Robot operation device and robot

Abstract

An operating device (1) for a robot, which is mounted to a robot (100) capable of acting by detecting a force applied by an operator and changing a position and a posture of the robot (100) in accordance with the detected force, includes a bracket (2) fixed to a flange (160) at a front end of the robot (100), a long tool (170) mounted in a form of a plane including an axis of rotation at a position eccentric with respect to the axis of rotation of the flange (160), and two handles (3, 4) fixed with respect to the bracket (2) and held by both hands of the operator, respectively, one handle (3) being arranged on the plane in a form of extending in a direction along a long axis of the tool (170), and the other handle (4) being arranged in the vicinity of the tool (170) in a form of extending in a direction intersecting the plane.

Description

Technical Field

[0001] This disclosure relates to operating devices for robots and robots. Background Technology

[0002] In order to make the robot move by guidance control, there are known robot operating devices in which an operator applies force to the robot to operate it (for example, see Patent Document 1).

[0003] The robot's operating device includes two handles held by the operator with both hands, and the robot moves by applying a combined force to the two handles.

[0004] The robot has a flange at its front end, and tools such as claws are fixed along the rotation axis of the flange. Two handles extend on either side of the center plane of the claw (a plane extending from the center of the claw's two fingers in a direction orthogonal to the opening and closing direction of the fingers). Thus, an operator standing in front of the claw can grasp the two handles with both hands.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-34412 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] When both handles protrude to either side of the center plane of the gripper, the amount of protrusion from the center plane increases. Therefore, during teaching operations or similar activities performed while holding the handles, the possibility of interference between the peripheral components and the handles increases. Consequently, there is a need for a robot manipulator and a robot that can minimize interference with peripheral components and precisely position the tool tip at the desired location.

[0010] Solution for solving the problem

[0011] One aspect of this disclosure provides a robot manipulator mounted on a robot, wherein the robot is capable of changing its position and posture by detecting forces applied by an operator and by guided control based on the detected forces. The robot manipulator includes: a bracket; a flange fixed to the front end of the robot; a long tool mounted at an eccentric position relative to the axis of rotation of the flange in the form of a plane including the axis of rotation; and two handles fixed relative to the bracket and held by the operator's hands, one of the handles being disposed on the plane in the form of extending along the long axis of the tool, and the other handle being disposed near the tool in the form of extending in a direction intersecting the plane. Attached Figure Description

[0012] Figure 1 This is a side view of the robot according to the first embodiment of this disclosure, with a welding torch mounted on the flange.

[0013] Figure 2 It means Figure 1 The front view of the robot.

[0014] Figure 3 It means Figure 1 A perspective view of the robot operating device according to the first embodiment of this disclosure, which is possessed by the robot.

[0015] Figure 4 This is a perspective view of the robot operating device of the first variant.

[0016] Figure 5 This is a perspective view of the robot operating device in the second variation.

[0017] Figure 6 This is a perspective view of the robot operating device in the third variation.

[0018] Figure 7 It means Figure 6 An exploded 3D view of the robot's operating device.

[0019] Figure 8 It means to Figure 7 An exploded 3D diagram showing the robot's control device being changed to a left-handed configuration.

[0020] Figure 9 This is an exploded perspective view of the robot operating device in the fourth variation.

[0021] Figure 10 It means to Figure 9 An exploded 3D diagram showing the robot's control device being changed to a left-handed configuration.

[0022] Figure 11 This is an exploded perspective view of the robot operating device in the fifth variation.

[0023] Figure 12 It is a three-dimensional diagram showing a robot equipped with claws as a tool.

[0024] Figure 13 This is a side view of the robot according to the second embodiment of this disclosure, and of the robot with a welding torch mounted on the flange.

[0025] Figure 14 It means Figure 13 The front view of the robot.

[0026] Figure 15 It means Figure 13 A perspective view of the robot operating device according to the second embodiment of this disclosure.

[0027] Figure 16 Is it to control Figure 15 A 3D representation of a robot using the operator's hands along with the control device.

[0028] Figure 17 It means Figure 15 A three-dimensional diagram of the wiring paths of the first and second cables in the robot's operating device.

[0029] Figure 18 It means Figure 15 An exploded perspective view of a modified example of a robot's operating device.

[0030] Figure 19 For installation Figure 18 A perspective view illustrating the sequence of the first and second handles of the robot's operating device.

[0031] Figure 20 It means Figure 19 A three-dimensional diagram of a modified example of a robot's operating device. Detailed Implementation

[0032] Hereinafter, the robot operating device 1 and robot 100 of the first embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0033] The robot 100 in this embodiment has a built-in sensor that detects the force applied by the operator, and can guide and control changes to the position and posture of the robot 100 based on the magnitude and direction of the force detected by the sensor.

[0034] For example, such as Figure 1 as well as Figure 2 As shown, robot 100 is a vertical six-axis multi-joint robot, including a base 110 set on a surface such as the ground, and a rotating body 120 supported so as to be able to rotate about a first axis A relative to the base 110.

[0035] In addition, the robot 100 includes: a first arm 130 rotatably supported on a rotating body 120 about a second axis B; a second arm 140 rotatably supported on the first arm 130 about a third axis C; and a three-axis wrist unit 150 supported on the front end of the second arm 140.

[0036] The wrist unit 150 is provided with a flange 160 that is rotatable about the foremost rotation axis (6th axis) X. The robot 100 of this embodiment includes a robot operating device 1 fixed to the flange 160.

[0037] like Figure 3 As shown, the robot operating device 1 of this embodiment includes a bracket 2 fixed to a flange 160 and two handles 3 and 4 fixed to the bracket 2.

[0038] The bracket 2 is, for example, a component that fixes a long tool such as a welding torch 170 to a flange 160, including a bracket body 5 fixed to the flange 160 and a fixing block 6 that fixes the welding torch 170 to the bracket body 5.

[0039] The welding torch 170 includes a tubular torch body 171 bent in one direction, a generally cylindrical neck support 172 connected to the base end of the torch body 171, and a guide tube 173 connected to the base end of the neck support 172. The guide tube 173, the neck support 172, and the torch body 171 include an inner hole (not shown) through which a welding wire 180 passes along its length. The welding torch 170 welds a workpiece by generating an electric arc between itself and the workpiece, causing the welding wire 180, which passes through the inner hole, to protrude from the front end of the torch body 171.

[0040] The fixing block 6 includes a pair of split block components 7 and 8 that radially hold the cylindrical main body portion 171a of the welding torch body 171. Each split block component 7 and 8 includes a recess 7a and 8a of a generally semi-circular cross-sectional shape, which, when combined, forms a through hole with a generally circular cross-sectional shape that can penetrate the main body portion 171a. The main body portion 171a of the welding torch body 171 is disposed between the recesses 7a and 8a of the pair of split block components 7 and 8, and is fastened together with the bracket body 5 by bolts (not shown). Thus, the main body portion 171a of the welding torch body 171 can be fixed to the bracket body 5 in a state of being sandwiched between the pair of split block components 7 and 8.

[0041] As described above, the welding torch 170 is elongated, therefore it cannot penetrate the interior of the wrist unit 150, and is supported by the bracket 2 at a position eccentric to the rotation axis X of the flange 160. Furthermore, the welding torch body 171 is configured such that it bends from its fixed position along a plane P (hereinafter referred to as the tool plane) including the rotation axis X of the flange 160, causing the welding wire 180 to protrude from a position intersecting the rotation axis X of the flange 160. The intersection point of the rotation axis X of the flange 160 and the welding wire 180 is typically set as the tool tip point.

[0042] Two handle fixing parts 9 and 10 are provided on a split block component 8 to fix the two handles 3 and 4.

[0043] Handles 3 and 4 include a first handle (one handle) 3 configured along the tool plane P, and a second handle (another handle) 4 configured at a position close to the long axis Y of the welding torch 170, which serves as a tool, extending in a direction orthogonal to the tool plane P.

[0044] The first handle 3 is a straight, rod-shaped component that can be gripped by the operator with their right hand. A handle fixing part 9 extends in a cantilever beam shape along the tool plane P in a direction away from the rotation axis X of the flange 160. The first handle 3 is fixed to the front end of the handle fixing part 9 and is arranged parallel to the long axis Y of the welding torch 170, with a gap between it and the welding torch 170 that allows four fingers other than the right thumb to enter. Thus, the first handle 3 is arranged on the tool plane P in a manner that extends in the direction along the long axis Y of the welding torch 170.

[0045] A guide switch 11 is provided at the front end of the first handle 3, which can be operated by the thumb of the right hand holding the first handle 3.

[0046] The guide switch 11 functions so that the guide control is effective when pressure is applied by the thumb and ineffective when the pressure is released.

[0047] The second handle 4 is a straight rod-shaped component positioned so that the operator holding the first handle 3 with their right hand can also hold it with their left hand. On another handle fixing part (mounting part) 10, in a position operable by the thumb of the left hand while holding the second handle 4 with the right hand, two push-button switches (operation switches) 12 and 13 are provided.

[0048] One push-button switch 12 is a teach-in button (operation switch, position teach-in switch) that stores the angle of each axis of the robot 100 at the moment of pressing when pressed. In addition, another push-button switch 13 is a mode switching button (operation switch, motion mode change switch) that switches the motion mode of the robot 100 between orthogonal motion and individual axis motion whenever it is pressed.

[0049] The operation of the robot operating device 1 and the robot 100 configured as described below will be explained.

[0050] In order to guide and control the robot 100 while teaching using the robot operating device 1 of this embodiment, the operator holds the first handle 3 with his right hand and the second handle 4 with his left hand, and presses the guide switch 11 provided on the first handle 3.

[0051] Thus, guidance and control become effective. The forces applied by the operator to the first handle 3 and the second handle 4 by the sensor built into the robot 100 are detected, causing the robot 100 to move to a position and posture corresponding to the detected forces. Then, at the desired position, the operator presses the teach button 12 located on the other handle fixing part 10 of the second handle 4, thereby storing the angles of each axis of the robot 100 at the moment the example button was pressed. By repeatedly performing this action, the movement program of the robot 100 can be taught.

[0052] In this case, according to the robot operating device 1 and robot 100 of this embodiment, the first handle 3, held by the right hand, is positioned along the rotation axis X of the flange 160 and the tool plane P of the welding torch body 171. Therefore, the first handle 3 does not protrude significantly from the tool plane P, thus reducing the possibility of interference between peripheral components and the first handle 3.

[0053] Furthermore, by arranging the first handle 3 parallel to the long axis Y of the main body 171a of the welding torch body 171 near the main body 171a, an operator holding the first handle 3 with their right hand can move the welding torch body 171 with the same feeling as when directly holding the welding torch body 171. Thus, the operator can easily and intuitively control the position and posture of the welding torch body 171, and can accurately position the tip of the welding wire 180, located at the tool tip point, to the desired position.

[0054] Furthermore, in this embodiment, since the first handle 3 is held with the right hand and the second handle 4 is held with the left hand, the position and posture of the welding torch 170 can be more easily controlled when the dominant hand is the right hand.

[0055] The second handle 4 extends only to one side of the tool plane P, and not to either side of the tool plane P. Therefore, the possibility of interference between the second handle and surrounding components can be suppressed sufficiently. The second handle 4 is positioned close to the long axis Y of the welding torch body 171. Therefore, the force applied by the operator to the second handle 4 can be directly transmitted to the welding torch body 171, allowing the operator to operate intuitively.

[0056] By having a second handle 4, it has the following advantages: in cases where it is difficult to perform an operation using only the first handle 3, such as rotating the welding torch 170 around the long axis of the first handle 3, the operation can be easily performed by using the force applied to the second handle 4.

[0057] Furthermore, a teach button 12 and an operation mode switching button 13 are provided on another handle fixing part 10 on which the second handle 4 is mounted to the bracket 2. Thus, while holding the second handle 4 with the left hand, the operator can operate the teach button 12 and the operation mode switching button 13 with the thumb of the left hand.

[0058] In addition, in this embodiment, a teach button 12 and an action mode switching button 13 are provided on the other handle fixing part 10 that fixes the second handle 4. In addition, the teach button 12 or the action mode switching button 13 can also be activated by short press operation, for example, by long press operation to change the function to a tool action teach switch for teaching tool action commands.

[0059] Therefore, it has the following advantages: when the tool is a welding torch 170, it is easy to teach the start or end commands for arc generation, and when the tool is a claw, it is also easy to teach the opening and closing commands. In addition, by using the multi-function teaching button 12 or the operation mode switching button 13, the number of switches operated by the operator can be reduced, improving ease of use.

[0060] In this case, the teach button 12 or the operation mode switch button 13 may also have an LED light (notification function) that indicates the status by turning on or off. The operator can easily visually identify the current status of the teach button 12 or the operation mode switch button 13 by the lighting or turning off of the LED light.

[0061] Furthermore, in this embodiment, the case of holding the first handle 3 with the right hand and the second handle 4 with the left hand has been described. Alternatively, the second handle 4 can also be held by moving it towards... Figure 3 The tool plane P protrudes from the opposite side, allowing operation by holding the first handle 3 with the left hand and the second handle 4 with the right hand. This makes it easy to control the position and posture of the welding torch 170 when the left hand is the dominant hand.

[0062] Alternatively, instead of providing the teach button 12 and the action mode switch button 13 on the other handle fixing part 10 that fixes the second handle 4, it is also possible to... Figure 4 As shown, it is set on the bracket body 5 or as... Figure 5 It is positioned on the wrist unit 150 as shown. Thus, an operator holding the first handle 3 with their right hand can operate the teach button 12 and the action mode switch button 13 by releasing their left hand from the second handle 4 (the hand holding the other handle 4).

[0063] Furthermore, in this embodiment, the first handle 3 and the second handle 4 can also be detachably mounted relative to the bracket 2. For example, in Figure 6 In the example shown, the first handle 3, together with a handle fixing part 9, can be detachably mounted to a split block part 8 via bolt 14. Furthermore, the second handle 4 can be detachably mounted to another handle fixing part 10 via bolt 15.

[0064] By removing the first handle 3 and the second handle 4 from the bracket 2 after the teaching operation based on guidance control is completed, it has the advantage of significantly reducing interference with surrounding components when performing the taught action program.

[0065] By providing a relay connector 17 to the cable 16 connected to the guide switch 11 provided on the first handle 3, the first handle 3 can be easily assembled and disassembled.

[0066] In addition, Figure 4 as well as Figure 5 In the robot operating device 1 shown, when the second handle 4 is detachably mounted to the other handle fixing part 10, the other handle fixing part 10 can be provided with threaded holes on both sides spanning the tool plane P, allowing the second handle 4 to be selectively mounted (see reference). Figure 6 18.

[0067] In addition, such as Figure 7 As shown, the first handle 3 is removed from a split block component 8 along with a handle fixing part 9, as follows. Figure 8 As shown, the first handle 3 and a handle fixing part 9 can also be fixed in one of the split block parts 8 after being reversed. Thus, it is possible to achieve commonality without setting the components according to the user's dominant hand.

[0068] That is, since the first handle 3 is positioned on the tool plane P, there is no need to change the position of the first handle 3 according to the operator with different dominant hands. Therefore, by simply changing the position of the second handle 4, without preparing additional components, the robot operating device 1 can be provided to operators with different dominant hands.

[0069] In this case, the split block component 8 can be easily disassembled and assembled by connecting the cable (not shown) to the teach button 12 and the action mode switching button 13 provided on one of the split block components 8 relative to the connector (not shown) provided on the wrist unit 150.

[0070] Furthermore, an example is shown where a teach button 12 is configured on a split block component 8 that fixes the first handle 3, but it can also be replaced by, for example... Figure 9 As shown, another handle fixing part 10 and a teaching button 12 are arranged on another split block part 7 fixed to the bracket body 5. Thus, for cases different from the user's dominant hand, such as... Figure 10As shown, the position of the second handle 4 can be reversed, and a handle fixing part 9 can be integrated with a split block part 8 that fixes the first handle 3, thereby reducing the number of components.

[0071] In addition, such as Figure 11 As shown, the switch box 20, which is equipped with another handle fixing part 10 and a teaching button 12, can also be fixed separately from the split block parts 7 and 8 to the bracket body 5.

[0072] Furthermore, in this embodiment, a welding torch 170 is exemplified as a tool fixed to the flange 160 by the bracket 2, but it is not limited to this. Any other tool can be used as long as it is positioned at a position offset from the rotation axis X of the flange 160. For example, an optical fiber cable with a laser guide connected to the base end, or a laser welding or laser processing nozzle that emits laser light from the front end can also be used.

[0073] Alternatively, a tool can be used that connects to a power cable at the base and processes the workpiece using a tool located at the front end. Alternatively, a nozzle can be used that connects to a fluid pipe at the base and ejects fluid from the front end.

[0074] In addition, such as Figure 12 As shown, the claw portion 200 of the claw at the front end can also be opened and closed by using electricity or pressurized fluid supplied through a power cable or fluid pipe connected to the base end side.

[0075] Furthermore, in this embodiment, a case is illustrated where a first handle 3 and a second handle 4 are fixed to a fixing block 6 that fixes the welding torch 170 to the bracket body 5. Alternatively, the first handle 3 and the second handle 4 can be fixed to the bracket 2 indirectly via the welding torch 170 by fixing the welding torch 170 to the bracket body 5 via the fixing block 6.

[0076] In addition, such as Figure 4 or Figure 5 As shown, even when the teach button 12 and the operation mode switch button 13 are positioned differently from those on the fixing block 6, the position of the second handle 4 can be interchanged. In this case, it is sufficient to provide threaded holes (not shown) on both sides of the fixing block 6, across the tool plane P, for tightening the bolts 15 that secure the second handle 4. Thus, with the welding torch 170 fixed to the bracket 2, the handles 3 and 4 can be configured for right-handed and left-handed users simply by changing the position of the second handle 4.

[0077] Next, the robot operating device 300 and robot 100 of the second embodiment of this disclosure will be described with reference to the accompanying drawings.

[0078] In the description of this embodiment, the parts that are common to the robot operating device 1 and the robot 100 in the first embodiment described above are marked with the same symbols and the description is omitted.

[0079] like Figure 13 as well as Figure 14 As shown, the robot 100 of this embodiment also includes a robot operating device 300 fixed to the flange 160.

[0080] like Figure 15 As shown, the robot operating device 300 of this embodiment includes a bracket 310 fixed to the flange 160.

[0081] The bracket 310 is, for example, a component that secures a long tool such as a welding torch 170 to a flange 160. The bracket 310 includes a bracket body 5, an adapter (first handle portion) 311 for securing the bracket body 5 to the flange 160, and a fixing block (second handle portion) 6 for securing the welding torch 170 to the bracket body 5.

[0082] Adapter 311 is a cylindrical component coaxially configured with the rotation axis X of flange 160. For example... Figure 16 As shown, the adapter 311 has an outer diameter such that, when held by an operator's hand (here, the left hand) in a manner that encloses an outer circumference wider than half a circumference, forces can be applied to the flange 160 in various directions. On the outer circumference of the adapter 311, at a position on the welding torch body 171 side of the tool plane P, a guide switch 11 is provided that can be operated by the thumb of the left hand holding the adapter 311.

[0083] The guide switch 11 is a push-button switch and is connected to the first cable 320. A connector (first connector) 321 is connected to the end of the first cable 320. Figure 17 As shown, the main cable 330 connected to the control device (not shown) is routed from the control device along the outer surface of the guide tube 173 to the vicinity of the neck support 172, and has a relay connector 331 that can connect to the connector 321 of the first cable 320.

[0084] The adapter 311 is provided with a through hole (passage portion) 312 extending along the diametrical direction, and an internal thread (not shown) is formed near the opening at one end of the through hole 312. The guide switch 11 has an external thread (not shown), and by fastening the external thread to the internal thread of the through hole 312, the button portion to be operated can be fixed to the adapter 311 in a state of being exposed to the outside.

[0085] In addition, a through hole 5a is provided in the bracket body 5, which extends along the tool plane P and allows the first cable 320 to pass through.

[0086] The first cable 320, connected to the guide switch 11, is taken out from the opening on the back side of the adapter 311 through the through hole 312 and bent toward the front end of the welding torch 170. Then, the first cable 320 is led out toward the welding torch 170 side through the through hole 5a of the bracket body 5.

[0087] Thus, the connector 321 of the first cable 320 extending from the bracket body 5 to the welding torch 170 side is connected to the connector 331 of the main cable 330 near the neck support 172. In the figure, symbol 350 is a hook-and-loop member that fixes the connectors 321 and 331 to the welding torch 170 in the connected state with the main cable 330 and the first cable 320.

[0088] Similar to the first embodiment, the fixing block 6 secures the main body 171a of the welding torch body 171 to the bracket body 5 while sandwiched between a pair of split block members 7 and 8. The fixing block 6 is sized such that it can be held by the operator's right hand in a manner surrounding the long axis Y of the welding torch body 171, allowing force to be applied to the welding torch body 171 in various directions. Two push-button switches 12 and 13 are provided on the fixing block 6. The push-button switches 12 and 13 are positioned so that they can be operated by the thumb of the right hand while holding the fixing block 6.

[0089] One push-button switch 12 is a teach-in button (operation switch, position teach-in switch) that stores the angle of each axis of the robot 100 at the moment of pressing when pressed. In addition, another push-button switch 13 is a mode switching button (operation switch, motion mode change switch) that switches the motion mode of the robot 100 between orthogonal motion and individual axis motion whenever it is pressed.

[0090] A second cable 340 is connected to push-button switches 12 and 13. A connector (not shown) is installed at the end of the second cable 340. A connector (not shown) is fixed to the outer surface of the wrist unit 150 of the robot 100 and connects to a cable (not shown) that is wired inside the robot 100.

[0091] The second cable 340, which connects to the push-button switches 12 and 13, is secured at a midway point along the neck support 172 of the welding torch 170 by a hook-and-loop member 360 at a position extending from the push-button switches 12 and 13. From this position, the second cable 340 crosses the space of the adapter 311 on the flange 160 side and connects to the connector (second connector) 341 of the wrist unit 150.

[0092] The first cable 320 and the second cable 340 are routed in the manner described above and positioned on the outer peripheral surface of the adapter 311 and the outer surface of the fixing block 6, away from the area held by the operator. This prevents the first cable 320 and the second cable 340 from obstructing the operator's work while the operator guides and teaches the robot 100.

[0093] The operation of the robot operating device 300 and the robot 100 configured as described below will be explained.

[0094] In order to guide and teach the robot 100 using the robot operating device 300 of this embodiment, the operator holds the adapter 311 with the left hand, holds the fixing block 6 with the right hand, and presses the guide switch 11 provided on the adapter 311 with the thumb of the left hand.

[0095] Thus, guidance and control become effective. The forces applied by the operator to the adapter 311 and the fixing block 6 by the sensors built into the robot 100 are detected, causing the robot 100 to move to a position and posture corresponding to the detected forces. Then, at the desired position, the operator presses the teach button 12 located on the fixing block 6, storing the angles of each axis of the robot 100 at the moment the button is pressed. By repeatedly performing this action, the robot 100's motion program can be taught.

[0096] In this case, by providing a guide switch 11 to a cylindrical adapter 311 that is coaxially fixed to the flange 160 and easily held by the operator, the adapter 311 can be used as a first handle to apply force to the robot 100 while enabling effective guidance control. Furthermore, by providing operating switches 12 and 13 to the fixing block 6 that fixes the welding torch body 171 to the bracket body 5, the fixing block 6 can be used as a second handle to apply force to the welding torch body 171 while performing teaching operations.

[0097] The first handle portion and the second handle portion, which are composed of the adapter 311 and the fixing block 6, do not protrude significantly from the rotation axis X of the flange 160 and the long axis Y of the welding torch 170 compared to the first handle 3 and the second handle 4 of the first embodiment. Therefore, interference with surrounding components can be suppressed, and teaching can be performed easily. In addition, it has the advantage that even when the taught action program is performed without removing the handles 3 and 4 after teaching, interference with surrounding components can be greatly reduced.

[0098] Furthermore, by designating the fixing block 6 as the second handle, an operator holding the fixing block 6 with their right hand can move the welding torch body 171 with the same feeling as when directly holding the welding torch body 171. Thus, the operator can intuitively control the position and posture of the welding torch body 171, and can precisely position the tip of the welding wire 180, located at the tool tip point, to the desired position.

[0099] Furthermore, in this embodiment, since the adapter 311 is held with the left hand and the fixing block 6 is held with the right hand, it is easier to control the position and posture of the welding torch 170 when the dominant hand is the right hand.

[0100] By holding the fixing block 6 on the basis of the adapter 311, it has the following advantages: in operations that are difficult to perform by the adapter 311 alone, such as rotating the welding torch 170 about the rotation axis X of the flange 160, the force applied to the adapter 311 can be used to assist in the operation.

[0101] Furthermore, by configuring a teaching button 12 and an action mode switching button 13 on the fixed block 6, the operator can operate the teaching button 12 and the action mode switching button 13 with the right thumb while holding the fixed block 6 with the right hand.

[0102] Furthermore, the first cable 320 and the second cable 340 can be routed away from the area on the outer peripheral surface of the adapter 311 that the operator holds with their left hand and the area on the outer surface of the fixing block 6 that the operator holds with their right hand. Therefore, the first cable 320 and the second cable 340 will not obstruct operation.

[0103] In addition, in this embodiment, the teach button 12 or the action mode switching button 13 can also be activated by a short press, but it is not limited to this. For example, by a long press, its function can be changed to a tool action teach switch for teaching tool action commands.

[0104] Furthermore, in this embodiment, the case of holding the adapter 311 with the left hand and the fixing block 6 with the right hand has been described. However, it is also possible to do so, for example, with... Figure 8 Similarly, by installing the fixing blocks 6 in opposite directions, the adapter 311 is held with the right hand and the fixing blocks 6 are held with the left hand for operation. Thus, even when the left hand is the dominant hand, the position and posture of the welding torch 170 can be easily operated.

[0105] In this case, since the guide switch 11 is positioned on the tool plane of the outer peripheral surface of the adapter 311, the user's dominant hand can be switched without changing the position of the guide switch 11. Furthermore, even if the wiring paths of the first cable 320 and the second cable 340 are maintained as described above, the first cable 320 and the second cable 340 will not interfere with the operator. That is, it is easy to switch operators with different dominant hands.

[0106] In addition, such as Figure 18 As shown, threaded holes 18, 361 and pin holes 4a, which are the same as those for the robot operating device 1 of the first embodiment, can also be provided on the fixing block 6, which serves as the second handle portion, to allow for the detachable installation and installation of a first handle (first detachable handle) 3 and a second handle (second detachable handle) 4. In this case, as... Figure 18 As shown, the first handle 3 can also be configured as a hollow structure with an inner hole 3a, and an internal thread (not shown) can be provided on the inner surface of the front end to secure the guide switch 11 (external thread not shown). Figure 18 In the diagram, symbol 360 is a screw used to fix the first handle 3 to the fixing block 6.

[0107] like Figure 17 As shown, from the state where the guide switch 11 is installed on the adapter 311 to the state where... Figure 19 The following explanation will focus on the configuration of the first handle 3 and the second handle 4 as shown. First, from... Figure 17 From the state shown, disconnect the connector connection between the first cable 320 and the main cable 330, and pull out the guide switch 11, the first cable 320 and the connector 321 from the through hole 312 of the adapter 311.

[0108] Next, as Figure 18 As shown, the first handle 3 and the second handle 4 are fixed in the fixing block 6, so that the connector 321 and the first cable 320 pass through the inner hole 3a of the first handle 3. Then, as... Figure 19 As shown, the external thread of the guide switch 11 is tightened into the internal thread, and the connector 321 of the first cable 320 is connected to the connector 331 of the main cable 330. This allows the first cable 320 to be routed without extending along the outer surface of the first handle 3.

[0109] Furthermore, in this embodiment, the bracket 310 includes an adapter 311, a bracket body 5, and a fixing block 6, which are assembled separately from each other. Alternatively, the adapter 311 and the bracket body 5, the bracket body 5 and the fixing block 6 split block component 7, or the adapter 311, the bracket body 5, and the split block component 7 can be integrally formed.

[0110] In addition, such as Figure 20As shown, the first cable 320 can also connect the connector 321 to the connector 331 of the main cable 330 along the outer surface of the neck bracket 172 after passing through the inner hole 3a of the first handle 3.

[0111] Therefore, the interference range of the first cable 320 to the outside can be minimized.

[0112] Furthermore, the adapter 311 is provided with a through hole 312 extending along the diameter direction as a passage for the first cable 320, but this is not a limitation. The opening for removing the first cable 320 may also be located on the mounting surface of the mounting bracket body 5, rather than on the outer peripheral surface of the adapter 311. Therefore, the first cable 320 does not pass through the outer peripheral surface of the adapter 311, thus having the advantage of not obstructing the handling of the adapter 311.

[0113] Alternatively, instead of forming a passage section through the through hole 312, it can be formed by a groove that can accommodate the first cable 320.

[0114] Explanation of reference numerals in the attached figures

[0115] 1:300: Robotic Operating Device

[0116] 2:310: Bracket

[0117] 3: First handle (handle, one handle, first disassembly handle)

[0118] 4: Second handle (handle, another handle, second disassembly handle)

[0119] 5: Bracket body

[0120] 6: Fixing block (second handle part)

[0121] 11: Guide switch

[0122] 12: Teach button (operation switch, position teach switch)

[0123] 13: Mode switching button (operation switch, action mode change switch)

[0124] 10: Another handle fixing part (mounting part)

[0125] 100: Robot

[0126] 160: Flange

[0127] 170: Welding torch (tool)

[0128] 200: Claw (tool)

[0129] 311: Adapter (First Handle Section)

[0130] 312: Through hole (passage section)

[0131] 320: First Cable

[0132] 321: Connector (First Connector)

[0133] 330: Main cable

[0134] 340: Second cable

[0135] 341: Connector (Second Connector)

[0136] P: Plane (Tool Plane)

[0137] X: Axis of rotation

[0138] Y: Major axis.

Claims

1. A robot operating device, installed on a robot, wherein, The robot is able to perform actions by detecting the force applied by the operator and changing its position and posture according to the detected force. The robot's operating device includes: A bracket, fixed to a flange at the front end of the robot, with a long tool mounted at an off-center position relative to the axis of rotation of the flange in the form of a plane including the axis of rotation; and Two handles, fixed relative to the bracket, are held by the operator's hands respectively. One of the handles is configured on the plane in a manner extending along the long axis of the tool. Another handle is configured near the tool in a form that extends in a direction intersecting the plane.

2. The robot operating device according to claim 1, wherein, A guide switch is provided on one of the handles, which is operated by the hand of the operator holding one of the handles to switch the guide control to active or inactive.

3. The robot operating device according to claim 2, wherein, When the operator holds one of the handles, at least one of the operation switches, namely a position teaching switch and an operation mode change switch, is provided within the range of the other handle.

4. The robot operating device according to claim 3, wherein, At least one of the operating switches is positioned so that it can be operated by the operator's hand while holding the other of the handles.

5. The robot operating device according to any one of claims 1 to 4, wherein, Another of the handles is detachably fixed to the bracket.

6. The robot operating device according to claim 5, wherein, Mounting portions for selectively mounting another handle are provided on both sides of the bracket across the plane.

7. The robot operating device according to any one of claims 1 to 4, wherein, One of the handles is detachably fixed to the bracket.

8. The robot operating device according to claim 3 or 4, wherein, At least one of the operation switches can be changed to a tool action teaching switch for teaching tool action commands by long-pressing.

9. The robot operating device according to claim 8, wherein, The operating switch has a notification function for changes in the notification function.

10. A robot operating device, installed on a robot, wherein, The robot is able to perform actions by detecting the force applied by the operator and changing its position and posture according to the detected force. The robot's operating device includes: A bracket, fixed to a flange at the front end of the robot, mounts a long tool strip at an off-center position relative to the axis of rotation of the flange, in the form of a plane including the axis of rotation. A first handle portion is provided near the fixed position of the bracket on the flange, so that it can be positioned around the axis of rotation when held by one hand of the operator. The second handle is provided near the mounting position of the tool on the bracket, so that it can be positioned around the long axis of the tool when held by the operator's other hand. The second handle is provided with at least one of a position teaching switch and an action mode change switch, which is operated by the other hand while holding the second handle.

11. The robot operating device according to claim 10, wherein, A guide switch is provided on the first handle portion, and the guide switch is operated by the hand holding the first handle portion to switch the guide control to be active or inactive.

12. The robot operating device according to claim 11, wherein, The bracket includes a bracket body for mounting the tool and a columnar adapter for fixing the bracket body to the flange. The adapter constitutes the first handle portion.

13. The robot operating device according to claim 12, wherein, The robot's operating device includes a first cable, one end of which is connected to the guide switch. The first cable is detachably connected to the main cable via a first connector mounted on the other end of the first cable, the main cable being connected to a control device that controls the robot and being routed along the tool.

14. The robot operating device according to claim 13, wherein, An opening for mounting the guide switch is provided on the outer surface of the adapter. The adapter has a passage portion that connects to the opening and is configured in a retracted state for a portion of the first cable. The passageway allows the first cable on the first connector side to be exposed to the outside of the adapter from a location outside the area held by one hand on the outer surface of the adapter.

15. The robot operating device according to any one of claims 12 to 14, wherein, The second handle portion includes a first detachable handle that is detachably mounted on the plane in a form extending along the long axis of the tool, and a second detachable handle that is detachably mounted in a form extending in a direction intersecting the plane. The guide switch is detachably mounted on the adapter. The guide switch, which can be removed from the adapter, can be installed on the first detachable handle.

16. The robot operating device according to any one of claims 12 to 14, wherein, The robot's operating device includes a second cable, one end of which is connected to the operating switch. After extending from the operating switch along the tool, the second cable connects to a second connector located at the front end of the robot, at a position closer to the flange than the adapter.

17. The robot operating device according to claim 16, wherein, At least one of the operation switches can be changed to a tool action teaching switch for teaching tool action commands by long-pressing.

18. A robot, wherein, The robot operating device includes any one of claims 1 to 17.

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