Robot operation terminal and safety switch

Abstract

The purpose of the present invention is to reduce the burden on a user when operating an operation terminal for a robot. Holding parts (43H) for a user to hold are formed at the left and right ends of the robot operation terminal (15H). The grip section (43H) is provided with an enable switch (49H) having an insertion section (101) into which a finger that is gripping the grip section (43H) can be inserted, and a sensor unit (111) capable of detecting the insertion position of the finger inserted into the insertion section (101). When the insertion position detected by the sensor unit (111) is at the first insertion position, the operation of the robot is permitted, and when the finger is not inserted into the insertion part (101) or when the insertion position detected by the sensor unit (111) is not at the first insertion position, the operation of the robot is not permitted.

Description

Technical Field

[0001] The invention relates to a robot operation terminal and a safety switch for operating an industrial robot. Background Art

[0002] In an operation terminal such as a teaching pendant for operating an industrial robot, an enabling switch is sometimes installed for the purpose of improving safety during manual operation. The enabling switch is a safety switch for enabling or disabling manual operation of the robot. In recent years, as such a switch, a switch has been proposed that enables manual operation of the robot when the operating member is slightly pressed in (i.e., pressed in to the middle position) and disables manual operation when pressed in with force (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-24848 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] Here, in order to maintain the effective state of manual operation, the operating member needs to be kept in the middle position, and in order to prevent the force of the finger operating the operating member from becoming too weak or too strong, a constant force needs to be applied continuously. In fact, even if attention is paid to the applied force, the force will fluctuate to a certain extent. Therefore, sometimes the operation is performed by the user paying attention to the shape of the hand (fingers) and maintaining the hand in a predetermined shape. However, continuously applying force for a long time or maintaining the hand in the same shape may become a heavy burden for the user. It is feared that this will become the main reason for the reduced efficiency of the operation using the operation terminal.

[0008] The present invention has been made in view of the above-mentioned technical problems and the like, and a main object of the present invention is to reduce the burden on a user when operating a robot operation terminal.

[0009] Means for solving technical problems

[0010] The first embodiment of the invention is a robot operation terminal for operating an industrial robot, comprising:

[0011] A safety switch comprises an insertion portion, wherein a finger can be inserted into the insertion portion, and a detection portion detects an insertion position of the finger inserted into the insertion portion.

[0012] The robot operation terminal allows the industrial robot to move when the insertion position detected by the detection unit is at a predetermined position, and does not allow the industrial robot to move when a finger is not inserted into the insertion unit or when the insertion position detected by the detection unit is not at the predetermined position.

[0013] The industrial robot is allowed to move by inserting a finger into the insertion portion and keeping the finger at a predetermined position. With this configuration, there is no need to take measures such as continuously applying force to overcome the force of a spring or the like or maintaining the shape of the finger in a constant shape as in the conventional safety switch. That is, it is possible to suppress the burden on the user's finger from increasing when the state of allowing the movement is maintained. This is preferable in terms of reducing user fatigue and improving work efficiency.

[0014] In addition, it is assumed that the user will release or clench his hand in a reflex action when encountering an unexpected dangerous situation. According to the safety switch shown in this feature, through these reflex actions, the position of the finger is shifted to the entrance side or the inner side of the insertion part, so that the insertion position of the finger deviates from the predetermined position, etc., and the action of the industrial robot is not allowed.

[0015] For the reasons described above, it is possible to contribute to improvement of safety and reduction of burden on the user when using the robot operation terminal.

[0016] Second solution: A safety switch, which is used in a robot operation terminal for operating an industrial robot, has:

[0017] an insertion portion into which a finger can be inserted; and

[0018] a detection unit, which is provided at the insertion unit and detects an insertion position of a finger inserted into the insertion unit,

[0019] The safety switch allows the industrial robot to move when the insertion position detected by the detection unit is at a predetermined position, and does not allow the industrial robot to move when a finger is not inserted into the insertion unit or when the insertion position detected by the detection unit is not at the predetermined position.

[0020] This can contribute to improving safety and reducing the burden on users when using a robot operation terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a perspective view showing the robot system in the first embodiment.

[0022] Figure 2 It is a block diagram showing the electrical structure of the robot system.

[0023] FIG. 3( a ) is a front view of the operation terminal, and FIG. 3( b ) is a rear view of the operation terminal.

[0024] Figure 4(a1) to Figure 4(a3) 4( b ) is a schematic diagram showing the structure of the enabling switch, and FIG. 4( b ) is a schematic diagram showing the relationship between the resistance generated when the enabling switch is operated and the stroke.

[0025] Figure 5 : is a flowchart showing the operation monitoring process executed by the CPU of the operation terminal.

[0026] Figure 6 This is a sequence diagram illustrating the flow of switching between permission and non-permission.

[0027] Figure 7 This is a flowchart showing a setting change process executed by the CPU of the operation terminal.

[0028] 8(a) and 8(b) are schematic diagrams illustrating display contents when the settings are changed.

[0029] Fig. 9 It is a schematic diagram showing how the threshold value of the reference range is changed.

[0030] Fig.10 This is a flowchart showing the automatic change process executed by the CPU of the operation terminal.

[0031] Fig.11 : is a block diagram showing the electrical configuration of a robot system in the second embodiment.

[0032] FIG. 12( a ) and FIG. 12( b ) are schematic diagrams for explaining technical problems that occur when a plurality of force sensors are used in combination.

[0033] Fig.13 This is a flowchart showing the process for setting change.

[0034] Fig.14 This is a schematic diagram showing a reference range set for each force sensor.

[0035] Figure 15(a) to Figure 15(c) It is a schematic diagram showing a modified example.

[0036] Fig.16 It is a rear view of the operation terminal in the third embodiment.

[0037] Fig.17 yes Fig.16 Partial section view along line AA.

[0038] Fig.18 It is a partial cross-sectional view showing the internal structure of the enabling switch.

[0039] FIG. 19( a ) and FIG. 19( b ) are schematic diagrams showing the flow of switching between permission and non-permission.

[0040] Figure 20(a) to Figure 20(c) This is a schematic diagram showing each location.

[0041] FIG. 21( a ) is a perspective view of an operation terminal in a fourth embodiment, and FIG. 21( b ) is a partial cross-sectional view of an enabling switch. Figure 21(c1) to Figure 21(c3) This is a schematic diagram showing each location.

[0042] Figure 22(a) to Figure 22(c) It is a schematic diagram showing a modified example.

[0043] Figure 23(a) to Figure 23(e) It is a schematic diagram showing a modified example.

[0044] FIG. 24( a ), FIG. 24 ( b1 ), and FIG. 24 ( b2 ) are schematic diagrams showing modified examples.

[0045] FIG. 25( a ) is a rear view of the operation terminal in the fifth embodiment, and FIG. 25( b ) is a partial cross-sectional view taken along line BB of FIG. 25( a ).

[0046] Figure 26(a) to Figure 26(c) It is a schematic diagram showing the relationship between the insertion position of a finger and the light receiving state.

[0047] FIG. 27( a ) and FIG. 27( b ) are schematic diagrams showing the flow of switching between permission and non-permission.

[0048] Figure 28(a) to Figure 28(d) It is a schematic diagram showing an enabling switch in the sixth embodiment.

[0049] Figure 29(a1) to Figure 29(d1) as well as Figure 29(a2) to Figure 29(d2) It is a schematic diagram showing a modified example.

[0050] Figure 30(a) to Figure 30(c) It is a schematic diagram showing a modified example.

[0051] Figure 31(a) to Figure 31(b) It is a schematic diagram showing a modified example.

[0052] Brief Description of Reference Numerals

[0053] 10: robot system, 11: robot, 14: robot control device, 15: operation terminal, 41: display, 42: housing, 42a: front part, 42b: back part, 42c: side part, 43: grip part, 44: hand strap, 49: enable switch, 51: bulge part, 57: operating member, 58: force member, 59: force sensor, 59a: first force sensor, 59b: second force sensor, 61: control substrate, 62: CPU, 63: ROM, 64: RAM, 81: operation panel, 81a: side wall part, 82: sensor unit, 8 2a: first light sensor, 82b: second light sensor, 83: light emitting portion, 84: light receiving portion, 85: light emitting portion, 86: light receiving portion, 87: reflector, 88: reflecting portion, 89: slit, 92: finger placement portion, 101: insertion portion, 102: housing, 103: inner cover, 111: sensor unit, 111a: first light sensor, 111b: second light sensor, 112: light emitting portion, 113: light receiving portion, 114: light emitting portion, 115: light receiving portion, 117: reflector, 121: recess, CL1~CL4: axis, IS: insertion area. DETAILED DESCRIPTION

[0054] <First Embodiment>

[0055] Hereinafter, a first embodiment in which a robot system used in a factory or the like is embodied will be described with reference to the drawings.

[0056] like Figure 1 As shown, the robot system 10 includes a robot 11 which is a vertically articulated industrial robot. Although not shown in the figure, the robot 11 is installed in an area surrounded by a safety fence and performs various operations such as conveying and assembling workpieces in the area.

[0057] The main body of the robot 11 (robot body 12) includes a base portion 22 fixed to a base or the like, a shoulder portion 23 supported by the base portion 22, a lower arm portion 24 supported by the shoulder portion 23, a first upper arm portion 25 supported by the lower arm portion 24, a second upper arm portion 26 supported by the first upper arm portion 25, a wrist portion 27 supported by the second upper arm portion 26, and a flange portion 28 supported by the wrist portion 27.

[0058] A first joint portion connecting the base portion 22 and the shoulder portion 23 is formed on the base portion 22 and the shoulder portion 23, and the shoulder portion 23 can rotate in the horizontal direction around the connecting axis (first axis AX1) of the first joint portion. A second joint portion connecting the shoulder portion 23 and the lower arm portion 24 is formed on the shoulder portion 23 and the lower arm portion 24, and the lower arm portion 24 can rotate in the up-down direction around the connecting axis (second axis AX2) of the second joint portion. A third joint portion connecting the lower arm portion 24 and the first upper arm portion 25 is formed on the lower arm portion 24 and the first upper arm portion 25, and the first upper arm portion 25 can rotate in the up-down direction around the connecting axis (third axis AX3) of the third joint portion. A fourth joint portion connecting the first upper arm portion 25 and the second upper arm portion 26 is formed on the first upper arm portion 25 and the second upper arm portion 26, and the second upper arm portion 26 can rotate in the torsional direction around the connecting axis (fourth axis AX4) of the fourth joint portion. A fifth joint portion connecting the second upper arm portion 26 and the wrist portion 27 is formed on the second upper arm portion 26 and the wrist portion 27, and the wrist portion 27 can rotate in the up-down direction around the connecting axis (fifth axis AX5) of the fifth joint portion. A sixth joint portion connecting the wrist portion 27 and the flange portion 28 is formed on the wrist portion 27 and the flange portion 28, and the flange portion 28 can rotate in the torsion direction around the connecting axis (sixth axis AX6) of the sixth joint portion.

[0059] The shoulder 23, the lower arm 24, the first upper arm 25, the second upper arm 26, the wrist 27, and the flange 28 are arranged in a series to form the arm 21 in the robot body 12, and the end effector 13 (for example, a hand) is installed on the flange 28 constituting the front end of the arm 21.

[0060] The arm 21 is provided with a servo motor 31 for driving the joint for each joint (see Figure 2 ), a rotary encoder for detecting the rotation angle of each joint (axis), and a torque sensor for detecting the torque of each joint (axis). The servo motor 31, the rotary encoder, the torque sensor, etc. are connected to the robot control device 14. In the drive control unit of the robot control device 14, the drive control of each servo motor 31 is performed based on the position data obtained from the rotary encoder, that is, the encoder value indicating the rotation angle (rotation position).

[0061] In addition, a teaching pendant (hereinafter referred to as an operation terminal 15) as a host controller is connected to the robot control device 14 via a cable, and data communication is performed between the robot control device 14 and the operation terminal 15 via a communication interface. When receiving an action command from the operation terminal 15, the robot control device 14 drives and controls the robot body 12 and the end effector 13 according to the action command.

[0062] An application for creating a control program that specifies the work content and work sequence of the robot 11 is installed in the operation terminal 15. Specifically, a setting assistance application is installed to assist the user in setting (including so-called teaching) the action of the robot 11. The user directly inputs a code for driving control on the operation terminal 15 or manually moves the robot 11, and creates the above-mentioned control program.

[0063] Here, refer to Figure 2 3(a) and 3(b) are used to supplement the description of the operation terminal 15. FIG3(a) is a front view of the operation terminal 15, and FIG3(b) is a rear view of the operation terminal 15.

[0064] The operation terminal 15 includes: a touch panel display 41, which displays various GUIs related to the control of the robot 11; a control substrate 61 (see Figure 2 ), which is arranged on the back side of the display 41; and a substantially rectangular housing 42 (bracket) which accommodates the display 41 and the control substrate 61 in an overlapping state, and the display surface (operation surface) of the display 41 is exposed through an opening formed by the front surface 42a of the housing 42. Various operating parts such as switches and buttons are arranged on the front surface 42a of the housing 42 in a manner surrounding the opening (the exposed part of the display 41).

[0065] For example, a mode switching switch 45 is provided at the upper left of the display 41. The mode switching switch 45 is a switch for switching the control mode (operation mode) of the robot 11 to a manual mode (MANUAL) or an automatic mode (AUTO). The manual mode is a mode in which the robot 11 is manually moved by operating each posture change button 46 provided on the right side of the display 41, and is a mode used during preparation and teaching. For example, during teaching (when creating the above-mentioned control program), after setting the control mode to the manual mode, entering the safety fence, and after operating the posture change button 46 to manually change the posture of the robot 11, the teaching point can be set by operating the position acquisition button 47 provided in parallel with the posture change button 46. After the control program is created, by exiting from the safety fence and setting the control mode to the automatic mode, the robot 11 can be automatically moved according to the created control program.

[0066] An emergency stop switch 48 is provided above the button group including the posture change button 46 and the position acquisition button 47. The emergency stop switch 48 is used to stop the robot 11 in an emergency. The mode switching switch 45, the posture change button 46, the position acquisition button 47, and the emergency stop switch 48 are connected to a control board 61, and operation information is input to a CPU 62 of the control board 61 (see Figure 2 ).

[0067] The left and right ends of the housing 42 are provided with grips 43 for the user to hold and a hand strap 44 for preventing the operation terminal 15 from falling. Each grip 43 has a bulging portion 51 bulging from the back portion 42b of the housing 42. The bulging portion 51 extends up and down along the edge of the back portion 42b. When holding the grip 43, by hooking fingers on the portion (side wall portion 52) of the bulging portion 51 facing the center side of the operation terminal 15, it is easy to stabilize the posture of the operation terminal 15.

[0068] An enabling switch 49 is protrudingly provided on a portion (side wall portion 52) of the grip portion 43 (the grip portion 43 on the left side in this embodiment) facing the center side of the back portion 42b. The enabling switch 49 is a safety switch for validating or invalidating the manual operation of the robot 11 when the control mode is the manual mode. Specifically, when the emergency stop switch 48 is not operated, when the enabling switch 49 is turned on (on state), an enabling instruction for allowing the manual operation of the robot 11 is output from the operating terminal 15 to the robot control device 14, so that the manual operation of the robot 11 is valid (permitted). On the other hand, when the enabling switch 49 is turned off (off state), a prohibition instruction for prohibiting the manual operation of the robot 11 is output from the operating terminal 15 to the robot control device 14, so that the manual operation of the robot 11 is invalidated (not permitted). In other words, in the manual mode, the operation of the robot 11 can be performed on the condition that the enabling switch 49 is kept in the on state.

[0069] When the user enters the safety fence to work, the operating range of the robot 11 may overlap with the user's working range. When the robot 11 is manually operated in such a situation, the robot 11 can be stopped by removing the hand from the enable switch 49 or the like.

[0070] Here, the conventional contact-type enabling switch is configured to be in an on state by contact (connection) between a fixed contact and a movable contact, and in its structure, the force used to maintain the contact between the contacts depends on the user. Therefore, in order to keep the enabling switch in an on state, it is necessary to continuously apply a certain degree of force (pressing force). This becomes the main cause of fatigue of the fingers and hands and increases the burden on the user. In addition, although it is necessary to control the force of the fingertips, if the applied force becomes too weak or too strong, the permission is cancelled, so such adjustment is actually difficult to perform. Therefore, most measures are taken to suppress the deviation of the force by fixing the shape of the hand (the posture of the fingers). For the user, maintaining the posture of the fingers also becomes a burden.

[0071] In particular, considering that the time required to create the control program is likely to be long, the burden on the user is too great to be ignored. This may cause difficulty in concentrating on the operation that should be performed, thereby reducing the efficiency of the operation. In consideration of these circumstances, the enable switch 49 shown in this embodiment is designed, as one of its features, to reduce the burden on the user who uses the operation terminal 15. Figure 4(a1) to Figure 4(a3) 4( b ) will be used to supplement the structure of the enable switch 49 .

[0072] As shown in FIG. 4 (a1) and the like, the enabling switch 49 is provided with an operating member 57 that is pressed by a user. The operating member 57 is disposed at the opening 53 formed in the side wall portion 52 of the bulging portion 51 so as to maintain a state in which it can be displaced between a protruding position protruding from the opening 53 and a retreat position in which the protrusion is suppressed compared to the protruding position. The operating member 57 is urged toward the protruding position by a force applying member 58 (spring member). When the operating member 57 is pressed toward the retreat position, it is necessary to overcome the force of the force applying member 58 to press the operating member 57. The operating member 57 is pressed into the retreat position and abuts against the stopper 54 provided on the side of the bulging portion 51, and is not allowed to be pressed further. Furthermore, by being pressed into the retreat position, further compression of the force applying member 58 can be avoided.

[0073] The urging member 58 is sandwiched between the operating member 57 and the stopper 54 (detailedly, the recessed portion), and a force sensor 59 is provided between the recessed portion and the urging member 58 as a detection portion for detecting the pressing force applied by the user to the operating member 57. The force sensor 59 is connected to the control substrate 61, and the measurement value of the force sensor 59 is grasped by the CPU 62 of the control substrate 61.

[0074] As shown in FIG. 4( b ), the resistance generated when the operating member 57 is operated increases due to the increase in the amount of operation of the operating member 57, that is, the amount of compression of the force-applying member 58. That is, the force (pressing force) required to press the operating member 57 increases as the amount of operation increases. Furthermore, after the operating member 57 reaches the position where it abuts against the stopper 54 (the aforementioned retreat position), the pressing force is directly transmitted to the stopper 54, which can prevent the pressing force detected by the force sensor 59 from increasing further.

[0075] In the present embodiment, the range of the pressing force for determining whether the enabling switch 49 is in the on state (permitted) (hereinafter referred to as the reference range) is stored in the reference area of ​​the RAM 64. In the following description, the position of the operating member 57 (the state of the enabling switch 49) is divided into three positions for description according to the relationship with the reference range. That is, the position where the measured pressing force is smaller than the reference range is set as the first position PS1, the position where the measured pressing force is within the reference range is set as the second position PS2, and the position where the measured pressing force is larger than the reference range is set as the third position PS3 for appropriate distinction. In addition, as shown in FIG. 4(b), the operation amount of the operating member 57 is proportional to the pressing force, and the second position PS2 can also be said to be a position between the first position PS1 and the third position PS3.

[0076] Below, refer to Figure 5 The flowchart of FIG. 1 will explain the processing for switching between permission / not permission (operation monitoring processing) executed by the CPU 62 of the operation terminal 15. The operation monitoring processing is a processing executed by the CPU 62 as part of a regular processing when the control mode becomes the manual mode and the emergency stop switch 48 is not turned on.

[0077] In the operation monitoring process, first, in step S101, it is determined whether the robot 11 is in a state of being allowed to move. That is, it is determined whether a permission command is output to the robot control device 14. When the robot 11 is in a state of being allowed to move, the process proceeds to step S102, and the pressing force generated by the user's pressing operation is measured using the force sensor 59. In the next step S103, the measured value of the pressing force is compared with the above-mentioned reference range stored in the reference area of ​​the RAM 64.

[0078] When the measured value of the pressing force is within the reference range, a positive judgment is made in step S104 and the operation monitoring process is terminated. Thus, the action is allowed to continue. On the contrary, when the measured value of the pressing force is outside the reference range, the process proceeds to step S105. In step S105, it is determined whether the measured value exceeds the upper limit of the reference range. That is, it is determined whether the operating member 57 has been further pressed in and moved from the second position PS2 to the third position PS3.

[0079] If a negative judgment is made in step S105, that is, if the hand is removed from the operating member 57 and the operating member 57 returns to the first position PS1 from the second position PS2, the operation monitoring process is terminated after the permission is cancelled in step S106, that is, after the prohibition command is output to the robot control device 14. As a result, the robot 11 maintains a stationary state until the movement is allowed again.

[0080] In the case where a positive judgment is made in step S105, that is, when the operating member 57 has been further pressed in and moved from the second position PS2 to the third position PS3, a restricted permission process is performed in step S107. Through this restriction, even if the operating member 57 passes through the second position PS2 during the process of resetting from the third position PS3 to the first position PS1, it is possible to avoid allowing the movement of the robot 11 as an opportunity. After that, after the permission is cancelled in step S106, the operation monitoring process is terminated. In this way, in this embodiment, even if the measured value is outside the reference range during the permission period, the subsequent switching method of permission / not permission will be different depending on whether it is the smaller side or the larger side.

[0081] Returning to the description of step S101, if the robot 11 is not allowed to move, a negative judgment is made in step S101 and the process proceeds to step S108. In step S108, the pressing force is measured using the force sensor 59, and then in step S109, the measured value of the pressing force is compared with the reference range. The processing of these steps S108 and S109 is the same as the processing of the above-mentioned steps S102 and S103.

[0082] In the next step S110, it is determined whether it is in the restricted permission period. If it is not in the restricted permission period, the process proceeds to step S111. And, if the measured value is outside the reference range, a negative judgment is made in step S111 and the operation monitoring process is terminated. If the measured value is within the reference range, that is, if the operating member 57 moves from the first position PS1 to the second position PS2, a positive judgment is made in step S111 and the process proceeds to step S112. In step S112, the action of the robot 11 is permitted. Specifically, the output of the permission instruction to the robot control device 14 is started on the condition that the above-mentioned emergency stop switch 48 is not in the on state. Thereafter, the operation monitoring process is terminated.

[0083] When an affirmative judgment is made in step S110, that is, when it is in the restriction permission period, the process proceeds to step S113 to determine whether the restriction release condition is met. Specifically, it is determined whether the measured value is less than the reference range, that is, whether the operating member 57 has been reset to the first position PS1. When the restriction release condition is not met, a negative judgment is made in step S113 and the operation monitoring process is terminated. In contrast, when the restriction release condition is met, an affirmative judgment is made in step S113 and the process proceeds to step S114. After the restriction release process is executed, the operation monitoring process is terminated. By executing the restriction release process, the robot 11 is allowed to move when the measured value is within the reference range in the future. Specifically, when the measured value is within the reference range, the permission instruction is output to the robot control device 14 on the condition that the emergency stop switch 48 is not in the on state. In addition, the restriction release condition shown in this embodiment can also be set to the measured value = on (no pressing force).

[0084] Here, refer to Figure 6 The timing diagram of the manual mode is used to illustrate the switching process of permission / not permission in manual mode. Figure 6 In the example shown in FIG. 4 , the emergency stop switch 48 is maintained in the off state.

[0085] At time ta1 after the pressing operation of the enabling switch 49 (operating member 57) is just started, the pressing force increases and reaches the lower limit of the reference range (the lower threshold). That is, the operating member 57 moves from the first position PS1 to the second position PS2. Based on this, the action of the robot 11 is switched from "not allowed" to "allowed". Afterwards, the operating member 57 is maintained in a manner such that the pressing force is within the reference range. As the action of the robot 11 ends, the user removes his hand from the operating member 57, and the operating member 57 is reset from the second position PS2 to the first position PS1 by the force of the force-applying member 58. At this time, the pressing force decreases, and at time ta2 when the pressing force is less than the lower limit of the reference range (the lower threshold), the action of the robot 11 is switched from "allowed" to "not allowed".

[0086] At time ta3, the pressing operation of the enabling switch 49 (operating member 57) is started again, and the pressing force increases and reaches the lower limit of the reference range. Based on this, the action of the robot 11 is switched from "not allowed" to "allowed". While the operating member 57 is held in a state where the pressing force is within the reference range, the user squeezes the operating member 57 tightly to cause the pressing force to increase sharply. At time ta4 when the pressing force exceeds the upper limit of the reference range (the upper threshold), the action of the robot 11 is switched from "allowed" to "not allowed". At the next time ta5, the operating member 57 is pressed against the stopper 54 and is not allowed to be pressed further. Therefore, the pressing force measured by the force sensor 59 has reached the limit and remains at the upper limit of the measurement.

[0087] At time ta6, the user's hand is removed from the operating member 57, and the operating member 57 is reset from the third position PS3 to the first position PS1 by the force of the force applying member 58. At this time, although the pressing force is temporarily within the reference range after passing through the second position PS2, the action of the robot 11 is always maintained as "not allowed" due to the above-mentioned allowed restrictions.

[0088] In addition, the allowed restriction can be lifted when the pressing force is lower than the lower limit of the reference range. Therefore, at time ta7 after the operating member 57 is reset to the first position PS1, the pressing force rises again and reaches the lower limit of the reference range (the lower threshold). Based on this, the action of the robot 11 is switched from "not allowed" to "allowed".

[0089] Here, the enabling switch 49 shown in this embodiment does not have the contact structure of the conventional enabling switch, and even when the operating member 57 is kept at the second position PS2 corresponding to "permit", no force is required to maintain the contact between the fixed contact and the movable contact. According to such a situation, the lower limit (lower threshold) of the above-mentioned reference range can be lowered. That is, the pressing force required of the user in order to "permit" the action of the robot 11 can be reduced. On the other hand, in the case where the action of the robot 11 is not to be "permitted", switching from "not permitted" to "permitted" by only lightly touching the operating member 57 will become a major cause of tension for the user. Although such a phenomenon can be avoided by removing the finger from the operating member 57 in advance, the action of forcibly removing the finger from the operating member 57 may become a burden for the user. It is assumed that for a user with particularly strong strength, compared with a user with weak strength, he may be more willing to slightly increase the lower limit (lower threshold) of the reference range. In this way, it is assumed that the appropriate value of the lower limit (lower threshold) of the reference range will vary from user to user.

[0090] In addition, the appropriate value of the upper limit (upper threshold) of the reference range may also differ from user to user. Specifically, if the user's strength is weak, even if the operating member 57 is suddenly pressed hard, if the upper limit (upper threshold) of the reference range is not reached, there is a concern that the safety function may not be well exerted. If the user's strength is strong, if the operating member 57 is pressed slightly hard, the permission will be immediately cancelled and the pressing operation will be forced to be performed again, which may increase the burden on the user and reduce the work efficiency.

[0091] In this embodiment, taking such a situation into consideration, one of the features is that the upper limit and lower limit (threshold value) of the reference range can be changed based on the user's operation. Figure 7The flowchart of FIG. 1 will now be described a reference range changing process (setting change process) executed by the CPU 62 of the operation terminal 15. The setting change process is a process executed by the CPU 62 as part of a regular process.

[0092] In the setting change process, first, in step S201, it is determined whether the movement of the robot 11 is permitted. If a positive determination is made in step S201, the setting change process is terminated directly. That is, in order to prevent the reference range from being accidentally changed during the movement of the robot 11, the setting change of the reference range is restricted to not being permitted during the permitted movement.

[0093] If the operation is not allowed, a negative judgment is made in step S201 and the process proceeds to step S202. In step S202, it is determined whether the setting change period is in progress. If the setting change period is not in progress, a negative judgment is made in step S202 and the process proceeds to step S203. In step S203, it is determined whether the setting change start operation has been performed. If the start operation has not been performed, a negative judgment is made in step S203 and the process for setting change is terminated. If the start operation has been performed, an affirmative judgment is made in step S203 and the process proceeds to step S204. After the setting change start process is performed, the process for setting change is terminated. In the setting change start process, the operation of the posture change button 46 and the like is not allowed (invalidated), and a window for setting change (hereinafter referred to as a custom window CS) is displayed on the display 41 (refer to FIG. 8 (a)). In the custom window CS, it is clearly displayed that the setting change period is in progress, and a message prompting the operation of the enable switch 49, the remaining time until the setting change, the range of the input pressing force (hereinafter referred to as the specified range), and a meter indicating the current pressing force are displayed. In the setting change start process, a timer counter is operated to determine the measurement time of the pressing force that is the basis of the setting change. In the present embodiment, the pressing force that is the basis is measured 10 seconds after the start.

[0094] Returning to the description of step S202, when in the setting change period, an affirmative judgment is made in this step S202 and the process proceeds to step S205. In step S205, it is determined whether it is the measurement time by referring to the above-mentioned timing counter. When it is determined that it is not the measurement time, the process of this setting change is terminated directly. When it is determined that it is the measurement time, the process proceeds to step S206, and the force sensor 59 is used to measure the basic pressing force. In the next step S207, it is determined whether the pressing force measured in step S206 is within the above-mentioned specified range. When it is determined that it is within the specified range, the process proceeds to step S208, and the threshold values ​​of the upper and lower limits of the reference range are calculated based on the measured pressing force (measured value).

[0095] Specifically, the upper limit threshold is calculated by adding the constant α stored in the ROM 63 to the measured value, and the lower limit threshold is calculated by subtracting the constant β stored in the ROM 63 from the measured value (see Fig. 9 ) In addition, in the present embodiment, constant α>constant β, and the threshold value on the upper limit side is configured so that the deviation (upward fluctuation) of the pressing force is more easily allowed.

[0096] After the upper and lower limits (threshold values) of the reference range are calculated in step S207, the reference range is changed in step S209. Specifically, a reference area for storing each threshold value of the reference range is provided in the RAM 64 of the control substrate 61, and each threshold value after the change is stored in the reference area. In addition, the default values ​​stored in the ROM 63 are copied to the reference area when the operation terminal 15 is started, and these default values ​​are changed to the newly calculated threshold values ​​in step S209.

[0097] In the next step S210, the registration process of the changed reference range is performed. The operation terminal 15 shown in this embodiment is configured to be used by inputting a user ID (identification information). In the registration process of step S210, the changed threshold is registered in the database of RAM 64 in association with the current user ID. After that, after the setting change end process is performed in step S211, the setting change process is ended. In the setting change end process, the customization window CS is not displayed, and the operation restrictions of the posture change button 46 and the like are released.

[0098] Returning to the description of step S207, when the measured pressing force is outside the prescribed range, a negative judgment is made in step S207 and the process proceeds to step S212. In step S212, the user is informed that the pressing force measured this time is outside the prescribed range. Specifically, a message outside the prescribed range is displayed in the custom window CS displayed on the display 41 (refer to Figure 8 (b)). After that, after the re-measurement processing is executed in step S213, the setting change processing is terminated. In the re-measurement processing, the above-mentioned timing counter is restarted, and the remaining time until re-measurement is displayed in the custom window CS.

[0099] Here, although it is expected that the above-mentioned setting change function can reduce the burden on users, it is assumed that it will be troublesome for users to change the settings every time they use the operation terminal 15, which will become a major reason for not being able to effectively use this function. In this regard, the operation terminal 15 shown in this embodiment implements the following structure: when a user logs in to the operation terminal 15, the past setting change information (registration information) is read to automatically reflect the past setting change information. Fig.10The flowchart of FIG. 1 will now explain the configuration involved in the automatic change function, specifically, the automatic change process executed by the CPU 62 as part of the periodic process.

[0100] In the automatic change process, first, in step S301, it is determined whether a login operation to the operation terminal 15 has been performed. If a negative determination is made in step S301, the automatic change process is terminated directly. If a positive determination is made in step S301, the process proceeds to step S302. In step S302, it is determined whether a registered user ID has been input. In other words, it is determined whether the user has logged in with a registered user ID or with an unregistered visitor ID.

[0101] When logging in with a registered user ID, the process proceeds to step S303, and the threshold value of the reference range registered in the past is read from the library of RAM 64 and copied to the reference area of ​​RAM 64. After that, the change notification process is executed in step S304, and the automatic change process is terminated. In the notification process of step S304, a message that the reference range has been changed is displayed on the display 41.

[0102] Returning to the description of step S302, in the case of logging in with an unregistered visitor ID, after the start guidance setting change process is executed in step S305, the automatic change process is terminated. In the start guidance setting change process, the description of the reference range change function in the operation terminal 15 is started, and after the description is completed, the setting change process (see Figure 7 ) is equivalent to steps S205 to S213.

[0103] Furthermore, it is also possible to configure such that after the guidance of step S305 is completed, the processing corresponding to steps S205 to S213 is executed regardless of whether the user has started the setting change operation. In addition, it is also possible to configure such that, instead of executing the processing corresponding to steps S205 to S213 at the time of login, the processing corresponding to steps S205 to S213 is executed when the manual mode is switched for the first time.

[0104] According to the first embodiment described in detail above, the following excellent effects can be expected.

[0105] According to the structure shown in this embodiment, when the pressing force measured by the force sensor 59 is within the reference range, the movement (manual operation) of the robot 11 is allowed, and when the measured pressing force (operation force) is less than the reference range or greater than the reference range, the movement (manual operation) of the robot 11 is not allowed. With this structure, for example, when the user suddenly clenched his hand and pressed the operating member 57 hard while manually operating the robot 11, the movement of the robot 11 is not allowed. This is preferable in terms of improving the safety of the robot system 10.

[0106] Here, in the case of a contact structure (fixed contact and movable contact) like a conventional safety switch, a force is required to maintain the contacts in contact with each other, and the force required for a stable contact state may become larger. In this regard, as shown in the present embodiment, a structure that switches permission / disapproval in accordance with the measured pressing force is unnecessary, and a contact structure as described above is unnecessary, and a force is also unnecessary to maintain the contacts in contact with each other. Therefore, the pressing force required to allow the robot 11 to move can be smaller than before, which can reduce the pressing force required of the user (the lower limit of the reference range). This is preferable in terms of reducing the burden on the user in maintaining a state in which the robot 11 is allowed to move.

[0107] In order to maintain the state in which the robot 11 is allowed to move, the pressing force applied to the operating member 57 needs to be kept within the reference range, and the magnitude of the pressing force that is easy to maintain constant may be different for each user. In other words, if the deviation between the set reference range and the user's pressing force that is easy to maintain constant increases, the burden on the user may increase. In this regard, as shown in this embodiment, it is effective to configure the user to be able to change the reference range that is the reference of permission in order to reduce the burden on the user.

[0108] In order to reduce the burden on the user's fingers, it is preferable to lower the lower limit of the reference range. On the other hand, if the following situation is assumed, it is considered that it is sometimes preferable to slightly increase the lower limit of the reference range. That is, when it is desired to prevent the robot 11 from moving while holding the operating terminal 15, it is not preferable to cause the robot 11 to move by accidentally touching the operating member 57. It may be a burden for the user to be careful to prevent such a phenomenon from occurring. Therefore, in order to reduce the possibility of these undesirable actions, it is effective to set the lower limit of the reference range slightly higher. According to these situations, it is technically meaningful to change the lower limit of the reference range.

[0109] It is preferable to configure the robot 11 not to be allowed to move (cancel permission) when the operating member 57 is suddenly pressed with force in order to improve safety. Here, although it is preferable to lower the upper limit of the reference range to a certain extent in order to improve safety, if the upper limit becomes low, there is a concern that it will become unallowable with just a little force, and the work efficiency is likely to decrease. In this way, the effect of reducing the burden on the user cannot be well exerted. In view of these circumstances, it is technically meaningful to make the upper limit of the reference range a change object.

[0110] It is not preferable to change the reference range every time the operation terminal 15 is used in terms of improving work efficiency. Therefore, as shown in this embodiment, by making it possible to reflect past change results, the workload of the user can be reduced, which can help improve work efficiency. This is preferable in terms of reducing the burden on the user and improving work efficiency.

[0111] <Second Embodiment>

[0112] In this embodiment, the structure related to the detection of the pressing force is different from that of the first embodiment. Figure 11 to Figure 14 , the characteristic structure of this embodiment is described with the focus on the differences from the first embodiment. In addition, the description of the same structure as the first embodiment is appropriately omitted.

[0113] like Fig.11 As shown, in this embodiment, as the force sensor 59 for detecting the pressing force, a first force sensor 59a and a second force sensor 59b are provided. These first force sensor 59a and the second force sensor 59b are in a parallel relationship and are respectively connected to the control substrate 61. The CPU 62 of the control substrate 61 grasps the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b, respectively, and compares each measurement value with the reference range. In this way, by duplicating the structure involved in the detection of the pressing force, it is possible to suppress the erroneous judgment caused by noise or failure of any one of the force sensors 59a and 59b, and reduce the chance of erroneously allowing the action of the robot 11. This is preferable in terms of improving the reliability of the operation terminal 15.

[0114] However, when two force sensors 59a and 59b are used in combination, although it is expected that reliability will be improved, the following undesirable situations may occur. Specifically, the actual reference range is smaller than the reference range in the setting, and the allowable fluctuation range (deviation) of the pressing force while maintaining a state that allows the robot 11 to move may become smaller. The reason for this is supplemented below with reference to Figures 12(a) and 12(b). Figures 12(a) and 12(b) illustrate a situation in which a difference caused by individual differences, etc. occurs between the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b.

[0115] In mode PN1, although the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b are both close to the upper limit of the reference range, they are both within the reference range, and the action of the robot 11 is "allowed". In mode PN3, the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b both exceed the upper limit of the reference range, and the action of the robot 11 is "not allowed". In these two modes PN1 and PN3, there is no influence caused by the use of two force sensors 59a and 59b. In contrast, in mode PN2, the measurement value of the second force sensor 59b is within the reference range, while the measurement value of the first force sensor 59a exceeds the upper limit of the reference range. In this case, although the reliability can be improved by "not allowing" the action of the robot 11, a phenomenon may occur in which the upper limit of the actual reference range is lower than the upper limit of the set reference range.

[0116] Next, in mode PN4, the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b are both close to the lower limit of the reference range, but both are within the reference range, and the action of the robot 11 is "allowed". In mode PN6, the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b are both lower than the lower limit of the reference range, and the action of the robot 11 is "not allowed". In these two modes PN4 and PN6, there is no influence caused by the use of two force sensors 59a and 59b. In contrast, in mode PN5, the measurement value of the first force sensor 59a is within the reference range, while the measurement value of the second force sensor 59b is lower than the lower limit of the reference range. In this case, although the reliability can be improved by "not allowing" the action of the robot 11, a phenomenon may occur in which the lower limit of the actual reference range is lower than the lower limit of the set reference range.

[0117] That is, the actual reference range may become narrower on both the upper limit side and the lower limit side, and therefore, the tolerance to the deviation of the pressing force becomes lower. Although it is also possible to take measures such as pre-expanding the set reference range itself in consideration of such a reduction in the actual basic range, arbitrarily expanding the reference range will become the main reason for increasing the obstacle to the transfer to the third position PS3 when it should be transferred, or accidentally transferring to the second position PS2 when it should stay at the first position PS1, so it is not preferred. In the present embodiment, taking such a situation into consideration, one of its characteristics is that a reference range for comparison with the measurement value of the first force sensor 59a (hereinafter referred to as the first reference range) and a reference range for comparison with the measurement value of the second force sensor 59b (hereinafter referred to as the second reference range) are respectively set. Furthermore, these first reference range and second reference range are changed respectively when the above-mentioned settings are changed. Here, refer to Fig.13 Flowchart and Fig.14The process for setting change in this embodiment is described with reference to the schematic diagram of FIG. 2. In addition, each process of steps S401 to S405 and S413 to S415 of the process for setting change in this embodiment is the same as each process of steps S201 to S205 and S211 to S213 of the process for setting change in the first embodiment, and thus the description thereof is omitted.

[0118] If it is determined in step S405 that it is the time to measure the pressing force, the process proceeds to step S406, where the pressing force is measured using the first force sensor 59a and the pressing force is measured using the second force sensor 59b. If these measured pressing forces are within the above-mentioned specified range, the process proceeds to step S408, where the thresholds (first thresholds) serving as the upper and lower limits of the first reference range are calculated based on the pressing forces (measured values) measured by the first force sensor 59a. Specifically, Fig.14 As shown in the left part of , the threshold value on the upper limit side is calculated by adding the measured value to the constant α stored in the ROM 63, and the threshold value on the lower limit side is calculated by subtracting the constant β stored in the ROM 63 from the measured value.

[0119] After the threshold values ​​(first threshold values) serving as the upper and lower limits of the first reference range are calculated in step S408, the first reference range is changed in step S409. Specifically, a first reference area for storing the first reference range for reference is provided in the RAM 64 of the control substrate 61, and each threshold value (first threshold value) after the change is stored in the first reference area.

[0120] In the next step S410, the thresholds (second thresholds) serving as the upper and lower limits of the second reference range are calculated based on the pressing force (measured value) measured by the second force sensor 59b. Fig.14 As shown in the right part of , the threshold value on the upper limit side is calculated by adding the measured value to the constant α stored in the ROM 63, and the threshold value on the lower limit side is calculated by subtracting the constant β stored in the ROM 63 from the measured value. In addition, in the present embodiment, the constant α and the constant β used in the calculation process of step S408 are the same as the constant α and the constant β used in the calculation process of step S410.

[0121] After the thresholds (second thresholds) serving as the upper and lower limits of the second reference range are calculated in step S410, the second reference range is changed in step S411. Specifically, a second reference area for storing the second reference range for reference is provided in the RAM 64 of the control substrate 61, and each threshold value (second threshold value) after the change is stored in the second reference area.

[0122] Thereafter, the registration process of the changed first reference range and second reference range is executed in step S412 , and the setting change end process is executed in step S413 , whereby the present setting change process ends.

[0123] <Modification 1>

[0124] The specific structure involved in the setting change (customization) of the reference range can also be changed as follows. That is, as shown in FIG. 15( a ), the range of the measurement value of the force sensor 59 can be divided into a plurality of ranges in advance, and the threshold values ​​as the upper and lower limits of the reference range corresponding to each division are stored in the ROM 63, and the threshold value read from the ROM 63 is determined according to which division the actual measurement value belongs to.

[0125] <Modification 2>

[0126] In the first and second embodiments, the reference range is determined based on the pressing force (measured value) measured during the pressing operation. However, the present invention is not limited to this. For example, a plurality of reference ranges (for example, "low", "medium", and "high") may be prepared as selection candidates, and the user may select a reference range from these selection candidates. In addition, for example, the reference range (threshold value) may be directly input (changed) by operating an input key (for example, a numeric keypad, etc.).

[0127] In addition, as shown in Fig. 15(b), it is preferable to set a changeable range for the threshold value on the upper limit side and the threshold value on the lower limit side. It is preferable to predetermine the settable range in order to prevent the threshold value on the upper limit side from being set too high, thereby making the transition to the third position PS3 substantially difficult, or the threshold value on the lower limit side from being set too low, thereby making the transition to the second position PS2 against the user's will and frequent.

[0128] <Variation 3>

[0129] In the first and second embodiments, the upper and lower thresholds of the reference range are exemplified as the change object (customization object), but the present invention is not limited thereto. Only the upper threshold may be changed, or only the lower threshold may be changed.

[0130] <Variation 4>

[0131] In the first and second embodiments, the pressing force as a basis is measured after a preset time has passed when the setting is changed, but it can also be changed to provide a setting button on the operation terminal 15, and the pressing force as a basis is measured by pressing the setting button while the operating member 57 is pressed when the setting is changed. However, in the case where the setting button is pressed while the operating member 57 is pressed, the pressing force of the operating member 57 may change after the setting button is pressed. In view of such a situation, it is technically meaningful to configure the execution condition of the measurement to be satisfied without operating the operating part other than the operating member 57 at the same time.

[0132] <Variation 5>

[0133] In the first embodiment described above, the threshold value on the upper limit side is calculated by adding the pressing force (measured value) as a basis to the constant α, and the threshold value on the lower limit side is calculated by subtracting the constant β therefrom. The constants α and β used in the calculation of the threshold value do not necessarily need to be set to constant α>constant β, and may also be set to constant α=constant β, or to constant α<constant β. In addition, the calculation method is not limited to addition / subtraction. For example, the threshold values ​​as the upper and lower limits of the reference range may also be calculated by multiplying the pressing force (measured value) as a basis by the correction coefficient.

[0134] <Variation 6>

[0135] In the first and second embodiments, the operating member 57 configured as the "safety operating unit" is displaced in the pressing direction by the user's pressing operation, but a type of safety operating unit that does not displace in the pressing direction, such as a touch panel, is not excluded. In addition, the specific structure for detecting the pressing force (for example, piezoelectric type, strain gauge type, electrostatic capacitance type) is arbitrary.

[0136] <Variation 7>

[0137] The operation member 57 as the "safety operation portion" may be arbitrarily arranged as long as it is in a position where it can be pressed by the hand holding the gripping portion 43. However, in order to easily generate a pressing force, it is preferably configured so that the operation member is arranged at the portion gripped by the fingers, so that the direction gripped by the fingers = the pressing direction.

[0138] <Variation 8>

[0139] A variable damper that can change the resistance (elasticity, viscosity) when the operating member 57 is pressed can also be installed. That is, it can also be configured to be able to change the operating feel (hardness or weight) when the operating member 57 is pressed (for example, refer to Figure 15(c)). Even when the same reference range (threshold) is set, as long as the operating stroke to reach the threshold can be made different by setting the variable damper, the relationship between the operating stroke and the size of the resistance can be optimized according to the user's preference. For example, even when the lower limit of the reference range is lowered, it is possible to increase the operating stroke of the operating member 57 required to generate the pressing force to reach the lower limit. In addition, if a variable damper is constructed using a magnetic viscosity fluid whose resistance changes according to the amount of current, the resistance can be changed in a variety of ways and quickly through current control.

[0140] <Third Embodiment>

[0141] In the operation terminal 15 shown in the first embodiment, the enabling switch 49 is configured to switch between enabling and disabling the movement of the robot 11 according to a pressing operation. Fig.16 As shown, the enabling switch 49B installed in the operation terminal 15B shown in this embodiment is a rotary type, and is different from the first embodiment in that it is configured to switch between allowing / not allowing the movement of the robot 11 by rotating the operating panel 81 as a "safety operating unit". Figure 16 to Figure 20(a) 20( c ), the enabling switch 49B and the configuration associated therewith in this embodiment will be described. In addition, the description of the same configuration as that of the first embodiment will be appropriately omitted.

[0142] like Fig.16 As shown, the enabling switch 49B is arranged at the upper corner of the back portion 42bB of the operation terminal 15B (housing 42B), and a hand strap 44B is provided below the enabling switch 49B in a manner of being mounted on the left and right ends of the operation terminal 15B. When the operation terminal 15B is supported by a hand H placed on the back portion 42bB of the operation terminal 15B, the hand strap 44B and the back portion 42bB are used to clamp the hand H, so that the operation terminal 15B can be prevented from shaking or falling off the hand H.

[0143] like Fig.17 As shown, an opening 91 penetrating in the thickness direction of the housing 42B is formed on the back portion 42bB, and the operation panel 81 is provided so as to protrude from the opening 91. The side wall 81a and the opening 91 of the operation panel 81 (cylindrical portion) are both circular centered on an axis CL1 extending in the thickness direction of the operation terminal 15B, and the operation panel 81 is mounted on the housing 42B (mounting base 95) in a state where it can rotate around the axis CL1.

[0144] The mounting base 95 is provided with a stopper 97, which prevents the operation panel 81 from rotating in the first direction (clockwise direction) when the operation terminal 15B is viewed from the back side, and a biasing member, which biases the operation panel 81 in the first direction. The operation panel 81 is configured to stay in a rotation position abutting against the stopper 97 by the biasing force of the biasing member when the operation panel 81 is not being rotated.

[0145] In order to change the rotational position of the operating panel 81, it is necessary to overcome the force of the force member while holding the side wall portion 81a of the operating panel 81 with fingers to rotate it in the second direction (counterclockwise). When the hand is removed from the operating panel 81, the operating panel 81 is reset to the position before the rotation operation (the position against the stopper 97) by the force of the force member. In addition, in the present embodiment, the rotation range of the operating panel 81 is specified as a predetermined range (specifically 180°), and even if it is rotated to the maximum in the second direction, it will not return to the original rotational position. In addition, in Fig.18 2 shows a state (a standby state or an initial state) in which the operation panel 81 is in contact with the stopper 97 by the biasing force of the biasing member.

[0146] The operating panel 81 is hollow, and contains a sensor unit 82 as a light sensor and a reflector 87. The reflector 87 is cylindrical with the axis CL1 as the center, and is fixed to the operating panel 81. That is, by rotating the operating panel 81, the rotation position of the reflector 87 changes in a manner that follows the operating panel 81. In addition, the operating panel 81 has a light-shielding property, which suppresses light from entering the operating panel 81 from the outside.

[0147] like Fig.18 As shown in FIG. 1 , a slit 89 is formed on a part of the reflector 87 so as to penetrate inside and outside. The slit 89 does not reflect light, so it can be said that the reflector 87 has a reflecting portion 88 that reflects light and a slit 89 that does not reflect light arranged in the rotation direction. In addition, the operation panel 81 is made of a colored opaque synthetic resin, and a process is performed on the inner surface thereof to absorb light in particular. Therefore, the reflection of the light irradiated to the operation panel 81 through the slit 89 is suppressed.

[0148] The sensor unit 82 is arranged on the axis CL1, and has a light emitting portion 83 that irradiates light toward the reflector 87 and a light receiving portion 84 that is irradiated with light reflected by the reflecting portion 88 of the reflector 87. When the light from the light emitting portion 83 is reflected by the reflecting portion 88 of the reflector 87 and irradiates the light receiving portion 84, the light receiving state of the light receiving portion 84 is high level. On the other hand, when the light from the light emitting portion 83 is irradiated to the operating panel 81 through the slit 89 of the reflector 87, the amount of light is greatly reduced, and the light receiving state of the light receiving portion 84 is low level. That is, the light receiving state of the light receiving portion 84 is configured to differ depending on the rotation position of the operating panel 81.

[0149] 19(a) and 19(b) , the rotation position (angle) and light receiving state of the operating panel 81 are supplementally described. In the following description, the angle at which the operating panel 81 rotates in the second direction (counterclockwise) about the axis CL1 is referred to as "angle X".

[0150] When 0°≤angle X<35°, the reflective portion 88 is located on the optical path of the light from the light emitting portion 83, and thus the light receiving state of the light receiving portion 84 is at a high level. When 35°≤angle X≤55°, the slit 89 (inner surface of the operating panel 81) is located on the optical path of the light from the light emitting portion 83, and thus the light receiving state of the light receiving portion 84 is at a low level. When 55°<angle X≤180°, the reflective portion 88 is located on the optical path of the light from the light emitting portion 83, and thus the light receiving state of the light receiving portion 84 is at a high level. In the following description, for convenience, the rotational position of the operating panel 81 when 0°≤angle X<35° is set as the first position PS1, the rotational position of the operating panel 81 when 35°≤angle X≤55° is set as the second position PS2, and the rotational position of the operating panel 81 when 55°<angle X≤180° is set as the third position PS3 for distinction.

[0151] The first position PS1 is a position where the robot 11 is not allowed to move, the second position PS2 is a position where the robot 11 is allowed to move, and the third position PS3 is a position where the robot 11 is not allowed to move. That is, in the present embodiment, when the robot 11 is moved in the manual mode, the operating panel 81 needs to be maintained at the second position PS2 (see FIG. 19(a)).

[0152] Incidentally, the operating panel 81 shown in this embodiment also passes through the second position PS2 when resetting from the third position PS3 to the first position PS1, just like the operating member 57 shown in the first embodiment. For example, after the action of the robot 11 is not allowed at the third position PS3, by removing the hand from the operating panel 81, the operating panel 81 is reset to the first position PS1 (in detail, the initial state) by the force of the above-mentioned force-applying member. At this time, at least before resetting to the first position PS1, the switching from "not allowed" to "allowed" will be restricted, and even if the robot 11 is in the second position PS2 during the resetting period, the action will not be "allowed" (refer to Figure 19 (b)).

[0153] Here, in the present embodiment, in order to maintain the "allowed" movement of the robot 11 and keep the operating panel 81 at the second position PS2, it is necessary to overcome the force of the force-applying member with the two fingers F1 and F2 pinching the operating panel 81. It is assumed that it will be a burden for the user to continue to overcome the force while maintaining the shape of the fingers in the air, which will become a major reason for difficulty in using the operating terminal 15 for a long time. In addition, in the case where the posture of the hand (finger) deviates due to finger fatigue, there is a concern that it will be difficult to maintain it in the second position PS2. In the present embodiment, taking such a situation into consideration, it is designed to reduce the burden on the user as one of its features. Below, refer to Fig.16 , Fig.17 and Figure 20(a) to Figure 20(c) , the design is described.

[0154] like Fig.16 As shown, on the back side 42bB of the housing 42B, a finger placement portion 92 for placing the fingers F1 and F2 for holding the operating panel 81 is formed around the operating panel 81. The finger placement portion 92 is in the shape of a ring centered on the axis CL1, and when the operating terminal 15B is viewed from the back side 42bB, the side wall portion 81a of the operating panel 81 is surrounded from the outside by the finger placement portion 92. The finger placement portion 92 is oriented in the direction of the axis CL1 and is a flat surface without any concave or convex shapes formed on the entire circumference. In addition, as shown in FIG. Fig.17 As shown, the finger placement portion 92 is offset so as to be higher than the peripheral portion in the back surface portion 42bB.

[0155] like Fig.17As illustrated, by making the fingertips of fingers F1 and F2 holding the side wall portion 81a of the operating panel 81 abut against the finger placement portion 92, it is possible to avoid the fingers F1 and F2 holding the side wall portion 81a from floating in the air. As a result, it becomes easy to maintain the posture of fingers F1 and F2. In addition, by making the fingers F1 and F2 abut against the finger placement portion 92, friction is generated between the finger placement portion 92 and the fingers F1 and F2. Through this friction, it is easy to overcome the force of the above-mentioned force-applying member, and the burden on the user's fingers can be reduced. In particular, in the present embodiment, the side wall portion 81a and the finger placement portion 92 have an L-shaped positional relationship, so the abutment portion between the fingers F1 and F2 and the finger placement portion 92 and the abutment portion between F1 and F2 and the side wall portion 81a can be made as close as possible. It is preferable to make the two abutment portions close to each other in terms of reducing the burden on the fingers.

[0156] In addition, as already described, the operation terminal 15B shown in this embodiment is configured to be supported by the user placing his hand on the back portion 42bB. That is, in the state where the operation terminal 15B is supported, the weight of the operation terminal 15B is also applied to the fingers F1 and F2 of the hand H supporting the operation terminal 15B. This weight can increase the friction between the fingers F1 and F2 and the finger placement portion 92, so that the change in the rotation angle of the operation panel 81 caused by finger slipping can be suppressed. In particular, the finger placement portion 92 is higher than the peripheral portion in the back portion 42bB, so the weight of the operation terminal 15B is easily applied to the fingers F1 and F2.

[0157] Here, when the user suddenly removes the hand H from the operating panel 81 while the operating panel 81 is maintained at the second position PS2, the operating panel 81 is reset to the first position PS1 by the force of the force-applying member. Therefore, the action of the robot 11 is quickly switched from "allowed" to "not allowed". On the other hand, when the hand H is not suddenly removed from the operating panel 81, the following two modes are envisioned. First, as a first mode, a mode is envisioned in which the operating panel 81 is automatically rotated in the first direction or the second direction and is in the first position PS1 or the third position PS3. In this mode, as shown in FIG. Figure 20(b) to Figure 20(a) , Figure 20(b) to Figure 20(c)As shown, the fingers F1 and F2 pinching the side wall portion 81a of the operating panel 81 can slide on the finger placement portion 92 while being in contact with the finger placement portion 92, so the movement to the first position PS1 and the third position PS3 is not blocked. Next, as a second mode, the action of clenching the hand H that is operating the operating panel 81 is assumed. In such a mode, when the fingers F1 and F2 pinching the side wall portion 81a are moved away from the finger placement portion 92 due to the bending of the fingers due to the clenching action, the friction generated between the fingers F1 and F2 and the finger placement portion 92 disappears. In addition, since the bending of each finger F1 and F2 is different, the rotation position of the operating panel 81 is easily offset. As a result, an opportunity for the operating panel 81 to move to the first position PS1 and the third position PS3 can be generated.

[0158] According to the third embodiment described above in detail, the following excellent effects can be expected.

[0159] In the operation terminal 15B shown in this embodiment, by placing the finger of the operation panel 81 as the "safe operation part" on the finger placement part 92 provided on the periphery of the operation panel 81, the finger can be brought into contact with both the operation panel 81 (specifically, the side wall part 81a) and the finger placement part 92. According to such a structure, the finger placement part 92 can help maintain the position and shape of the finger operating the operation panel 81 constant, and can suppress the reliance on the force of the finger when the operation panel 81 is stopped at the second position PS2. For example, the finger position in the direction of the axis CL1 is not easily deviated by making the finger tip or the like press against the finger placement part 92 in advance (stop function), and the finger position in the track direction is not easily deviated by making the friction generated by the finger tip or the like pressing against the finger placement part 92 become resistance (resistance generation function). By reducing the burden on the user (finger) in this way, it is easy to maintain a state that allows the robot 11 to move.

[0160] According to the enabling switch 49B shown in this embodiment, for example, the tip of the finger can be brought into contact with the side wall portion 81a of the operating panel 81 and the tip of the finger can be brought into contact with the finger placement portion 92, or the tip of the finger can be brought into contact with the side wall portion 81a and the side of the finger can be brought into contact with the finger placement portion 92. In this way, if the portion in contact with the side wall portion 81a and the finger placement portion 92 can be concentrated on the fingertip side, the load on the finger when the operating panel 81 is maintained at the second position PS2 can be more appropriately reduced.

[0161] The finger rest portion 92 is flat, and when the user wants to move the hand suddenly (want to move in the rotation direction), the finger that is operating the operating panel 81 slides on the finger rest portion 92, and the finger rest portion 92 can be prevented from preventing the rotation of the operating panel 81. This is preferable in terms of reducing the time lag when the robot 11 is not allowed to move.

[0162] <Fourth Embodiment>

[0163] In the third embodiment described above, the enabling switch 49B is arranged on the back side of the operation terminal 15B, but in this embodiment, the arrangement of the enabling switch is changed compared to the third embodiment, and the position and shape of the finger placement portion are also changed accordingly. Figure 21(c1) to Figure 21(c3) The enabling switch 49C and the finger placement portion 92C in this embodiment will be described with the focus on the differences from the third embodiment. In addition, the description of the same configuration as the third embodiment will be appropriately omitted.

[0164] As shown in Fig. 21(a), in the operation terminal 15C of the present embodiment, like the operation terminal 15 shown in the first embodiment, grips 43C for the user to hold are provided at the left and right ends of the operation terminal 15C. When holding the operation terminal 15C, the user does not place one hand on the back of the operation terminal 15B as shown in the second embodiment, but holds the grip 43C (at least the left grip 43C).

[0165] The enabling switch 49C in this embodiment is arranged so that a part of the operating panel 81C protrudes from the left side surface (side surface 42cC) of the housing 42C. That is, the enabling switch 49C is arranged at a position that can be operated by the hand holding the grip 43C.

[0166] The operating panel 81C is similar to the third embodiment in that it can rotate around the axis CL2 extending in the thickness direction of the operating terminal 15C, but is different from the third embodiment in that the side wall portion 81aC operated by the finger in the operating panel 81C does not protrude in the entire area in the rotation direction, but protrudes in a part of the rotation direction. The rotation position of the operating panel 81C can be changed by sliding the finger (for example, the finger F2) up and down while the finger is pressed against the side wall portion 81aC of the operating panel 81C.

[0167] In addition, the operating panel 81C is also rotatably supported by a mounting base 95C on the side of the housing 42 (refer to Figure 21(b)). When the operating terminal 15C is viewed from the front, a stopper portion provided on the mounting base 95C prevents rotation in the clockwise direction, and the force-applying component applies force in the clockwise direction when the operating terminal 15C is viewed from the front.

[0168] As shown in Fig. 21(b), in the sensor unit 82C shown in this embodiment, the light emitting unit 83C and the light receiving unit 84C are arranged in the direction of the axis CL2 (front-rear direction), and these light emitting units 83C and light receiving units 84C are opposite to each other across the operation panel 81C. Specifically, the light emitting unit 83C and the light receiving unit 84C are arranged in a manner facing each other.

[0169] When the light from the light emitting unit 83C is blocked by the operation panel 81C and does not reach the light receiving unit 84C, the light receiving state of the light receiving unit 84C is at a low level. Figure 21(c1) to Figure 21(c3) As shown in FIG. 1 , a slit 81cC for passing light is formed on a part of the operation panel 81C. When the slit 81cC is positioned on the optical path of the light from the light emitting unit 83C by the rotation operation of the operation panel 81C, the light from the light emitting unit 83C passes through the slit 81cC and reaches the light receiving unit 84C, and the light receiving state of the light receiving unit 84C is high level. In the following description, the angle when the operation panel 81 is rotated in the counterclockwise direction when the operation terminal 15C is viewed from the front is referred to as "angle X".

[0170] As shown in FIG. 21(c1), when 0°≤angle X<35°, the wall of the operating panel 81C is located on the optical path of the light from the light emitting unit 83C, so the light receiving state of the light receiving unit 84C is low level, and the action of the robot 11 is not allowed (first position PS1). As shown in FIG. 21(c2), when 35°≤angle X≤55°, the slit 81cC of the operating panel 81C is located on the optical path of the light from the light emitting unit 83C, so the light receiving state of the light receiving unit 84 is high level, and the action of the robot 11 is allowed (second position PS2). As shown in FIG. 21(c3), when 55°<angle X≤180°, the wall of the operating panel 81C is located on the optical path of the light from the light emitting unit 83, so the light receiving state of the light receiving unit 84 is low level, and the action of the robot 11 is not allowed (third position PS3). That is, in the present embodiment, when the robot 11 is moved in the manual mode, the operating panel 81C needs to be maintained at the second position PS2.

[0171] Here, as shown in FIG. 21( b ), a finger placement portion 92C for placing a finger (e.g., finger F2) operating the operating panel 81C is formed on the side portion 42cC of the housing 42. The finger placement portion 92C is provided at a position near the front side of the operating panel 81C in the thickness direction (axis CL2 direction) of the operating terminal 15C. Thus, when the finger of the hand holding the grip portion 43C is placed on the side wall portion 81aC of the operating panel 81C, it is easy to place the finger on the finger placement portion 92C. In particular, the finger placement portion 92C bulges out higher than the peripheral portion of the side portion 42cC, thereby reducing the gap with the side wall portion 81aC of the operating panel 81C. Thus, the generation of a local load on the portion of the finger that contacts the operating panel 81C is suppressed.

[0172] <Modification 1>

[0173] In the third and fourth embodiments, the sensor unit 82 is composed of a set of light emitting parts 83 and light receiving parts 84, but the sensor unit may be composed of a plurality of sets of light emitting parts and light receiving parts to make the structure involved in the detection of the rotational position multiplexed (duplexed).

[0174] For example, in Figure 22(a) to Figure 22(c) In the enabling switch 49D shown, a sensor unit 82D is constructed by a first light sensor 82aD composed of a first light emitting portion 83 and a first light receiving portion 84 and a second light sensor 82bD composed of a second light emitting portion 85 and a second light receiving portion 86. The first light sensor 82aC and the second light sensor 82bC are arranged in a back-to-back (opposite) manner, and the irradiation direction of the light of the first light sensor 82aC (first light emitting portion 83) and the irradiation direction of the light of the second light sensor 82bC (second light emitting portion 85) are staggered by 180° in the rotation direction centered on the axis CL1. In addition, two slits 89D are formed on the reflector 87D, and the two slits 89D are also staggered by 180° in the rotation direction centered on the axis CL1.

[0175] Therefore, as shown in FIG. 22(a), when the operating panel 81 is in the first position PS1, the light receiving state of the first light receiving portion 84 and the light receiving state of the second light receiving portion 86 are both at a low level. As shown in FIG. 22(b), when the operating panel 81 is in the second position PS2, the light receiving state of the first light receiving portion 84 and the light receiving state of the second light receiving portion 86 are both at a high level. As shown in FIG. 22(c), when the operating panel 81 is in the third position PS3, the light receiving state of the first light receiving portion 84 and the light receiving state of the second light receiving portion 86 are both at a low level. That is, the light receiving state of the first light receiving portion 84 and the light receiving state of the second light receiving portion 86 are substantially consistent.

[0176] The CPU 62 of the operation terminal 15 obtains information indicating the light receiving state of the first light receiving unit 84 and information indicating the light receiving state of the second light receiving unit 86, and when the light receiving state of the first light receiving unit 84 is at a high level and the light receiving state of the second light receiving unit 86 is at a high level, that is, when the light receiving states of the two light receiving units 84 and 86 are consistent and at a high level, the action of the robot 11 is "permitted". On the other hand, when either the light receiving state of the first light receiving unit 84 or the light receiving state of the second light receiving unit 86 is at a low level, the action of the robot 11 is "not permitted".

[0177] <Modification 2>

[0178] In the third and fourth embodiments, the operating panel 81 is switched from the first position PS1 to the second position PS2 and then to the third position PS3 by rotating the operating panel 81 in one direction (the second direction). Depending on the user, the burden of maintaining the second position PS2 may differ depending on the direction of rotation of the operating panel 81. In this modification, such a situation is taken into consideration and measures are taken. Specifically, Figure 23(a) to Figure 23(e) As shown, the enabling switch 49E is configured to switch from the first position PS1 (refer to FIG. 23 (a)) to the second position PS2 (refer to FIG. 23 (d)) and then to the third position PS3 (refer to FIG. 23 (e)) not only when the operating disk 81 is rotated in the second direction, but also when it is rotated in the first direction. That is, the second position PS2 and the third position PS3 are set in the first direction and the second direction. In order to realize such a technical idea, in the enabling switch 49E shown in this modified example, the stopper 97 shown in the third embodiment is omitted, and the force member is changed to generate a force (restoring force) toward the second direction when the operating disk 81 is rotated in the first direction from the standby state, and generate a force (restoring force) toward the first direction when the operating disk 81 is rotated in the second direction from the standby state. In addition, a slit 89E corresponding to the rotation operation in the first direction and a slit 89E corresponding to the rotation operation in the second direction are formed on the reflector 87E, respectively.

[0179] Incidentally, the rotation range of the operation dial 81E is specified to be 180° in both the first direction and the second direction. That is, the number of slits 89E passing through the front surface of the sensor unit 82 by rotation in the first direction and rotation in the second direction is one.

[0180] As shown in Fig. 24(a), the rotary enabling switch 49E capable of rotating in both directions shown in this modification is preferably arranged at the central portion in the width direction of the operation terminal 15B (housing 42B). If arranged in this way, either hand can easily approach the enabling switch 49E, and the effect of allowing rotation in both directions can be more appropriately exerted.

[0181] In addition, in this modification, the slit 89E is formed so that the rotation angle from the first position PS1 to the second position PS2 is the same angle in the first direction and the second direction, but the present invention is not limited thereto. The slit 89E may also be formed so that the rotation angle from the first position PS1 to the second position PS2 is different in the first direction and the second direction.

[0182] <Variation 3>

[0183] As shown in Figure 21(a), Figure 21(b) and Figure 21(c1) to Figure 21(c3)As shown, the enabling switch 49C shown in the fourth embodiment can be held in the second position PS2 by placing the fingers of the hand holding the grip 43C on the side wall 81aC of the operating panel 81C. Here, if the hand holding the grip 43C is suddenly tightened, the operating panel 81C may be pressed inward. Therefore, by configuring the operation panel 81C to be pressed in such a way that the operating panel 81C can be exposed and immersed, the operation of the robot 11 is detected, which can contribute to further improvement of safety.

[0184] Specifically, as shown in the enabling switch 49F of FIG. 24 (b1) and FIG. 24 (b2), it is preferably configured so that the mounting base 95F on which the operating disk 81C is mounted in a rotatable manner can be raised and lowered, and a force member is provided to apply force to the operating disk 81C in the protruding direction, and the operating disk 81C is pressed in against the force of the force member, so that the protruding amount of the operating disk 81C changes. Here, if the slit 81cC formed in the operating disk 81C is configured so that when the operating disk 81C is in the protruding position, it is located on the optical path between the light emitting portion 83C and the light receiving portion 84C, and when the operating disk 81C is pressed in, the slit 81cC is separated from the optical path, and the light from the light emitting portion 83C is blocked by the wall of the operating disk 81C, the movement to the pressed position can be detected by the sensor unit 82, and there is no need to add a sensor for detecting the pressing.

[0185] <Variation 4>

[0186] In the third and fourth embodiments, the sensor unit 82 as an optical sensor is used to detect the rotational position of the operating dial 81, but the specific structure for detecting the rotational position is arbitrary. For example, other sensors such as magnetic sensors may be used.

[0187] <Variation 5>

[0188] In the fourth embodiment, the operating panel 81C of the enabling switch 49C is arranged at a position where it can be operated by the fingers of the hand holding the grip portion 43C, but it can also be changed to be arranged at a position covered by the hand (for example, the palm) holding the grip portion 43C. If the palm or the like can contact the operating panel 81C and the operating panel 81C is held at the second position PS2, it can help reduce the burden on the fingers.

[0189] <Variation 6>

[0190] In the fourth embodiment, the finger rest portion 92C is formed in the side portion 42cC of the housing 42 at a position near the front side of the operating panel 81C, but a finger rest portion may be formed in the side portion 42cC at a position on the back side of the operating panel 81C instead of or in addition to this.

[0191] <Variation 7>

[0192] In the third embodiment, the operation panel 81B is arranged so as to protrude from the back surface 42bB of the housing 42B, but the operation panel 81B may be arranged so that the top (flat surface) of the operation panel 81B and the back surface 42bB are located on the same plane. Even in this case, by forming a finger placement portion so as to surround the operation panel 81B and placing a finger on the finger placement portion and the top (flat surface) of the operation panel 81B, the burden on the finger when the operation panel 81B is held at the second position PS2 can be reduced.

[0193] <Variation 8>

[0194] In the third embodiment, the reflector 87 is fixed to the operating panel 81, but the present invention is not limited thereto. As long as the positional relationship (phase) between the sensor unit 82 and the reflector 87 is changed by the user's rotation operation, the reflector 87 may be fixed to the mounting base 95, and the sensor unit 82 is fixed to the operating panel 81, and the sensor unit 82 rotates following the rotation of the operating panel 81.

[0195] <Variation 9>

[0196] The side wall portion 81 a of the operation panel 81 shown in the third embodiment and the like may be provided with projections and recesses for hooking fingers on the operation surface.

[0197] <Fifth Embodiment>

[0198] The operation terminal 15 shown in the first embodiment is configured to switch between allowing / not allowing the robot 11 to move according to the pressing force (the magnitude of the pressing force) of the user's pressing operation on the enable switch 49. In contrast, as shown in Figures 25(a) and 25(b), the enable switch 49H shown in this embodiment is an insertion type that can be inserted with a finger, and is different from the first embodiment in that it is configured to switch between allowing / not allowing the robot 11 to move according to the position of the insertion part 101 provided in the operation terminal 15H where the finger is inserted. Figure 25(a) to Figure 27(b) , the enabling switch 49H and the structure associated therewith in this embodiment are described. In addition, for the same structure as the first embodiment, the description is appropriately omitted. FIG25(a) is a rear view of the operation terminal 15H, and FIG25(b) is a partial cross-sectional view of the BB line of FIG25(a).

[0199] As shown in FIG. 25( a), the enabling switch 49H is arranged on the bulging portion 51H formed on the back portion 42bH of the housing 42H. The bulging portion 51H extends up and down along the edge of the back portion 42bH, and expands in a manner that the lateral width of a portion on the upper side becomes larger. For the portion whose lateral width is not expanded, by bending the fingers of the hand placed on the bulging portion 51H, the front end of the finger can be hooked on the side wall portion 52H of the bulging portion 51H. In contrast, in the portion where the lateral width is expanded, it becomes difficult to bend the fingers. The enabling switch 49H is arranged on the expanded portion, specifically, on the face (plane portion 55H) of the bulging portion 51H in the thickness direction facing the operation terminal 15H. In other words, in the plane portion 55H, the enabling switch 49H is arranged at a position that can be reached by any finger of the hand H that is holding the grip portion 43H. In addition, in FIG. 25( a ) and FIG. 25( b ) and the like, a case where an index finger (hereinafter referred to as finger F2 ) is inserted is illustrated.

[0200] As shown in FIG. 25( b), the enabling switch 49H has a tunnel-shaped insertion portion 101 into which a finger (finger F2) can be inserted. The insertion portion 101 is composed of a plane portion 55H on the housing 42H side and a housing 102 mounted on the plane portion 55H. In other words, the finger insertion area IS in the insertion portion 101 is defined by the plane portion 55H and the housing 102.

[0201] The insertion area IS extends along the width direction of the operation terminal 15H and is open to the left. That is, the entrance 101a of the insertion portion 101 faces the left. As a result, it is easy to insert a finger (for example, finger F2) of the hand H that is holding the grip portion 43H. In addition, the illustration of the hand strap 44 (refer to Figures 3 (a) and 3 (b)) is omitted in Figures 25 (a) and 25 (b).

[0202] The housing 102 is formed by combining an inner cover 103 made of a colorless and transparent synthetic resin having light transmittance and an outer cover 104 made of a colored and opaque synthetic resin having light shielding properties in an inner and outer double manner, and is unitized in a state where a sensor unit 111 is accommodated in a gap between the inner cover 103 and the outer cover 104. The sensor unit 111 includes a first light sensor 111a composed of a first light emitting portion 112 and a first light receiving portion 113, and a second light sensor 111b composed of a second light emitting portion 114 and a second light receiving portion 115, and is arranged in the finger insertion direction in such a manner that the first light sensor 111a is on the entrance side of the insertion portion 101 and the second light sensor 111b is on the inner side of the insertion portion 101.

[0203] The first light emitting portion 112 and the second light emitting portion 114 are both oriented toward the insertion area IS and are opposed to the plane portion 55H across the insertion area IS. A long plate-shaped reflector 117 is fixed to the portion of the plane portion 55H that faces the insertion area IS. The reflector 117 is embedded in a recess formed in the plane portion 55H and forms the inner wall of the insertion area IS together with the plane portion 55H.

[0204] The light from the first light emitting unit 112 is irradiated to the reflector 117 through the inner cover 103, and the light reflected by the reflector 117 is transmitted through the inner cover 103 again to the first light receiving unit 113. Thus, the light receiving state of the first light receiving unit 113 when the light arrives is a high level. In addition, the light from the second light emitting unit 114 is irradiated to the reflector 117 through the inner cover 103, and the light reflected by the reflector 117 is transmitted through the inner cover 103 again to the first light receiving unit 113. Thus, the light receiving state of the first light receiving unit 113 when the light arrives is a high level.

[0205] Here, refer to Figure 26(a) to Figure 26(c) , the relationship between the insertion position of the finger and the light receiving state of each light receiving unit 113, 115 is described.

[0206] As shown in Figure 26(a), when the finger F2 is not inserted into the insertion part 101, there is no object to block the light from the first light emitting part 112 and the light from the second light emitting part 114. Therefore, as described above, the light receiving state of the first light receiving part 113 and the light receiving state of the second light receiving part 115 are both high levels.

[0207] As shown in FIGS. 26( b ) and 26 ( c ), when the finger F2 is inserted into the insertion portion 101 , the light receiving states of the light receiving portions 113 and 115 differ depending on the insertion position (insertion depth) of the finger F2 .

[0208] Specifically, as shown in FIG26(b), when the finger F2 is placed at a relatively shallow position and has not reached the optical path of the second light sensor 111b, the light from the second light emitting unit 114 is reflected by the reflector 117 and reaches the second light receiving unit 115, so the light receiving state of the second light receiving unit 115 is high. In contrast, the light from the first light emitting unit 112 irradiates the finger F2 and diffuses, and the light reaching the first light receiving unit 113 is very small. As a result, the light receiving state of the first light receiving unit 113 is low. On the other hand, as shown in FIG26(c), when the finger F2 is placed at a relatively deep position and has reached both the optical paths of the first light sensor 111a and the second light sensor 111b, the light from the first light emitting unit 112 irradiates the finger F2 and diffuses, and the light reaching the first light receiving unit 113 is very small. In addition, the light from the second light emitting unit 114 also irradiates the finger F2 and diffuses, and the light reaching the second light receiving unit 115 is also very small. As a result, the light receiving states of the first light receiving unit 113 and the second light receiving unit 115 are both at a low level. In the following description, the position not inserted into the insertion unit 101, that is, the position when the light receiving states of the two light receiving units 113 and 115 are both at a high level is referred to as a "non-insertion position", the position of the finger when the light receiving state of the first light receiving unit 113 is at a low level and the light receiving state of the second light receiving unit 115 is at a high level is referred to as a "first insertion position", and the position of the finger when the light receiving state of the first light receiving unit 113 and the second light receiving unit 115 are both at a low level is referred to as a "second insertion position" for distinction.

[0209] The first light sensor 111a and the second light sensor 111b are both connected to the control substrate 61 of the operation terminal 15H, and the CPU 62 grasps the light receiving state of each light receiving unit 113, 115. The CPU 62 switches between "permit" / "not permit" the action of the robot 11 according to the grasped light receiving state. Here, the relationship between the position of the finger and the switching of "permit" / "not permit" is described with reference to FIG. 27 (a) and FIG. 27 (b).

[0210] When the position of the finger is at the "non-insertion position", that is, when the light receiving states of the optical sensors 111a and 111b are both at a high level, the action of the robot 11 is "not allowed". When the finger is inserted to the "first insertion position", that is, when the light receiving state of the first optical sensor 111a is at a low level and the light receiving state of the second optical sensor 111b is at a high level, the action of the robot 11 is "allowed". And, by keeping the finger at the "first insertion position", the state of "allowing" the action of the robot 11 can be maintained. In addition, when the finger is pulled out of the insertion unit 101 after the work is completed, the position of the finger is at the "non-insertion position", and the action of the robot 11 is again "not allowed".

[0211] On the other hand, when the finger is stopped at the "first insertion position" and the robot 11 is moved, and the finger is suddenly moved to the back side, etc., so that the position of the finger is at the "second insertion position", that is, when the light receiving states of the optical sensors 111a and 111b are both at a low level, the movement of the robot 11 is "not allowed". In this case, the switching from "not allowed" to "allowed" is temporarily restricted. Specifically, although the finger passes through the "first insertion position" when moving from the "second insertion position" to the "non-insertion position", the "not allowed" is maintained when the finger is at the "first insertion position" during the process of returning from the "second insertion position". And when the finger is at the "non-insertion position", the restriction is lifted.

[0212] According to the fifth embodiment described in detail above, the following excellent effects can be expected.

[0213] The movement of the robot 11 is permitted by inserting a finger into the insertion portion 101 and keeping the finger at the first insertion position. If configured in this way, there is no need to take measures such as continuously applying force to overcome the force of a spring or the like or maintaining the shape of the finger in a constant shape as in the previous enabling switch. That is, it is possible to suppress the burden on the user's finger from increasing when the state of allowing the movement is maintained. This is preferred in terms of reducing user fatigue and improving work efficiency. In addition, it is assumed that the user performs reflex actions such as releasing or clenching the hand when encountering an unexpected dangerous situation. According to the enabling switch 49H shown in this embodiment, through these reflex actions, the position of the finger is offset to the side or inner side of the entrance 101a of the insertion portion 101, so that the insertion position of the finger deviates from the first insertion position, and the movement of the robot 11 is not permitted. Based on the above reasons, it can help to improve safety and reduce the burden on the user when using the operation terminal 15H.

[0214] As shown in this embodiment, by arranging the insertion portion 101 at a position where the fingers of the hand holding the grip portion 43H can be inserted, the user can use the fingers of the hand holding the operation terminal 15H to maintain the state of allowing the robot 11 to operate. This is preferable in terms of improving user convenience.

[0215] As shown in this embodiment, by making the insertion part 101 a straight structure, when the user wants to pull out the finger suddenly, it is possible to appropriately avoid the finger from being caught in the insertion part 101. This is preferable in terms of quickly switching from the state of allowing operation to the state of not allowing operation.

[0216] As shown in this embodiment, if the optical sensors 111a and 111b are used to detect the position of the finger, a contact structure (fixed contact, movable contact) is not required, and even when the operation terminal 15H is repeatedly used, the chance of failure and malfunction of the enabling switch 49H caused by wear can be reduced. In addition, since there is no contact structure, it is not necessary to rely on the user to provide a force for maintaining the contact points in contact with each other. This is also preferable in terms of reducing the burden on the user when maintaining a state that allows the operation of the robot 11.

[0217] <Sixth Implementation Method>

[0218] The operation terminal 15H shown in the fifth embodiment is configured to have an insertion portion 101 into which a finger holding the grip portion 43H can be inserted, and switches between "allow" / "not allow" the movement of the robot 11 according to the insertion position of the finger in the insertion portion 101. Here, the hand holding the grip portion 43H may suddenly clench. In this embodiment, a part of the structure involved in the enable switch 49H is changed in consideration of such hand movements. Figure 28(a) to Figure 28(d) The enabling switch 49K in this embodiment will be described with the focus on the differences from the enabling switch 49H shown in the fifth embodiment. In addition, the description of the same structure as the fifth embodiment will be appropriately omitted.

[0219] As shown in FIG. 28 (a) and the like, the operation terminal 15K shown in this embodiment is similar to the fifth embodiment, and an enabling switch 49K having optical sensors 111a and 111b is arranged on the back portion 42bK (bulging portion 51K) of the housing 42K. A reflector 117K for reflecting light from the optical sensors 111a and 111b is installed on the plane portion 55K of the bulging portion 51K, but the reflector 117K is movable. Specifically, the reflector 117K is in the shape of a long plate extending along the insertion direction of the finger into the insertion portion 101K, and a shaft pin 124 extending in a direction intersecting the insertion direction of the finger is inserted through the portion of the reflector 117K that is closer to the inner side than the first optical sensor 111a. The shaft pin 124 is fixed to the bulging portion 51K, and the reflector 117K is rotatably supported by the shaft pin 124.

[0220] A recessed portion 121 for securing the operating area of ​​the reflector 117K is formed on the plane portion 55K, and a biasing member (spring member) 122 is provided between the recessed portion 121 and the reflector 117K to bias the end portion of the reflector 117K on the side of the entrance 101a to lift it toward the insertion area IS. In addition, the end portion of the reflector 117K on the side of the entrance 101a, on which a stopper 123 is formed on the plane portion 55K, is pressed by the biasing member 122, but the inner end portion of the reflector 117K is pressed against the stopper 123, thereby maintaining a posture parallel to the insertion area IS (hereinafter referred to as an initial posture), wherein the stopper 123 prevents further rotation by contacting the inner end portion of the reflector 117K from the opposite side of the insertion area IS. In addition, in the initial posture, the reflector 117K and the plane portion 55K are located on the same plane.

[0221] As shown in FIG28(b), when the finger F2 is inserted into the first insertion position, the light receiving state of the first light sensor 111a is low level. Even when the finger F2 is inserted into the first insertion position, when the reflector 117K is not pressed by the finger F2, the reflector 117K maintains the initial posture, so the light receiving state of the second light sensor 111b is high level. As shown in FIG28(c), when the finger F2 is inserted into the second insertion position, the fingertip is located at a position closer to the inside than the axis CL3, and even if the reflector 117K is pressed by the fingertip, the rotation of the reflector 117K is blocked by the stopper 123. That is, when the finger F2 is inserted into the second insertion position, as in the fifth embodiment described above, the light receiving states of the first light sensor 111a and the second light sensor 111b are both low level.

[0222] Here, if Figure 28(b) to Figure 28(d) As shown, in order to allow the robot 11 to move, when the hand is clenched with the finger F2 stopped at the first insertion position, if the reflector 117K is pressed toward the side away from the insertion area IS by the finger F2, the reflector 117K rotates against the force of the force applying member 122, and the posture (inclination) of the reflector 117K changes. As a result, the optical path of the second optical sensor 111b is greatly changed due to the change of the incident angle and the reflection angle to the reflector 117K, and the light receiving state of the second optical sensor 111b changes from a high level to a low level.

[0223] The CPU 62 of the operation terminal 15K makes the light receiving states of the first light sensor 111a and the second light sensor 111b both low level, as in the case where the finger is inserted into the second insertion position, and "does not allow" the action of the robot 11. That is, if the user presses the reflector 117K with a finger when the user suddenly clenched his hand, the "allowed" action of the robot 11 is canceled by this action.

[0224] <Modification 1>

[0225] The first light sensor 111a and the second light sensor 111b shown in the fifth and sixth embodiments are configured so that the light from the light emitting units 112 and 114 is irradiated in a direction intersecting the back side 42bH of the housing 42H, but the irradiation direction of the light is not limited thereto. For example, the light from the first light sensor 111a and the second light sensor 111b can be irradiated in a direction parallel to the back side 42bH (for example, see Figure 29(a1) to Figure 29(d2) ).

[0226] <Modification 2>

[0227] In the sixth embodiment, the second optical sensor 111b that detects the insertion position of the finger in the insertion portion 101 is used to detect the behavior of the user when the hand is clenched. That is, the posture of the reflector 117K changes due to clenching, and the light receiving state of the second optical sensor 111b changes due to the change in posture. This does not negate the possibility of configuring a sensor other than the second optical sensor 111b to detect the behavior when the hand is clenched.

[0228] For example, the first optical sensor 111a may be configured to detect the movement of a clenched hand. Figure 29(a1) to Figure 29(d2) The specific structure is described below. Figure 29(a1) to Figure 29(d2) In the enabling switch 49L shown, the optical sensors 111a, 111b and the reflector 117L are arranged at the positions sandwiching the insertion area IS above and below. That is, it is arranged so that the optical path of the light from the light emitting parts 112, 114 passes through the insertion area IS. A recessed part 121L is formed in the portion of the plane part 55 covered by the housing 102L. The recessed part 121L extends from the insertion part 101L in a manner spanning the entrance 101a of the insertion part 101L, and a movable plate 125L is arranged in a manner blocking the opening part of the recessed part 121L.

[0229] The movable plate 125L is displaceable toward the bottom surface and the insertion area IS in the recess 121L. An urging member 122L is disposed in the recess 121L so as to be sandwiched between the bottom surface of the recess 121L and the movable plate 125L. The urging member waits near the opening of the recess 121L by its urging force.

[0230] When the user inserts his finger to the first insertion position and intends to clench his hand, if the movable plate 125L is pressed by the finger F2, the movable plate 125L overcomes the force of the force-applying member 122L and moves away from the insertion area IS (refer to Figures 29(b1) and 29(d1)). If the finger F2 moves away from the insertion area IS together with the movable plate 125L, the finger F2 deviates from the optical path of the first light sensor 111a, and the light receiving state of the first light sensor 111a (light receiving part 113) changes from a low level to a high level. That is, the light receiving states of the light receiving parts 113 and 115 are both high levels, and the movement of the robot 11 is "not allowed". According to such a structure, the first light sensor 111a also has the function of detecting the user's behavior when clenching his hand.

[0231] In addition to the first light sensor 111a and the second light sensor 111b, a sensor for detecting the user's behavior when clenching their hands, for example, a sensor for detecting a change in the posture of the reflector 117K can be added. For example, it is preferable to configure the contact sensor so that it contacts the recess 121 when the posture of the reflector 117K changes.

[0232] <Variation 3>

[0233] In the fifth and sixth embodiments, the sensor unit 111 is disposed on the housing 102 side, and the reflector 117 is disposed on the housing 42H side (the bulging portion 51H side), but the present invention is not limited thereto. As in the enabling switch 49P shown in FIG30(a), the reflector 117 may be disposed on the housing 102P side, and the sensor unit 111 may be disposed on the housing 42P (bulging portion 51P) side. In this case, it is preferable to provide a transparent portion 128P (for example, a transparent plate) through which light is transmitted in the portion of the wall surface of the planar portion 55P of the bulging portion 51P that forms the insertion area IS, that is, in the portion sandwiched by the reflector 117 and the sensor unit 111.

[0234] <Variation 4>

[0235] In the fifth and sixth embodiments, the structure using the reflective sensor unit 111 is exemplified, but it is also possible to use a structure using the transmissive sensor unit 111. For example, as in the enabling switch 49Q shown in FIG30(b), the light emitting units 112 and 114 may be arranged on the housing 102Q side, and the light receiving units 113 and 115 may be arranged on the housing 42Q side.

[0236] <Variation 5>

[0237] In the fifth and sixth embodiments described above, the enabling switch 49H (insertion portion 101) is arranged at a position where the fingers of the hand that is holding the holding portion 43H can be inserted. In a structure that switches between "allow" / "not allow" the action of the robot 11 according to the insertion position of the finger into the insertion portion 101, it may be difficult to easily hold the operation terminal 15H while keeping the finger at the first insertion position due to the size of the hand (the length of the finger). Therefore, it is preferable to apply the following structure (for example, an adjustment mechanism): as shown in Figure 30 (c), the housing 102R (including the sensor unit 111) of the enabling switch 49R can slide in the width direction of the operation terminal 15R, that is, the side of the housing 42R close to the side portion 42cR and the side away from the side portion 42cR, and the user can arbitrarily adjust the position of the enabling switch 49R within the range of the sliding movement.

[0238] <Variation 6>

[0239] In the enabling switch 49H shown in the fifth and sixth embodiments, the insertion portion 101 is formed in such a way that the insertion direction of the finger is the width direction of the operating terminal 15H, but it is not limited to this. The insertion portion may be formed in such a way that the insertion direction of the finger is the height direction of the operating terminal, or the insertion portion may be formed in such a way that the insertion direction of the finger is the thickness direction of the operating terminal.

[0240] Here, when the insertion direction is set to the thickness direction of the operation terminal, as shown in Figures 31(a) and 31(b), by forming the insertion portion 101S in the bulging portion 51S provided on the back of the operation terminal 15S (housing 42S), it is easy to ensure the insertion amount of the finger. In particular, the bulging portion 51S has a function as a grip portion 43S for the user to hold, so by forming the insertion portion 101S in the bulging portion 51S, it is easy to insert the finger (for example, finger F2) of the hand H holding the grip portion 43S. In addition, in the examples of Figures 31(a) and 31(b), the entrance 101aS of the insertion portion 101S faces backward.

[0241] The sensor unit 111 (the first light sensor 111a and the second light sensor 111b) and the reflector 117S are arranged in a manner that sandwiches the insertion area IS of the insertion portion 101S in the width direction. More specifically, the reflector 117S is arranged in a manner that becomes the side of the side portion 42cS of the housing 42S and the sensor unit 111 becomes the central side of the housing 42S. The reflector 117S is movable, like the reflector 117K of the sixth embodiment, and is rotatably supported on the inner side of the insertion portion 101S. When the user suddenly clenches the hand H while the finger F2 is left at the first insertion position, if the reflector 117S is pressed by the finger F2, the reflector 117S rotates around the support portion, and the posture (tilt) of the reflector 117S changes. The sensor unit 111 is arranged so that the first light sensor 111a is on the entrance 101a side and the second light sensor 111b is on the back side, and the light path of the second light sensor 111b is changed by changing the posture of the reflector 117S. As a result, the light receiving state of the second light receiving unit 115 changes from a high level to a low level, and the action of the robot 11 changes from "permitted" to "not permitted".

[0242] <Variation 7>

[0243] In the fifth and sixth embodiments described above, a light sensor is used as the “detection unit”, but a pressure-sensitive sensor, an electrostatic capacitance sensor, an acoustic wave sensor, or the like may also be used.

[0244] <Variation 8>

[0245] In the above-mentioned sixth embodiment, the first insertion position and the second insertion position are specified as the insertion positions of the finger toward the insertion part 101K, but it can also be configured to allow the movement of the robot 11 when the finger is inserted into the insertion part 101K, and cancel the permission when the finger is pulled out of the insertion part 101K or the reflector 117K is pressed.

[0246] <Variation 9>

[0247] In the sixth embodiment, the reflector 117K is arranged on the same surface as the plane portion 55K, but in order to reduce the chance of erroneous pressing of the reflector 117K, the reflector 117K may be arranged so as to be offset toward the bottom surface side of the recess 121. In particular, when the enabling switch is arranged on the back side of the operation terminal, the inserted finger bears the weight of the operation terminal, making it easy to press the reflector. That is, in the structure in which the enabling switch is arranged on the back side, by applying the structure shown in this modified example, the chance of erroneous operation can be reduced.

[0248] <Variation 10>

[0249] In the sixth embodiment, the reflector 117K is pressed and the posture of the reflector 117K changes, the incident angle and the reflection angle of the light from the light emitting unit 114 change, and the light receiving state of the light receiving unit 115 changes from a high level to a low level, but the present invention is not limited thereto. For example, as shown in the above-mentioned modification 4, when a transmissive optical sensor is used, a movable body for light to pass (through) may be partially provided instead of the reflector 117, and when the movable body is pressed and the posture changes, the transmissive (passing) portion deviates from the optical path, so that the light cannot reach the light receiving unit.

[0250] <Variation 11>

[0251] In the fifth and sixth embodiments described above, the number of fingers that can be inserted into the insertion portion 101 is set to one, but is not limited thereto. It may also be set so that a plurality of fingers can be inserted into the insertion portion. In such a structure, it is preferred that the movement of the robot 11 is allowed when all of the plurality of fingers inserted into the insertion portion are located at the first insertion position, and the movement of the robot 11 is not allowed when at least any one of the plurality of fingers inserted into the insertion portion is located at the second insertion position. In addition, when a plurality of fingers can be inserted, the increase in the number of sensors can be suppressed by making the irradiation direction of the light from the optical sensor the arrangement direction of the group of inserted fingers.

[0252] <Other Implementation Methods>

[0253] In addition, the present invention is not limited to the contents described in the above-mentioned embodiments, and may be implemented as follows, for example. In addition, the following structures may be applied to the above-mentioned embodiments separately, or may be combined in part or in whole and applied to the above-mentioned embodiments.

[0254] (1) In the above embodiments, the grip 43 held by the user is disposed at the left and right ends of the operation terminal 15, but the position of the grip 43 is not limited thereto. The grip 43 may be disposed at the upper and lower ends of the operation terminal 15 or at a corner. Regardless of the position of the grip 43, it is preferred that the enabling switch 49 be disposed at a position where the gripping hand can operate the grip 43.

[0255] (2) The operation terminal 15 shown in the above-mentioned embodiments may be configured such that the display 41 and the housing 42 are detachable. That is, the operation terminal 15 may be configured by the display 41 and a display stand that detachably holds the display 41.

[0256] (3) In the above-mentioned embodiments, the portable operation terminal 15 is exemplified, but the enabling switch 49 attached to the operation terminal 15 can also be applied to a fixed type operation terminal.

[0257] <About the invention group extracted from the above-mentioned embodiment>

[0258] Hereinafter, the features of the invention group extracted from the above-mentioned embodiment will be described while showing the effects etc. as needed. In addition, in the following, for easy understanding, the corresponding structures are appropriately indicated by brackets etc. in the above-mentioned embodiment, but are not limited to the specific structures indicated by the brackets etc.

[0259] <Feature Group A> Pressing force detection

[0260] Hereinafter, a description will be mainly given of a feature group A which is a technical idea extracted from the first embodiment, the second embodiment, and their modified examples and the like.

[0261] The following Feature Group A is in response to the background technology that "In an operating terminal such as a teach pendant for operating an industrial robot, an enabling switch is sometimes installed for the purpose of improving safety during manual operation. The enabling switch is a safety switch for enabling or disabling the manual operation of the robot. In recent years, as such a switch, a switch has been proposed that enables the manual operation of the robot when the operating member is slightly pressed in (i.e., when pressed in to the middle position) and disables the manual operation when pressed in with force (for example, refer to Patent Document 1)." In view of the fact that "Here, in order to maintain the state of manual operation being enabled, it is necessary to keep the operating member in the middle position In order to prevent the force of the finger operating the operating member from becoming too weak or too strong, it is necessary to continuously apply a constant force. In fact, even if attention is paid to the force applied, the force will fluctuate to a certain extent. Therefore, sometimes the user pays attention to the shape of the hand (fingers) and maintains the hand in a predetermined shape to perform the operation. However, continuously applying force for a long time or maintaining the hand in the same shape may become a great burden for the user. Furthermore, it is assumed that there are many different users using the operating terminal, and the above burden becomes significant when performing operations according to the specifications (required force) of the enabling switch. "This is the background / technical problem, etc.

[0262] Feature A1. A robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0263] A safety switch (enabling switch 49) includes a safety operating portion (operating member 57) and a detection portion (force sensor 59), wherein the safety operating portion is pressed by a user and the detection portion detects the pressing force applied to the safety operating portion.

[0264] The robot operation terminal allows the industrial robot to move when the pressing force detected by the detection unit is within a predetermined range, and does not allow the industrial robot to move when the pressing force detected by the detection unit is less than the predetermined range or greater than the predetermined range.

[0265] According to the structure shown in this feature, the action of the industrial robot is allowed when the pressing force detected by the detection unit is within a predetermined range, and the action of the industrial robot is not allowed when the pressing force detected is less than the predetermined range or greater than the predetermined range. If it is configured in this way, for example, when the user suddenly presses the safety operation unit with force by clenching his hand while manually operating the robot, the action of the robot is not allowed. This is preferable in terms of improving the safety of the industrial robot.

[0266] Here, in the case of a contact structure (fixed contact and movable contact) like a conventional safety switch, a force is required to maintain the contacts in contact with each other, and the force required for a stable contact state may become larger. In this regard, as shown in this feature, according to the structure for detecting the pressing force, a contact structure as described above is not required, and a force is not required to maintain the contacts in contact with each other. Therefore, the pressing force required to allow the robot to move can be smaller than before, which can reduce the pressing force required of the user (the lower limit of the above-mentioned predetermined range). This is also preferred in terms of reducing the burden on the user when maintaining a state that allows the industrial robot to move.

[0267] Feature A2. The robot operation terminal according to Feature A1 includes a changing unit (for example, a function of executing setting change processing by the CPU 62) that changes the predetermined range based on a change operation by a user.

[0268] In order to maintain the state of allowing the action of the industrial robot, the pressing force applied to the safety operation part needs to stay within the predetermined range, and the magnitude of the pressing force that is easy to maintain constant may be different for each user. In other words, if the deviation between the set predetermined range and the user's pressing force that is easy to maintain constant becomes larger, the burden on the user may become larger. In this regard, as shown in this feature, it is effective to configure the user to be able to change the above-mentioned predetermined range as the basis for permission in order to reduce the burden on the user.

[0269] Feature A3. The robot operation terminal according to Feature A2, wherein the changing unit is capable of changing at least the lower limit of the predetermined range (the threshold value on the lower limit side) and the upper limit (the threshold value on the upper limit side).

[0270] In order to reduce the burden on the user's fingers, it is preferred to lower the lower limit of the predetermined range. On the other hand, if the following situation is envisioned, it is considered that it is sometimes preferable to slightly increase the lower limit of the predetermined range. That is, when it is desired to prevent the robot from moving while holding the robot operation terminal, it is not preferred to cause the industrial robot to move by accidentally touching the safety operation part. It may be a burden for the user to be careful to prevent such a phenomenon from occurring. Therefore, in order to reduce the possibility of these undesirable actions, it is effective to set the lower limit of the predetermined range slightly higher. According to these situations, it is technically meaningful to change the lower limit of the predetermined range.

[0271] Feature A4. The robot operation terminal according to Feature A3, wherein a range in which a lower limit of the predetermined range can be changed by the changing unit is limited.

[0272] If the lower limit of the predetermined range is set too low, it may become a major cause of malfunction of the safety switch. In addition, if the lower limit is set too high by mistake, there is a concern that the effect of reducing the burden on the user may not be well exerted. In view of such a situation, when the technical idea shown in feature A3 is concretized, as shown in this feature, it is preferable to limit the range in which the lower limit can be changed.

[0273] Feature A5. The robot operation terminal according to Feature A2, wherein the changing unit is capable of changing at least the upper limit of the predetermined range (the threshold value on the lower limit side) and the upper limit (the threshold value on the upper limit side).

[0274] As shown in feature A1, it is preferable to configure the robot to not allow the robot to move (cancel the permission) when the safety operation part is suddenly pressed with force in order to improve safety. Here, although it is preferable to lower the upper limit of the predetermined range to a certain extent in order to improve safety, if the upper limit becomes lower, there is a concern that it will become unallowable with just a little force, and the working efficiency is likely to decrease. In this way, the effect of reducing the burden on the user cannot be well exerted. In view of these circumstances, it is technically meaningful to make the upper limit of the predetermined range a change object.

[0275] Feature A6. The robot operation terminal according to Feature A5, wherein a range in which the upper limit of the predetermined range can be changed by the changing unit is limited.

[0276] The upper limit of the predetermined range is set too low, which is the main reason for the increased chance of unintentional disapproval. In addition, if the upper limit is set too high, there is a concern that the effect of improving safety cannot be well exerted. Based on such a situation, when the technical idea shown in feature A5 is concretized, as shown in this feature, it is preferable to limit the range in which the upper limit can be changed.

[0277] Feature A7. The robot operation terminal according to any one of Features A2 to A6, wherein the changing unit is capable of changing a lower limit (a threshold value on the lower limit side) and an upper limit (a threshold value on the upper limit side) of the predetermined range, respectively.

[0278] As shown in this feature, by being able to change the upper limit and the lower limit of the predetermined range separately, a practically preferable structure can be realized.

[0279] Feature A8. The robot operation terminal according to any one of Features A2 to A7, comprising: a storage unit (a library of RAM 64) that stores the changed predetermined range in correspondence with the user based on the change operation; and

[0280] a determination unit (a function of the CPU 62 executing the process of step S302 in the automatic change process) for determining a user who uses the robot operation terminal,

[0281] The changing unit has a function of changing the predetermined range to a range corresponding to the user specified by the specifying unit.

[0282] It is not preferable to change the predetermined range every time the robot operation terminal is used in terms of improving work efficiency. Therefore, as shown in this feature, reducing the user's workload by being able to reflect past change results helps improve work efficiency. This is preferable in terms of reducing the user's burden and improving work efficiency.

[0283] Feature A9. The robot operation terminal according to Feature A8 has a teaching unit (a function of executing the processing of step S305 in the automatic change processing through CPU 62), which teaches the user the change of the predetermined range when the user determined by the determination unit is a user who uses the robot operation terminal for the first time.

[0284] As shown in this feature, by configuring so as to teach the change of the predetermined range at the time of the first use, it is possible to suppress the change function from not being used well.

[0285] Feature A10. An operating terminal for a robot according to any one of Features A2 to A9, wherein the changing unit has the following function: when a predetermined change condition is met when the safety operating unit is pressed by a user, the predetermined range is changed according to the current pressing force value detected by the detecting unit.

[0286] According to the configuration shown in this feature, the predetermined range is determined based on the actual operational feeling, so the chances of resetting the range and the like can be reduced.

[0287] Feature A11. An operating terminal for a robot according to any one of Features A2 to A10, wherein the changing unit has the following function: when a predetermined change condition is met, a lower limit (threshold on the lower limit side) and an upper limit (threshold on the upper limit side) of the predetermined range are calculated based on the current pressing force value detected by the detection unit.

[0288] By configuring the threshold value to be calculated based on the actually calculated pressing force, it is possible to appropriately suppress the result of changing the predetermined range from deviating from the user's preference.

[0289] Feature A12. In the robot operation terminal according to Feature A10 or Feature A11, the fact that the current pressing force value detected by the detection unit is greater than a predetermined value is one of the requirements for the predetermined change condition to be satisfied.

[0290] If the setting of the predetermined range is changed when the pressing force is too small, the following undesirable situation may occur easily. That is, although the user does not press the operation part, it is mistakenly judged that it is within the predetermined range, and the robot may be allowed to move by mistake. Therefore, as shown in this feature, by setting the lower limit of the pressing force when setting the predetermined range, the above-mentioned undesirable situation can be prevented from occurring.

[0291] Feature A13. The robot operation terminal according to any one of Features A2 to A12, comprising a first detection unit and a second detection unit as the detection unit,

[0292] The robot operation terminal allows the industrial robot to move when the pressing forces detected by the first detection unit and the second detection unit are within the predetermined range, and does not allow the industrial robot to move when at least one of the pressing forces detected by the first detection unit and the second detection unit is outside the predetermined range.

[0293] As shown in this feature, if the first detection unit and the second detection unit are used together, the chance of erroneous permission due to a malfunction of the detection unit, noise, etc. can be reduced.

[0294] Feature A14. The robot operation terminal according to any one of Features A2 to A9, comprising a first detection unit and a second detection unit as the detection unit,

[0295] As the predetermined range, a first predetermined range corresponding to the pressing force detected by the first detection unit and a second predetermined range corresponding to the pressing force detected by the second detection unit are provided.

[0296] The robot operation terminal allows the industrial robot to move when the pressing force detected by the first detection unit is within the first predetermined range and the pressing force detected by the second detection unit is within the second predetermined range, and does not allow the industrial robot to move when the pressing force detected by the first detection unit is outside the first predetermined range or the pressing force detected by the second detection unit is outside the second predetermined range.

[0297] The changing unit has the following functions: when a predetermined change condition is met when the safety operation unit is pressed by a user, the first predetermined range is changed based on the current pressing force value detected by the first detection unit, and the second predetermined range is changed based on the current pressing force value detected by the second detection unit.

[0298] As shown in this feature, if the first detection unit and the second detection unit are used together, the chance of erroneous permission due to failure of the detection unit, noise, etc. can be reduced. However, when the same predetermined range is used as a reference, the actual predetermined range may be narrower than the setting due to the influence of individual differences, degradation, etc. of the detection unit. The substantial narrowing of the predetermined range may become the main reason for difficulty in maintaining the state of allowing the robot's movement. Therefore, as shown in this feature, by using the first predetermined range for the first detection unit and the second predetermined range for the second detection unit together, and changing these first predetermined range and second predetermined range through the user's change operation, the above-mentioned concerns can be eliminated.

[0299] Feature A15. The robot operation terminal according to any one of Features A2 to A14, further comprising a restriction unit that restricts the change unit from changing the predetermined range when the action of the industrial robot is permitted.

[0300] When the predetermined range is suddenly changed while the user operates in such a way that the pressing force converges within the predetermined range, the actual pressing force may deviate from the changed predetermined range, and the industrial robot may stop. This not only becomes a major cause of confusion for the user, but is also not preferable in terms of improving safety. Therefore, as shown in this feature, it is technically significant to limit the change of the predetermined range during the operation of the industrial robot to avoid the change of the predetermined range due to misoperation or misoperation.

[0301] Furthermore, the structure shown in this feature may be set as "a robot operation terminal including a restriction unit that restricts the change unit from changing the predetermined range at least during the operation of the industrial robot."

[0302] Feature A16. The robot operation terminal according to any one of Features A1 to A15 includes a variable resistance unit that makes it possible to change the resistance generated when the user presses the safety operation unit based on a change operation by the user.

[0303] As shown in this feature, if the resistance is configured to be variable according to the user's preference, the pressing position can be made variable when the operation is performed so that the pressing force is within a predetermined range. For example, the pressing force can be adjusted within the predetermined range by slightly pressing, or the pressing force can be adjusted within the predetermined range by pressing with some force.

[0304] Feature A17. The robot operation terminal according to any one of Features A1 to A16 is provided with a stroke changing unit, which changes the stroke of the safety operation unit, and the stroke is the stroke when the pressing force detected by the detection unit is within the predetermined range when the user presses the safety operation unit.

[0305] As shown in this feature, if the stroke amount can be changed according to the user's preference, it can contribute to reducing the burden on the user.

[0306] Feature A18. A robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0307] A safety switch (enabling switch 49) includes a safety operating portion (operating member 57) and a detection portion (force sensor 59), wherein the safety operating portion is pressed by a user and the detection portion detects the pressing force applied to the safety operating portion.

[0308] The robot operation terminal is configured to allow the industrial robot to move when the pressing force detected by the detection unit is within a predetermined range (reference range), and not to allow the industrial robot to move when the pressing force detected by the detection unit is less than the predetermined range or greater than the predetermined range.

[0309] The robot operation terminal further includes a resistance variable unit that varies the magnitude of resistance generated when the user performs a pressing operation on the safety operation unit based on a change operation by the user.

[0310] As shown in this feature, if the resistance is configured to be variable according to the user's preference, the pressing position can be made variable when the operation is performed so that the pressing force is within a predetermined range. For example, the pressing force can be adjusted within the predetermined range by slightly pressing, or the pressing force can be adjusted within the predetermined range by pressing with some force.

[0311] Feature A19. A robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0312] A safety switch (enabling switch 49) includes a safety operating portion (operating member 57) and a detection portion (force sensor 59), wherein the safety operating portion is pressed by a user and the detection portion detects the pressing force applied to the safety operating portion.

[0313] The robot operation terminal allows the industrial robot to move when the pressing force detected by the detection unit is within a predetermined range (reference range), and does not allow the industrial robot to move when the pressing force detected by the detection unit is less than the predetermined range or greater than the predetermined range.

[0314] The robot operation terminal further includes a stroke changing unit that changes a stroke of the safety operation unit, the stroke being a stroke in which the pressing force is within the predetermined range when a user performs a pressing operation on the safety operation unit.

[0315] As shown in this feature, if the stroke amount can be changed according to the user's preference, it can contribute to reducing the burden on the user.

[0316] Feature A20. A safety switch (enabling switch 49), which is used in a robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0317] A safety operation portion (operating member 57) which is pressed by a user; and

[0318] a detection unit (force sensor 59) for detecting a pressing force applied to the safety operation unit,

[0319] The safety switch allows the industrial robot to move when the pressing force detected by the detection unit is within a predetermined range (reference range), and does not allow the industrial robot to move when the pressing force detected by the detection unit is smaller than the predetermined range or larger than the predetermined range.

[0320] According to the structure shown in this feature, the action of the industrial robot is allowed when the pressing force detected by the detection unit is within a predetermined range, and the action of the industrial robot is not allowed when the pressing force detected is less than the predetermined range or greater than the predetermined range. If it is configured in this way, for example, when the user suddenly presses the safety operation unit with force by clenching his hand while manually operating the robot, the action of the robot is not allowed. This is preferable in terms of improving the safety of the industrial robot.

[0321] Here, in the case of a contact structure (fixed contact and movable contact) like a conventional safety switch, a force is required to maintain the contacts in contact with each other, and the force required for a stable contact state may become larger. In this regard, as shown in this feature, according to the structure for detecting the pressing force, a contact structure as described above is not required, and a force is not required to maintain the contacts in contact with each other. Therefore, the pressing force required to allow the robot to move can be smaller than before, which can reduce the pressing force required of the user (the lower limit of the above-mentioned predetermined range). This is also preferred in terms of reducing the burden on the user when maintaining a state that allows the industrial robot to move.

[0322] Feature A21. A safety switch (enabling switch 49), which is used in a robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0323] A safety operation portion (operating member 57) which is pressed by a user; and

[0324] a detection unit (force sensor 59) for detecting a pressing force applied to the safety operation unit,

[0325] The safety switch allows or does not allow the industrial robot to move according to the magnitude of the pressing force detected by the detection unit.

[0326] The safety switch further includes a changing unit that changes a value (reference range) of a pressing force that is a reference for allowing an operation of the industrial robot based on a change operation by a user.

[0327] In order to maintain the state of allowing the action of the industrial robot, the pressing force applied to the safety operation part needs to stay within the predetermined range, and the magnitude of the pressing force that is easy to maintain constant may be different for each user. In other words, if the deviation between the set predetermined range and the user's pressing force that is easy to maintain constant becomes larger, the burden on the user may become larger. In this regard, as shown in this feature, it is effective to configure the user to be able to change the above-mentioned predetermined range as the basis for permission in order to reduce the burden on the user.

[0328] <Feature Group B> Rotary

[0329] Hereinafter, a description will be mainly given of a feature group B which is a technical idea extracted from the third embodiment, the fourth embodiment, and their modified examples and the like.

[0330] The following feature group B is aimed at the background technology of "In an operation terminal such as a teaching pendant for operating an industrial robot, an enabling switch is sometimes installed for the purpose of improving safety during manual operation. The enabling switch is a safety switch for enabling or disabling manual operation of the robot. In recent years, as such a switch, a switch has been proposed that enables manual operation of the robot when the operating member is slightly pressed in (i.e., when pressed in to the middle position), and disables manual operation when pressed in with force (for example, refer to patent document 1)." This is completed in view of the background / technical problem of "Here, in order to maintain the state of manual operation being enabled, the operating member needs to be kept in the middle position, and in order to prevent the force of the finger operating the operating member from becoming too weak or too strong, a constant force needs to be applied continuously at all times. In fact, even if attention is paid to the applied force, the force will fluctuate to a certain extent. Therefore, sometimes the operation is performed by a method in which the user pays attention to the shape of the hand (fingers) and maintains the hand in a predetermined shape. However, continuously applying force for a long time or maintaining the hand in the same shape may become a heavy burden for the user. There is a concern that this will become a major cause of reduced efficiency in operations using the operation terminal."

[0331] Feature B1. A robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0332] A safety switch (enabling switch 49B) having a rotating safety operating part (operating disk 81, etc.) and a detection part (sensor unit 82) capable of detecting that the rotational position of the safety operating part is at an intermediate position within the rotational range of the safety operating part, i.e., a predetermined rotational position (second position PS2),

[0333] The robot operation terminal is configured to allow the industrial robot to move when the rotation position of the safety operation unit is at the predetermined rotation position, and not to allow the industrial robot to move when the rotation position is not at the predetermined rotation position.

[0334] A finger placement portion (finger placement portion 92 ) is provided around the safety operation portion, on which a user can place a finger operating the safety operation portion while the safety operation portion is rotated to the predetermined rotation position.

[0335] In the robot operation terminal shown in this feature, by placing the finger that is operating the safety operation part on the finger placement part provided on the periphery of the safety operation part, the finger can be brought into contact with both the safety operation part and the finger placement part. According to such a structure, the finger placement part can help maintain the position and shape of the finger that is operating the safety operation part constant, and can suppress the reliance on the force of the finger when the safety operation part is stopped at a predetermined rotational position. For example, the finger position in the axial direction is not easily deviated by having the fingertips etc. pressed against the finger placement part in advance (stop function), and the finger position in the track direction is not easily deviated by having the friction generated by the fingertips etc. pressed against the finger placement part as resistance (resistance generating function). By reducing the burden on the user (fingers) in this way, it is easy to maintain a state that allows the action of the industrial robot.

[0336] In addition, the structure shown in this feature can also be made into "a robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11) comprising: a safety switch (enabling switch 49B), which has a safety operation part (operation panel 81, etc.) and a detection part (sensor unit 82), the safety operation part can rotate around an axis (axis CL1) extending in a direction intersecting the front surface of the robot operation terminal, the detection part can detect that the rotation position of the safety operation part is in the middle position within the rotation range of the safety operation part, that is, the predetermined rotation position (second position PS2), the robot operation terminal is configured to allow the movement of the industrial robot when the rotation position of the safety operation part is in the predetermined rotation position, and not allow the movement of the industrial robot when it is not in the predetermined rotation position, and a finger placement part (finger placement part 92) is provided around the safety operation part, which can place the fingers operating the safety operation part while the user keeps the safety operation part turned to the predetermined rotation position.".

[0337] Feature B2. The robot operation terminal according to feature B1, wherein the safety operation portion has an operation surface (side wall portion 81a) that is annular centered on the rotation center axis (axis CL1) of the safety operation portion and parallel to the rotation center axis,

[0338] The finger placement portion is planar and faces a direction different from that of the operation surface portion.

[0339] According to the structure shown in this feature, for example, the tip of the finger can be brought into contact with the operation surface and the front end of the finger can be brought into contact with the finger placement portion, or the tip of the finger can be brought into contact with the operation surface and the side of the finger can be brought into contact with the finger placement portion. In this way, if the contact portion with the operation surface and the finger placement portion can be concentrated on the fingertip side, the load on the finger when the safety operation portion is maintained at a predetermined rotation position can be more appropriately reduced.

[0340] Feature B3 (Sliding). A robot operation terminal according to feature B1 or feature B2, wherein the finger placement portion is formed so that when the safety operation portion is rotated from the predetermined rotation position to the other rotation position, the finger operating the safety operation portion can slide on the finger placement portion.

[0341] According to the structure shown in this feature, when the user wants to move his hand suddenly (to move in the direction of rotation), the finger operating the safety operation part slides on the finger placement part, which can inhibit the finger placement part from preventing the rotation of the safety operation part. This is preferable in terms of reducing the time lag when the industrial robot is not allowed to move.

[0342] Feature B4 (Sliding). In the robot operation terminal according to feature B1 or feature B2, the finger placement portion is in the form of a flat surface and is formed to surround the safety operation portion when the safety operation portion is viewed from the front.

[0343] According to the structure shown in this feature, when the user wants to move his hand suddenly (to move in the direction of rotation), the finger operating the safety operation part slides on the finger placement part, which can inhibit the finger placement part from preventing the rotation of the safety operation part. This is preferable in terms of reducing the time lag when the industrial robot is not allowed to move.

[0344] Feature B5 (bidirectional rotation). The robot operation terminal according to any one of features B1 to B4, wherein a first rotation position and a second rotation position are provided as the predetermined rotation position,

[0345] The safety operation unit is configured to be in a standby state at a rotation position between the first rotation position and the second rotation position when a user does not perform a rotation operation.

[0346] For the safety operating part, by rotating the safety operating part in the first direction when in the standby state, the rotation position of the safety operating part can be made the first rotation position, and by rotating the safety operating part in the second direction when in the standby state, the rotation position of the safety operating part can be made the second rotation position.

[0347] The safety operation unit shown in this feature can be turned in either the first direction or the second direction to allow the industrial robot to move. This is preferable in terms of improving user convenience.

[0348] Feature B6 (Restriction). An operating terminal for a robot according to feature B5, wherein the rotation range of the safety operating part is limited to not reaching the second rotation position when rotating from the first rotation position to the first direction, and not reaching the first rotation position when rotating from the second rotation position to the second direction.

[0349] The safety switch does not allow the industrial robot to move regardless of whether it is rotated from a predetermined rotation position (first rotation position, second rotation position) to either the first direction or the second direction, thereby improving safety. Here, as shown in feature B5, in a structure that allows rotation in both the first direction and the second direction, by limiting the rotation from the first rotation position to the first direction so as not to reach the second rotation position, and by limiting the rotation from the second rotation position to the second direction so as not to reach the first rotation position, it is possible to simply suppress the phenomenon that the industrial robot is allowed to move again when the user suddenly turns the safety operating part, by accidentally changing from the first rotation position to the second rotation position, or changing from the second rotation position to the first rotation position.

[0350] Feature B7 (hand strap). The robot operation terminal according to any one of features B1 to B6, wherein the safety operation portion and the finger placement portion are provided on the back side of the robot operation terminal,

[0351] The robot operation terminal is provided with a mounting portion (hand strap 44) for mounting the robot operation terminal on a hand that is operating the safety operation portion.

[0352] When a rotating safety operation unit provided on the back of the robot operation terminal is clamped with fingers, it is difficult to hold the robot operation terminal in a stable posture even if the robot operation terminal can be supported by the hand. As a result, it may be difficult to keep the safety operation unit at a predetermined rotation position. Therefore, by providing a mounting unit for mounting the robot operation terminal on the hand operating the safety operation unit (for example, a unit configured to be clamped between the back of the robot operation terminal and a belt, etc.), it is easy to keep the safety operation unit at a predetermined rotation position.

[0353] Feature B8 (side). A robot operation terminal according to any one of features B1 to B6, wherein the safety operation portion is arranged in a manner such that a portion of the safety operation portion protrudes from a side surface (side surface portion 42cC) of the robot operation terminal,

[0354] The finger placement portion is formed on the side surface portion at a position aligned with the safety operation portion in the thickness direction of the robot operation terminal.

[0355] According to the structure shown in this feature, by placing the finger on the safety operation part and the finger placement part, the burden on the finger when holding the safety operation part at a predetermined rotation position can be reduced.

[0356] Feature B9 (side). A robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0357] A safety switch (enabling switch 49C) having a rotating safety operating portion (operating disk 81C) and a detection portion (sensor unit 82C) capable of detecting that the rotational position of the safety operating portion is at an intermediate position within the rotational range of the safety operating portion, i.e., a predetermined rotational position (second position PS2),

[0358] The robot operation terminal is configured to allow the industrial robot to move when the rotation position of the safety operation unit is at the predetermined rotation position, and not to allow the industrial robot to move when the rotation position is not at the predetermined rotation position.

[0359] A gripping portion (gripping portion 43C) for a user to grip is formed at the end of the robot operation terminal.

[0360] The safety operating portion is disposed at a position where a portion of the safety operating portion protrudes from the end portion and is covered by a hand that is holding the holding portion.

[0361] In the robot operation terminal shown in this feature, a safety operation part is protrudingly provided at a position covered by the hand holding the grip part. By making the hand holding the grip part press against the safety operation part, the safety operation part can be maintained at a predetermined rotation position. At this time, the movement of the safety operation part can be prevented by the friction generated between the holding hand and the safety operation part, and there is no need for slight increase or decrease in force. This is preferable in terms of reducing the burden on the user.

[0362] Feature B10. The robot operation terminal device according to feature B9, wherein the grip portion is formed so as to straddle the front portion, the side portion, and the back portion of the robot operation terminal.

[0363] The safety operation portion is disposed on the side portion.

[0364] According to the structure shown in this feature, the palm holding the grip portion can be pressed against the safety operating portion to maintain a predetermined rotation angle, thereby reducing the fatigue of the user's fingers compared to the case where the safety operating portion is maintained at a predetermined rotation angle using fingers.

[0365] Feature B11. The robot operation terminal according to feature B10, wherein the grip portion has a finger hook portion (side wall portion 52 of the bulging portion 51) provided on the back side of the robot operation terminal,

[0366] The safety operation portion can be pressed in such a way that the amount of protrusion from the side portion becomes smaller,

[0367] The robot operation terminal is configured to not allow the industrial robot to operate when the safety operation portion is pressed.

[0368] When the hand is suddenly clenched in a state where the front end of the finger is hooked on the finger hook part, the palm is likely to press on the side part. When such a hand movement occurs, the safety operation part is pressed by the palm, and the movement of the industrial robot is not allowed by pressing the safety operation part. If it is configured in this way, the burden of maintaining the safety operation part at a predetermined rotation angle can be reduced, and at the same time, it helps to improve the safety of the industrial robot.

[0369] Feature B12 (optical sensor). The robot operation terminal according to any one of features B1 to B11, wherein a light sensor having a light emitting portion (light emitting portion 83) and a light receiving portion (light receiving portion 84) is provided as the detection portion,

[0370] The robot operation terminal is configured such that a light receiving state of the light receiving unit differs between when the rotation position of the safety operation unit is at the predetermined rotation position and when the rotation position is at another rotation position.

[0371] As shown in this feature, if the optical sensor is used to detect the rotation position, a contact structure (fixed contact, movable contact) is not required, and even when the robot operation terminal is repeatedly used, the chance of failure and malfunction of the safety switch caused by wear can be reduced. In addition, since there is no contact structure, it is not necessary to rely on the user to provide a force to maintain the contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state that allows the operation of the industrial robot.

[0372] Feature B13 (Reflector). The robot operation terminal according to feature B12 comprises: a reflector (reflector 87) which is in a circular ring shape with the rotation center axis (axis CL1) of the safety operation part as the center, and rotates together with the safety operation part according to the user's rotation operation,

[0373] The reflector has a first portion and a second portion formed in a manner arranged in a rotation direction, wherein the first portion reflects light from the light emitting portion toward the light receiving portion, and the second portion does not reflect light from the light emitting portion or reflects light from the light emitting portion toward a position different from the light receiving portion.

[0374] The robot operation terminal is configured such that, when the rotation position of the safety operation part is at the predetermined rotation position, one of the first part and the second part is located on the optical path of the light from the light emitting part; and when the rotation position of the safety operation part is at a rotation position other than the predetermined rotation position, the other of the first part and the second part is located on the optical path of the light from the light emitting part.

[0375] According to the structure shown in this feature, the reflector rotates according to the rotation operation of the user, so that the part of the reflector illuminated by the light from the light emitting unit switches between the first part and the second part. As a result, the light receiving state of the light receiving unit can be differentiated.

[0376] Feature B14 (two light sensors). A robot operation terminal according to any one of Features B1 to B11, wherein a first light sensor (first light sensor 82aD) and a second light sensor (second light sensor 82bD) are provided as the detection unit, the first light sensor having a first light emitting unit (first light emitting unit 83) and a first light receiving unit (first light receiving unit 84) irradiated with light from the first light emitting unit, and the second light sensor having a second light emitting unit (second light emitting unit 85) and a second light receiving unit (second light receiving unit 86) irradiated with light from the second light emitting unit,

[0377] When the rotation position of the safety operating part is at the predetermined rotation position, the light receiving state of the first light receiving part and the second light receiving part is a predetermined state (low level),

[0378] The robot operation terminal is configured to allow the industrial robot to move when the light receiving states of the first light receiving part and the second light receiving part are both in the predetermined state, and not to allow the industrial robot to move when at least one of the light receiving states of the first light receiving part and the second light receiving part is not in the predetermined state.

[0379] As shown in this feature, if the optical sensor is used to detect the rotation position, a contact structure (fixed contact, movable contact) is not required, and even when the robot operation terminal is repeatedly used, the chance of failure and malfunction of the safety switch caused by wear can be reduced. In addition, since there is no contact structure, it is not necessary to rely on the user to provide a force to maintain the contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state that allows the operation of the industrial robot.

[0380] In addition, when the light receiving states of the first light receiving unit and the second light receiving unit are both in the predetermined state, the industrial robot is allowed to move, and when at least one of the light receiving states of the first light receiving unit and the second light receiving unit is not in the predetermined state, the industrial robot is not allowed to move. If configured in this way, it is possible to prevent the occurrence of an undesirable situation in which the industrial robot is mistakenly moved in a situation in which it should not normally be moved.

[0381] Feature B15 (Optical sensor reversed). The robot operation terminal according to feature B14, wherein the first optical sensor and the second optical sensor are arranged in a reversed manner to each other.

[0382] According to the configuration shown in this feature, even when a plurality of optical sensors are used together, mutual interference between the first optical sensor and the second optical sensor can be suppressed.

[0383] Feature B16 (Configuration sandwiching optical axis). In the robot operation terminal according to feature B15, the first optical sensor and the second optical sensor are configured so as to sandwich the rotation center axis (axis CL1) of the safety operation portion.

[0384] According to the structure shown in this feature, it is possible to contribute to the miniaturization of the safety switch. In addition, redundancy can be ensured by making the light receiving states of the two light sensors (light receiving parts) consistent. If it is constructed in this way, it is possible to simply grasp the possible sensor failure according to the different light receiving states.

[0385] Feature B17 (independent claim for safety switch). A safety switch (enabling switch 49B), which is used in a robot operation terminal (operation terminal 15B) for operating an industrial robot (robot 11), having:

[0386] Rotating safety operating unit (operating panel 81); and

[0387] a detection unit (sensor unit 82) capable of detecting that the rotational position of the safety operating unit is at a middle position within the rotational range of the safety operating unit, that is, a predetermined rotational position (second position PS2),

[0388] The safety switch is configured to allow the industrial robot to move when the rotation position of the safety operating part is at the predetermined rotation position, and not to allow the industrial robot to move when the rotation position is not at the predetermined rotation position.

[0389] A finger placement portion (finger placement portion 92) is provided around the safety operation portion, on which a finger of a user operating the safety operation portion can be placed when the user keeps rotating the safety operation portion to the predetermined rotation position.

[0390] In the structure shown in this feature, by placing the finger that is operating the safety operation part on the finger placement part provided on the periphery of the safety operation part, the finger can be brought into contact with both the safety operation part and the finger placement part. That is, it is possible to suppress the reliance on the force of the finger when the position and shape of the finger that is operating the safety operation part are maintained constant by using the finger placement part as an aid. For example, the finger position in the axial direction is not easily deviated by having the fingertip etc. press against the finger placement part in advance (stop function), and the finger position in the track direction is not easily deviated by having the friction generated by having the fingertip etc. press against the finger placement part as resistance (resistance generating function). In this way, by reducing the burden on the user (fingers), it is easy to maintain a state that allows the industrial robot to move.

[0391] In addition, the structure shown in this feature can also be set as "a safety switch (enabling switch 49C), which is used in a robot operation terminal (operation terminal 15C) for operating an industrial robot (robot 11), and has: a rotating safety operation part (operation panel 81C); and a detection part (sensor unit 82C), which can detect that the rotation position of the safety operation part is in the middle position within the rotation range of the safety operation part, that is, the predetermined rotation position (second position PS2), and the safety switch is configured to allow the movement of the industrial robot when the rotation position of the safety operation part is in the predetermined rotation position, and not to allow the movement of the industrial robot when it is not in the predetermined rotation position, and a grip for a user to hold is formed at the end of the robot operation terminal, and the safety operation part is arranged at a position where a part of the safety operation part protrudes from the end and is covered by the hand holding the grip.".

[0392] Furthermore, the technical ideas shown in the above-mentioned features B1 to B16 can also be applied to feature B17.

[0393] <Feature Group C> Plug-in

[0394] Hereinafter, a description will be mainly given of a feature group C which is a technical idea extracted from the fifth embodiment, the sixth embodiment, and their modified examples and the like.

[0395] The following feature group C is designed in response to the background technology that "In an operation terminal such as a teaching pendant for operating an industrial robot, an enabling switch is sometimes installed for the purpose of improving safety during manual operation. The enabling switch is a safety switch for enabling or disabling manual operation of the robot. In recent years, as such a switch, a switch has been proposed that enables manual operation of the robot when the operating member is slightly pressed (i.e., when pressed to the middle position), and disables manual operation when pressed with force (for example, refer to patent document 1)." This is completed in view of the background / technical problem that "Here, in order to maintain the state of manual operation being enabled, the operating member needs to be maintained at the middle position, and in order to prevent the force of the finger operating the operating member from becoming too weak or too strong, a constant force needs to be applied continuously at all times. In fact, even if attention is paid to the applied force, the force will fluctuate to a certain extent. Therefore, sometimes the operation is performed by a method in which the user pays attention to the shape of the hand (fingers) and maintains the hand in a predetermined shape. However, continuously applying force for a long time or maintaining the hand in the same shape may become a heavy burden for the user. There is a concern that this will become a major cause of reduced efficiency in operations using the operation terminal."

[0396] Feature C1. A robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), comprising:

[0397] A safety switch (enabling switch 49H) having an insertion portion (insertion portion 101) into which a finger can be inserted and a detection portion (sensor unit 111) that detects an insertion position of a finger inserted into the insertion portion,

[0398] The robot operation terminal allows the industrial robot to move when the insertion position detected by the detection unit is at a predetermined position (first insertion position), and does not allow the industrial robot to move when a finger is not inserted into the insertion unit or the insertion position detected by the detection unit is not at the predetermined position.

[0399] The industrial robot is allowed to move by inserting a finger into the insertion portion and keeping the finger at a predetermined position. With this configuration, there is no need to take measures such as continuously applying force to overcome the force of a spring or the like or maintaining the shape of the finger in a constant shape as in the conventional safety switch. That is, it is possible to suppress the burden on the user's finger from increasing when the state of allowing the movement is maintained. This is preferable in terms of reducing user fatigue and improving work efficiency.

[0400] In addition, it is assumed that the user will release or clench his hand in a reflex action when encountering an unexpected dangerous situation. According to the safety switch shown in this feature, through these reflex actions, the position of the finger is shifted to the entrance side or the inner side of the insertion part, so that the insertion position of the finger deviates from the predetermined position, etc., and the action of the industrial robot is not allowed.

[0401] For the reasons described above, it is possible to contribute to improvement of safety and reduction of burden on the user when using the robot operation terminal.

[0402] Feature C2 (Fingers of the holding hand). The robot operation terminal according to feature C1, wherein the insertion portion is provided at a position where at least any one of the fingers of the hand holding the robot operation terminal can be inserted.

[0403] As shown in this feature, by designing the position of the insertion portion, the user can maintain the state of allowing the operation of the industrial robot with the fingers of the hand holding the robot operation terminal. This is preferable in terms of improving the convenience of the user.

[0404] Feature C3 (provided in conjunction with a gripping portion). According to the robot operation terminal according to feature C1, a gripping portion (gripping portion 43) for a user to grip is provided at the end of the robot operation terminal,

[0405] The insertion portion is formed at a position where at least any one of the fingers of a hand holding the grip portion can be inserted.

[0406] As shown in feature C1, in a structure in which the operation is allowed by stopping the finger at a predetermined position, the finger inserted into the insertion portion does not need to exert any special force. That is, the structure does not require a force for holding the operation terminal and a force for maintaining the operation allowed state. Therefore, even if the holding portion and the insertion portion are provided in parallel, it is possible to suppress excessive burden on the holding hand.

[0407] Feature C4 (orientation). The robot operation terminal according to any one of Features C1 to C3, wherein the insertion portion is linear.

[0408] As shown in this feature, by setting the insertion portion to a straight structure, when the user wants to pull out the finger suddenly, the finger can be appropriately prevented from being caught in the insertion portion. This is preferable in terms of quickly switching from a state in which operation is allowed to a state in which operation is not allowed.

[0409] Feature C5 (Orientation). The robot operation terminal according to any one of Features C1 to C3, wherein the insertion portion is provided at one of a front surface portion and a back surface portion of the robot operation terminal and extends in parallel with the one.

[0410] As shown in this feature, by making the insertion portion parallel to the face (front or back) of the robot operation terminal, bending of the inserted finger can be suppressed, and when the user wants to suddenly pull out the finger, the finger can be appropriately prevented from being stuck in the insertion portion. In addition, the finger can be pulled out by moving the hand along the face, so that the movement of the hand and finger during the pull-out can be suppressed from becoming complicated.

[0411] Feature C6 (Orientation). The robot operation terminal according to feature C5, wherein the insertion portion is disposed toward one of the left end portion and the right end portion of the robot operation terminal,

[0412] An inlet portion (inlet 101a) of the insertion portion is oriented toward the one end side.

[0413] According to the structure shown in this feature, any finger can be inserted into the insertion portion without difficulty while holding the left end portion and the right end portion of the robot operation terminal.

[0414] Feature C7. The robot operation terminal according to any one of Features C1 to C6, wherein the predetermined position is a position close to an entrance portion of the insertion portion.

[0415] For example, in the case where the insertion amount of the finger increases, the finger needs to be widely spread when inserting the finger so that other fingers do not become obstacles, which may increase the burden on the user. In this regard, as shown in this feature, if the position close to the entrance is set as the target position, the finger can be moved further to the inside and the insertion amount of the finger can be reduced. This can eliminate the above concerns.

[0416] Feature C8 (movable plate). The robot operation terminal according to any one of features C1 to C7, wherein the insertion portion has an opposing portion (housing 102) opposed to the back portion or the front portion of the robot operation terminal with a finger insertion gap (insertion area IS) therebetween,

[0417] The portion of the rear portion or the front portion that forms the insertion gap together with the opposing portion becomes a movable portion (reflector 117K) that can be displaced away from the opposing portion.

[0418] The robot operation terminal is configured such that when a finger inserted into the predetermined position presses the movable portion, the finger deviates from the predetermined position.

[0419] When the user wants to suddenly clench his hand, the movable part is pressed by the inserted finger. The finger pressing the movable part deviates from the predetermined position, and the state is switched to a state where the movement is not allowed. This can help improve safety. In addition, when the finger stays at the predetermined position, it is not necessary to press the movable part, so it is possible to avoid increasing the burden on the user due to improved safety.

[0420] Feature C9 (length of movable portion). The robot operation terminal according to feature C8, wherein the movable portion extends outward from an entrance portion of the insertion portion.

[0421] As shown in this feature, if the movable part is configured to extend from the entrance part, it is possible to prevent the finger from pressing against the back part or the front part (the peripheral part of the movable part) to prevent the movable part from being pushed in.

[0422] Feature C10 (optical sensor). The robot operation terminal according to any one of Features C1 to C9, wherein the detection unit is an optical sensor having a light emitting unit (light emitting unit 112, 114) and a light receiving unit (light receiving unit 113, 115) irradiated with light from the light emitting unit,

[0423] The robot operation terminal is configured such that the light receiving state of the light receiving unit differs when the insertion position of the finger in the insertion unit is at the predetermined position and when the finger is at another position.

[0424] As shown in this feature, if the optical sensor is used to detect the position of the finger, a contact structure (fixed contact, movable contact) is not required, and even when the robot operation terminal is repeatedly used, the chance of failure and malfunction of the safety switch caused by wear can be reduced. In addition, since there is no contact structure, it is not necessary to rely on the user to provide a force to maintain contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state that allows the operation of the industrial robot.

[0425] Feature C11 (two light sensors). A robot operation terminal according to any one of Features C1 to C9, wherein a first light sensor (first light sensor 111a) and a second light sensor (second light sensor 111b) are provided as the detection unit, the first light sensor having a first light emitting unit (first light emitting unit 112) and a first light receiving unit (first light receiving unit 113) irradiated with light from the first light emitting unit, and the second light sensor having a second light emitting unit (second light emitting unit 114) and a second light receiving unit (second light receiving unit 115) irradiated with light from the second light emitting unit,

[0426] The first optical sensor and the second optical sensor are arranged so that the first optical sensor is located at the entrance side of the insertion portion and the second optical sensor is located at the back side of the insertion portion.

[0427] The optical path from the first light emitting unit to the first light receiving unit and the optical path from the second light emitting unit to the second light receiving unit both cross the insertion path of the finger in the insertion unit.

[0428] When the light receiving states of the first light receiving part and the second light receiving part are both in a predetermined state (high level), the industrial robot is not allowed to move; when the light receiving state of the second light receiving part is the predetermined state and the light receiving state of the first light receiving part has not become the predetermined state, the industrial robot is allowed to move; when the light receiving states of both the first light receiving part and the second light receiving part have not become the predetermined state, the industrial robot is not allowed to move.

[0429] As shown in this feature, if the optical sensor is used to detect the position of the finger, a contact structure (fixed contact, movable contact) is not required, and even when the robot operation terminal is repeatedly used, the chance of failure and malfunction of the safety switch caused by wear can be reduced. In addition, since there is no contact structure, it is not necessary to rely on the user to provide a force to maintain the contact points in contact with each other. This is also preferable in terms of reducing the burden on the user when maintaining a state that allows the operation of the industrial robot.

[0430] In addition, as shown in this feature, if the structure is such that a first light sensor is arranged on the entrance side of the insertion part and a second light sensor is arranged on the inner side, and switching is performed between a state in which the action is allowed and a state in which the action is not allowed according to the light receiving state of each light sensor (light receiving part), the load on the finger can be reduced when the inserted finger is kept at a predetermined position to maintain the state in which the operation is allowed.

[0431] Feature C12 (Movable reflector). The robot operation terminal according to feature C11, wherein a movable portion (reflector 117K) capable of being displaced in the thickness direction of the robot operation terminal is provided on a portion of the inner wall of the insertion portion in the back portion or the front portion of the robot operation terminal,

[0432] The robot operation terminal is configured such that when the movable portion is pushed down by a finger inserted into the insertion portion, the light receiving state of the second light receiving portion becomes a state different from the predetermined state (low level).

[0433] When the user suddenly clenched his hand, the movable part was pressed by the finger and displaced, and the light receiving state of the second light receiving part changed from a predetermined state to a state different from it due to the displacement of the movable part. That is, it can be determined that the above-mentioned clenching occurred based on the light receiving state of the second light receiving part. According to such a design, it can help to realize a structure that does not allow the industrial robot to move in the case of sudden clenching of the hand.

[0434] Feature C13 (sliding type). The robot operation terminal according to feature C12, wherein the movable portion is a reflecting portion that reflects light from the second light emitting portion toward the second light receiving portion,

[0435] The optical axis of the second light emitting portion is inclined with respect to the movable portion.

[0436] According to the structure shown in this feature, when the movable part is pressed by a finger and displaced, the distance from the second light-emitting part to the movable part changes. The optical axis of the second light-emitting part is inclined relative to the movable part, so the optical path changes according to the change of the distance, so that the light receiving state of the second light receiving part can be changed from a predetermined state to another state.

[0437] Feature C14 (rotatable). The robot operation terminal according to feature C12, wherein the movable portion is a reflecting portion that reflects light from the second light-emitting portion toward the second light-receiving portion, and the movable portion is configured so that the inclination changes when a finger inserted into the insertion portion is pressed in.

[0438] The robot operation terminal is configured such that an incident angle and a reflection angle of light from the second light emitting unit to the movable unit are changed by changing the inclination of the movable unit.

[0439] According to the structure shown in this feature, when the movable part is pressed by a finger and the inclination of the movable part changes, the incident angle and reflection angle of the light from the second light-emitting part to the movable part change. As a result, the optical path changes, and the light receiving state of the second light-receiving part can be changed from a predetermined state to another state. In addition, according to the structure shown in this feature, even if the inclination of the movable part is not excessively changed, a significant difference in the optical path can be produced. This is preferred in terms of reducing the operating area of ​​the movable part and saving space for the safety switch.

[0440] Feature C15. The robot operation terminal according to any one of Features C10 to C14, wherein the insertion portion has an opposing portion (housing 102) that opposes the back portion or the front portion of the robot operation terminal with a gap through which a finger can be inserted,

[0441] The optical sensor is provided on the rear side or the front side.

[0442] When inserting a finger into the insertion portion, in order to avoid interference between other fingers and the insertion portion, it is necessary to take measures such as spreading the fingers widely, which will cause a burden on the user and is therefore not preferred. In this regard, as shown in this feature, if a light sensor is arranged on the back or front portion, the width of the insertion portion (the size in the direction orthogonal to the insertion direction) can be reduced as much as possible. If configured in this way, the angle when the fingers are spread can be reduced, which helps to reduce the burden on the user.

[0443] Feature C16 (vertical hole). A robot operation terminal according to any one of features C1 to C3, wherein a gripping portion (gripping portion 43H) for a user to grip is provided at an end of the robot operation terminal,

[0444] The insertion portion extends in the thickness direction of the robot operation terminal and is formed at a position where fingers of a hand holding the holding portion can be inserted.

[0445] As shown in feature C1, in a structure in which the operation is allowed by stopping the finger at a predetermined position, the finger inserted into the insertion portion does not need to exert any special force. That is, the structure does not require a force for holding the robot operation terminal and a force for maintaining the operation allowed state. Therefore, even if the holding portion and the insertion portion are provided at the same time, it is possible to suppress the burden on the holding hand from being too heavy.

[0446] In addition, since the insertion portion extends in the thickness direction of the robot operation terminal, the fingers of the hand holding the grip portion can be easily inserted into the insertion portion, which is preferable in terms of reducing the burden on the user.

[0447] Feature C17 (grip). The robot operation terminal according to feature C16, wherein a movable portion (reflector 117K) capable of being displaced to the outside of the robot operation terminal is provided on a portion forming the inner wall of the insertion portion,

[0448] The robot operation terminal is configured such that when a finger inserted into the insertion portion pushes the movable portion, the finger deviates from the predetermined position.

[0449] When the user suddenly clenched his hand, the movable part was pressed by the finger and displaced to the outside of the operation terminal, and the finger deviated from the predetermined position due to the displacement of the movable part. If configured in this way, it can help realize a structure that does not allow the industrial robot to move when the hand is clenched.

[0450] Feature C18 (independent). A safety switch (enabling switch 49H), which is used in a robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), having:

[0451] an insertion portion (insertion portion 101) into which a finger can be inserted; and

[0452] a detection unit (sensor unit 111) provided in the insertion unit to detect an insertion position of a finger inserted into the insertion unit,

[0453] The safety switch allows the industrial robot to move when the insertion position detected by the detection unit is at a predetermined position (first insertion position), and does not allow the industrial robot to move when a finger is not inserted into the insertion unit or when the insertion position detected by the detection unit is not at the predetermined position.

[0454] The industrial robot is allowed to move by inserting a finger into the insertion portion and keeping the finger at a predetermined position. With this configuration, there is no need to take measures such as continuously applying force to overcome the force of a spring or the like or maintaining the shape of the finger in a constant shape as in the conventional safety switch. That is, it is possible to suppress the burden on the user's finger from increasing when the state of allowing the movement is maintained. This is preferable in terms of reducing user fatigue and improving work efficiency.

[0455] In addition, it is assumed that the user will release or clench his hand in a reflex action when encountering an unexpected dangerous situation. According to the safety switch shown in this feature, through these reflex actions, the position of the finger is shifted to the entrance side or the inner side of the insertion part, so that the insertion position of the finger deviates from the predetermined position, etc., and the action of the industrial robot is not allowed.

[0456] For the reasons described above, it is possible to contribute to improvement of safety and reduction of burden on the user when using the robot operation terminal.

[0457] Feature C19 (vertical hole). The safety switch according to feature C18, wherein the insertion portion extends in a thickness direction of the robot operation terminal.

[0458] The configuration in which the insertion portion extends in the thickness direction of the robot operation terminal is advantageous in achieving coexistence of the safety switch and peripheral structures such as other switches.

[0459] Feature C20 (grip tightly). The safety switch according to feature C19, wherein a movable portion (reflector 117K) capable of being displaced in a direction intersecting with the insertion direction of the finger is provided on a portion of the inner wall forming the insertion portion,

[0460] The safety switch is configured such that when a finger inserted into the insertion portion pushes the movable portion, the finger deviates from the predetermined position.

[0461] When the user suddenly clenched his hand and the inserted finger pressed into the movable part, the pressed finger was separated from the predetermined position as the movable part was displaced. If configured in this way, it can contribute to the realization of a structure that does not allow the industrial robot to move when the hand is clenched.

[0462] Feature C21 (related structure). A safety switch (enabling switch 49H), which is used in a robot operation terminal (operation terminal 15) for operating an industrial robot (robot 11), having:

[0463] an insertion portion (insertion portion 101) into which a finger can be inserted; and

[0464] a detection section (sensor unit 111) that detects a finger inserted into the insertion section,

[0465] The detection unit includes a first sensor (first light sensor 111a) capable of detecting a finger at the entrance side of the insertion unit and a second sensor (second light sensor 111b) capable of detecting a finger at the back side of the insertion unit.

[0466] The safety switch does not allow the industrial robot to move when neither the first sensor nor the second sensor detects a finger, allows the industrial robot to move when the first sensor detects a finger and the second sensor does not detect a finger, and does not allow the industrial robot to move when both the first sensor and the second sensor detect a finger.

[0467] As shown in this feature, if the structure is such that a first sensor is arranged on the entrance side of the insertion part and a second sensor is arranged on the inner side, and switching is performed between a state in which movement is permitted and a state in which movement is not permitted according to the detection conditions of the fingers of each sensor, there is no need to apply force to the inserted finger in order to achieve the state in which movement is permitted, and the load on the finger when the inserted finger is kept at a predetermined position to maintain the state in which movement is permitted can be appropriately reduced.

Claims

1. A robot operation terminal for operating an industrial robot, comprising: A safety switch comprises an insertion portion, wherein a finger can be inserted into the insertion portion, and a detection portion detects an insertion position of the finger inserted into the insertion portion. The robot operation terminal allows the industrial robot to move when the insertion position detected by the detection unit is at a predetermined position, and does not allow the industrial robot to move when a finger is not inserted into the insertion unit or when the insertion position detected by the detection unit is not at the predetermined position.

2. The robot operation terminal according to claim 1, wherein: A gripping portion for a user to hold is provided at the end of the robot operation terminal. The insertion portion is formed at a position where at least any one of the fingers of a hand holding the grip portion can be inserted.

3. The robot operation terminal according to claim 1, wherein: The insertion portion is provided on one of a front surface portion and a back surface portion of the robot operation terminal, and extends in parallel with the one.

4. The robot operation terminal according to claim 1, wherein: The predetermined position is a position close to an entrance portion of the insertion portion.

5. The robot operation terminal according to claim 1, wherein: The insertion portion includes an opposing portion that opposes the back portion or the front portion of the robot operation terminal with a finger insertion gap interposed therebetween. A portion of the back portion or the front portion that forms the insertion gap together with the facing portion is a movable portion that can be displaced away from the facing portion. The robot operation terminal is configured such that when a finger inserted into the predetermined position presses the movable portion, the finger deviates from the predetermined position.

6. The robot operation terminal according to any one of claims 1 to 5, wherein: As the detection unit, a first light sensor and a second light sensor are provided, wherein the first light sensor has a first light emitting unit and a first light receiving unit irradiated with light from the first light emitting unit, and the second light sensor has a second light emitting unit and a second light receiving unit irradiated with light from the second light emitting unit. The first optical sensor and the second optical sensor are arranged so that the first optical sensor is located at the entrance side of the insertion portion and the second optical sensor is located at the back side of the insertion portion. The optical path from the first light emitting unit to the first light receiving unit and the optical path from the second light emitting unit to the second light receiving unit both cross the insertion path of the finger in the insertion unit. When the light receiving states of the first light receiving part and the second light receiving part are both in predetermined states, the industrial robot is not allowed to move; when the light receiving state of the second light receiving part is the predetermined state and the light receiving state of the first light receiving part has not yet become the predetermined state, the industrial robot is allowed to move; when the light receiving states of both the first light receiving part and the second light receiving part have not yet become the predetermined state, the industrial robot is not allowed to move.

7. A safety switch, used in a robot operation terminal for operating an industrial robot, comprising: an insertion portion into which a finger can be inserted; and a detection unit, which is provided at the insertion unit and detects an insertion position of a finger inserted into the insertion unit, The safety switch allows the industrial robot to move when the insertion position detected by the detection unit is at a predetermined position, and does not allow the industrial robot to move when a finger is not inserted into the insertion unit or when the insertion position detected by the detection unit is not at the predetermined position.

Images