position of the gripping portion 34 relative to the fixing mechanism 47 is determined, the rotating plate 67 can be fixed to the fixing plate 66 by the fixing member.

[0079] In the fifth safety switch device 25, the angle of the holding portion 34 relative to the fixing mechanism 47 can be adjusted. That is, the portable terminal 6 can be rotated according to the operation. The operator can adjust the angle of the portable terminal 6 to make it easier to view the display 72 of the portable terminal 6. For example, the orientation of the portable terminal 6 can be adjusted so that the length direction of the portable terminal 6 extends in the up-down direction, or the orientation of the portable terminal 6 can be adjusted so that the length direction of the portable terminal 6 extends in the left-right direction. In this way, the holding portion 34 can also be formed to be rotatable relative to the fixing mechanism 47. Regarding the cable 54 connecting the holding portion 34 to the portable terminal 6, a long cable can be used. Alternatively, when the rotation angle of the portable terminal 6 relative to the holding portion 34 is changed, it can be replaced with a cable of a length corresponding to the rotation angle.

[0080] exist Fig.13 2 shows a perspective view of the sixth operating device in this embodiment when viewed from the front side. Fig.14 , a perspective view of the sixth operating device as viewed from the back side is shown in FIG. Fig.15 , a perspective view of the sixth operating device as viewed from the bottom is shown. Figures 13 to 15 The sixth operating device 86 includes a sixth safety switch device 26 on which the portable terminal 6 is mounted. The construction of the protection member 46 including the protection cable 54 of the sixth safety switch device 26 is different from that of the first safety switch device 21. In addition, the position of the enabling switch 56 of the sixth safety switch device 26 is different from that of the first safety switch device 21.

[0081] Reference Fig.15 A hole 43a is formed in the engaging portion 43 of the second supporting member 41. A cable 54 connecting the safety switch device 26 and the portable terminal 6 passes through the hole 43a. Figures 13 to 15 When the operator holds the operating device 86, the connection port of the cable 54 of the grip 34 is arranged at the lower end surface of the grip 34. The connection port of the cable 54 of the portable terminal 6 is arranged at the lower end surface of the portable terminal 6. Therefore, when the cable 54 is connected to the safety switch device 26 and the portable terminal 6, the cable 54 is bent into a U shape when viewed from above. The cable 54 is arranged to protrude further than the lower end surface of the portable terminal 6.

[0082] The sixth safety switch device 26 includes a protective member 46 for protecting the cable 54. The protective member 46 is fixed to the second support member 41. The protective member 46 of the present embodiment is formed in a plate shape. The protective member 46 has a wall portion 46a arranged on the front side of the cable 54 (the side where the screen of the portable terminal 6 is arranged) and a wall portion 46b arranged on the side of the cable 54. The protective member 46 is formed to surround the U-shaped portion of the cable 54 connected to the portable terminal 6 that protrudes from the end face of the portable terminal 6. The height of the protective member 46 indicated by the arrow 97 is formed to be higher than the height of the cable 54 protruding from the end face of the portable terminal 6.

[0083] Reference Figure 3 and Figure 4 In the first safety switch device 21 of the present embodiment, when the operator holds the first operating device 81, the cable 54 protrudes to the lower side of the portable terminal 6. When the operator operates while moving the first operating device 81, the cable 54 may come into contact with the operator's body or other devices. As a result, a force may be applied to the cable 54, causing damage to the cable 54.

[0084] Reference Figures 13 to 15 In the sixth safety switch device 26 of the present embodiment, a protective member 46 is disposed around the cable 54, so that the protective member 46 contacts the operator's body or other devices. Therefore, the cable 54 can be prevented from contacting the operator's body or other devices, thereby suppressing damage to the cable 54.

[0085] The protective member 46 of the present embodiment is fixed to the lower surface of the second supporting member 41, but is not limited to this form. The protective member 46 can be arranged around the space where the cable 54 connecting the portable terminal 6 to the safety switch device 26 is arranged. For example, sometimes the connection port of the cable of the portable terminal is formed on the end surface in the left-right direction of the portable terminal. In this case, the protective member can be arranged via a supporting member extending from the fixing mechanism 47 toward the connection port of the cable 54. Alternatively, sometimes the gripping portion is not arranged in the central portion of the back of the portable terminal, but is arranged at one end portion in the left-right direction of the portable terminal. In this case, the protective member can also be arranged via a supporting member extending from the fixing mechanism 47 toward the connection port of the cable. In addition, the protective member can be fixed to the first supporting member, or it can also be fixed to both the first supporting member and the second supporting member.

[0086] Next, refer to Fig.14, the sixth safety switch device 26 is formed so that the operator can hold it with the left hand. In the sixth safety switch device 26, the enabling switch 56 as the permission switch is arranged on the side of the grip portion 34. The enabling switch 56 has a shape extending in the length direction of the grip portion 34 shown by the arrow 93. With this structure, the operator can hold the grip portion 34 while pressing the enabling switch 56 with the index finger, middle finger and ring finger of the hand. The operator can press the enabling switch 56 at any time. In this way, the permission switch can be arranged at a position where the operator can operate it with any finger when holding the grip portion.

[0087] exist Fig.16 , a perspective view of the seventh operating device in this embodiment as viewed from the back is shown in FIG. Fig.17 Shown along Fig.16 This is a cross-sectional view when the image is cut along the CC line. Fig.16 This is a perspective view of a worker holding the grip portion 34 with his left hand. Fig.16 and Fig.17 The seventh operating device 87 includes the seventh safety switch device 27. The structure of the fixing mechanism 47 of the seventh safety switch device 27 is different from that of the first safety switch device 21.

[0088] The first support member 31 and the gripping portion 34 have substantially the same width in the left-right direction indicated by the arrow 92. In the seventh safety switch device 27, a recessed portion 40 for engaging with a finger of the operator's hand 79 is formed on the side surface of the first support member 31 of the fixing mechanism 47. The recessed portion 40 is formed to extend along the extending direction of the first support member 31. The recessed portion 40 is formed to be recessed from the side surface of the gripping portion 34. The recessed portion 40 is formed at a position that engages with at least one of the index finger, middle finger, ring finger, and little finger of the operator's hand. The recessed portion 40 of this embodiment has a size that engages with the index finger, middle finger, ring finger, and little finger.

[0089] When the operator holds the safety switch device 27, the operator can place the index finger, middle finger, ring finger, and little finger in the recessed portion 40 to hold the gripping portion 34. The operator can hold the gripping portion 34 by hooking the fingertips of each finger into the recessed portion 40. Therefore, the operator can hold the gripping portion 34 stably. As a result, the operator's fatigue can be further suppressed compared to a safety switch device without the recessed portion 40.

[0090] The seventh safety switch device 27 is formed so that the operator can hold it with the right hand or the left hand. Therefore, in the seventh safety switch device 27, the recessed part 40 is formed on both the left side and the right side of the first support member 31, but it is not limited to this form. In the case where the safety switch device is formed so that the operator can hold it with the left hand or the right hand, the recessed part can be formed on the side of the index finger, middle finger, ring finger, and little finger of the hand that holds it.

[0091] In addition, in the seventh safety switch device 27, the concave portion 40 is formed in the fixing mechanism 47, but it is not limited to this form. In the case where the holding portion is formed high, the concave portion can also be formed in the holding portion. Alternatively, the concave portion can also be formed in the boundary portion between the holding portion and the fixing mechanism. In this case, the concave portion is formed in both the holding portion and the fixing mechanism. In this way, the concave portion can be formed in at least one of the holding portion and the fixing mechanism.

[0092] The fixing mechanism 47 of this embodiment is formed to fix the portable terminal 6 by clamping the portable terminal 6 by the first supporting member 31 and the second supporting member 41, but is not limited to this form. The fixing mechanism can fix the portable terminal by any mechanism. For example, the fixing mechanism can also be formed to fix the portable terminal to the safety switch device by screws. Or, for example, the fixing mechanism can include a substrate having a recess corresponding to the shape of the portable terminal. A recess having a quadrilateral planar shape can be formed on the substrate so that the portable terminal is embedded in the recess.

[0093] The machine operated by the operating device in this embodiment is a robot and a hand, but it is not limited to this form. The structure of this embodiment can be applied to the operating device of any machine. For example, the safety switch device and the operating device of this embodiment can be applied to a machine tool. In particular, the safety switch device and the operating device of this embodiment are preferred for a numerical control type machine tool.

[0094] According to the aspect of the present disclosure, it is possible to provide a safety switch device that suppresses fatigue of a worker when the worker performs work, and an operating device including the safety switch device.

[0095] The above-mentioned embodiments can be combined appropriately. In the above-mentioned figures, the same or corresponding parts are marked with the same reference numerals. In addition, the above-mentioned embodiments are illustrative and do not limit the invention. In addition, the embodiments include changes to the embodiments shown in the scope of the claims.

Claims

1. A safety switch device installed in a portable terminal for operating a machine, the safety switch device comprising: a fixing mechanism formed to fix the portable terminal; A gripping portion, which is supported by the fixing mechanism and is used for a worker to hold it with his hand; an enabling switch, which is disposed on the handle and is used to send a signal to allow the machine to operate; and Emergency stop button, which is used to send a signal to stop the machine. in, The fixing mechanism is formed so as to be able to fix a plurality of types of the portable terminals of different sizes. The gripping portion is supported by the fixing mechanism so as to be arranged at the center of the shape of the back side of the portable terminal corresponding to the center of gravity of the portable terminal. The grip portion has a length direction along the back side of the portable terminal, The emergency stop button is arranged on the front side of the safety switch device, and the front side is a side of the safety switch device where a screen of the portable terminal is arranged.

2. The safety switch device according to claim 1, characterized in that: The fixing mechanism comprises: A first supporting member having a first recessed portion engaged with one end portion of the portable terminal; a second supporting member having a second recessed portion engaged with the other end portion of the portable terminal; and a fixing member that fixes the second supporting member to the first supporting member, wherein the second supporting member is formed to slide relative to the first supporting member, The first supporting member and the second supporting member sandwich the portable terminal, whereby the fixing mechanism fixes the portable terminal.

3. The safety switch device according to claim 1 or 2, characterized in that: The permission switch is arranged on an end surface of the grip portion and is formed to protrude in a direction parallel to the longitudinal direction.

4. The safety switch device according to claim 3, characterized in that: The holding portion has a cross-sectional shape that is symmetrical with respect to a center line in a width direction of the holding portion when the holding portion is cut in a direction perpendicular to the longitudinal direction.

5. The safety switch device according to claim 1 or 2, characterized in that: The permission switch has a shape extending along the longitudinal direction and is arranged on a side surface of the grip portion.

6. The safety switch device according to claim 1 or 2, characterized in that: comprising a protective member fixed to the fixing mechanism, The protection member is disposed around the cable when the safety switch device is connected to the portable terminal via the cable, and is formed to be higher than the height of the cable protruding from the portable terminal.

7. The safety switch device according to claim 1 or 2, characterized in that: The gripping portion includes a pressing member that prevents the operator's hand from moving away from the gripping portion. The pressing member extends in the longitudinal direction so that a worker's hand is disposed between the pressing member and the gripping portion.

8. The safety switch device according to claim 1 or 2, characterized in that: At least one of the fixing mechanism and the holding portion has a recessed portion formed on a side surface. The recessed portion is formed at a position that engages with at least one of the index finger, the middle finger, the ring finger, and the little finger when the operator grasps the grasping portion.

9. An operating device for operating a machine, the operating device comprising: The safety switch device according to claim 1; and The portable terminal is fixed to the safety switch device.

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