Robot operation device and robot

Abstract

An operation device for a robot, which is attached to a robot that detects a force applied by a worker and is capable of operating by a guide control that changes a position and a posture in accordance with the detected force, is provided with: a bracket that supports the force applied by the worker; the tool is mounted on a flange at the front end of the robot; and a first handle and a second handle which are fixed to the bracket and held by a worker, the first handle being disposed so as to extend in a direction intersecting the rotation axis, and the second handle being disposed so as to extend in a direction intersecting a plane that includes the rotation axis and is parallel to the direction in which the first handle extends.

Description

Technical Field

[0001] The present invention relates to an operating device for a robot and a robot. Background Art

[0002] There is known an operating device for a robot in which, in order to cause the robot to perform an action by lead-through control, an operator applies a force to the robot and operates it (for example, see Patent Document 1).

[0003] The operating device for a robot includes two handles respectively held by an operator with both hands, and causes the robot to perform an action by using the resultant force applied to the two handles.

[0004] On a flange provided at the foremost end of the robot, a tool such as a hand is fixed along the rotation axis of the flange, and the two handles extend to both sides of a center plane of the tool (a plane extending along the center of two fingers of the hand in a direction orthogonal to the opening / closing direction of the fingers). Thus, an operator standing in front of the tool can hold the two handles with both hands respectively.

[0005] Prior Art Documents

[0006] Patent Documents

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

[0008] Problems to be Solved by the Invention

[0009] When two handles protruding to both sides of a center plane of a tool are arranged along the same plane, there is a case where the operability is poor. When the two handles are arranged along the same plane, there is a case where, in the rotational movement of the tool around an axis parallel to the plane and the translational movement of the tool, the forces applied to the handles are the same, and thus the operation cannot be performed with high precision. Therefore, it is desired to improve the operability of a robot for positioning a tool with high precision.

[0010] Means for Solving the Problems

[0011] One aspect of the present invention is an operating device for a robot, which is mounted on the robot. The robot detects the force applied by an operator and can perform operations through guiding control. The guiding control changes the position and posture according to the detected force. The operating device for the robot includes: a bracket that mounts a tool on a flange at the front end of the robot; and a first handle and a second handle that are fixed to the bracket and held by the operator. The first handle is arranged in a form extending along a direction intersecting with the rotation axis of the flange, and the second handle is arranged in a form extending along a direction intersecting with a plane. This plane contains the rotation axis and is parallel to the extending direction of the first handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a side view of a robot according to an embodiment of the present invention and shows a robot equipped with a laser processing head.

[0013] Figure 2 shows Figure 1 front view of the robot.

[0014] Figure 3 shows Figure 1 is a perspective view of an operating device for a robot according to an embodiment of the present invention provided in the robot.

[0015] Figure 4 is an exploded perspective view for explaining an example of mounting the handle of the operating device for the robot to the bracket. Figure 3 to the bracket.

[0016] Figure 5 shows Figure 3 is a perspective view of a state where the operating device for the robot is mounted on the flange and the laser processing head.

[0017] Figure 6 shows the state where an operator holds the handles of the second handle and the third handle of the operating device for the robot with both hands. Figure 3 is a perspective view of the state.

[0018] Figure 7 shows an example of the moving direction of the robot caused by the force applied by both hands of the operator to the handle of the operating device for the robot. Figure 6 is a perspective view of an example.

[0019] Figure 8 shows an example of the moving direction of the robot caused by the force applied by both hands of the operator to the handle of the operating device for the robot. Figure 6 is a perspective view of another example of the state.

[0020] Figure 9It is a perspective view showing another example of the moving direction of the robot caused by the force applied by the two hands of the operator to the handle of the robot operating device for Figure 6 .

[0021] Figure 10 It is a front view showing an example of the moving direction of the robot caused by the force applied by the two hands of the operator to the gripping portions of the second handle and the third handle of the robot operating device for Figure 6 .

[0022] Figure 11 It is a perspective view showing another example of the moving direction of the robot caused by the force applied by the two hands of the operator to the gripping portions of the second handle and the third handle of the robot operating device for Figure 6 .

[0023] Figure 12 It is a side view showing another example of the moving direction of the robot caused by the force applied by the two hands of the operator to the gripping portions of the second handle and the third handle of the robot operating device for Figure 6 .

[0024] Figure 13 It is a side view showing another example of the moving direction of the robot caused by the force applied by the two hands of the operator to the gripping portions of the second handle and the third handle of the robot operating device for Figure 6 .

[0025] Figure 14 It is a perspective view showing the state in which the operator holds the handles of the first handle and the second handle of the robot operating device with both hands for Figure 3 .

[0026] Figure 15 It is a side view showing an example of the moving direction of the robot caused by the force applied by the two hands of the operator to the gripping portion of the first handle and the handle of the second handle of the robot operating device for Figure 14 .

[0027] Figure 16 It is a perspective view showing another example of the moving direction of the robot caused by the force applied by the two hands of the operator to the gripping portion of the first handle and the handle of the second handle of the robot operating device for Figure 14 .

[0028] Figure 17 It is a perspective view showing the state in which the robot operating device for Figure 3 is installed on the flange and the torch. DETAILED DESCRIPTION

[0029] Hereinafter, a robot operating device 1 and a robot 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0030] The robot 100 of the present embodiment is provided with a sensor that detects a force applied by an operator. The robot 100 can perform operations through guidance control that changes the position and posture of the robot 100 according to the magnitude and direction of the force detected by the sensor.

[0031] For example, as Figure 1 and Figure 2 shown, the robot 100 is a vertically articulated six-axis robot. The robot 100 includes: a base 110 provided on a mounting surface such as the ground; and a rotating body 120 supported so as to be rotatable relative to the base 110 about a first axis A.

[0032] In addition, the robot 100 includes: a first arm 130 supported by the rotating body 120 so as to be rotatable about a second axis B; and a second arm 140 supported by the first arm 130 so as to be rotatable about a third axis C. In addition, the robot 100 includes a three-axis wrist unit 150 supported at the tip of the second arm 140.

[0033] The wrist unit 150 includes a flange 160 that can rotate about the frontmost rotation axis (sixth axis) X. The robot operating device 1 of the present embodiment is fixed to the flange 160.

[0034] As Figure 3 shown, the robot operating device 1 of the present embodiment includes: a bracket 2 fixed to the flange 160; and three handles (first to third handles) 3, 4, and 5 fixed to the bracket 2.

[0035] The bracket 2 is a component for fixing a long tool such as a laser processing head 170 (hereinafter referred to as the laser processing head 170 in the present embodiment) to the flange 160. The bracket 2 includes: a flat first flat portion 6 fixed to the flange 160; and a flat second flat portion 7 that fixes the laser processing head 170. The first flat portion 6 and the second flat portion 7 are each formed in a rectangular shape. The bracket 2 has an L-shaped configuration formed by integrally joining one side of the first flat portion 6 and the second flat portion 7 that are arranged at an angle of 90° to each other.

[0036] The first flat portion 6 has a plurality of through holes 8 through which bolts are respectively passed, and the bolts are fastened to threaded holes (not shown) provided on the flange 160. In addition, the second flat portion 7 has a plurality of through holes 9 through which bolts are respectively passed, and the bolts are fastened to threaded holes (not shown) provided on the laser processing head 170.

[0037] By fastening a bolt passing through the through-hole 8 of the first flat plate portion 6 that presses the outer side surface against the surface of the flange 160 to the threaded hole of the flange 160, the bracket 2 can be fixed to the flange 160. Further, a bolt passing through the through-hole 9 of the second flat plate portion 7 that presses the outer side surface against the surface of the laser processing head 170 is fastened to the threaded hole of the laser processing head 170. Thereby, the laser processing head 170 can be fixed to the bracket 2.

[0038] As Figure 3 shown, the three handles 3, 4, and 5 include: gripping portions 31, 41, 51 held by an operator; and spherical-shaped grips (projections) 32, 42, 52 provided at one end in the longitudinal direction of the gripping portions 31, 41, 51. The gripping portions 31, 41, 51 are preferably rod-shaped with a circular cross-section, but may be any other shape. The thickness and length of the gripping portions 31, 41, 51 can be arbitrary, but for example, it is preferable to have an outer diameter dimension such that the thumb and index finger overlap when the operator holds with either the left or right hand, and a length dimension greater than the width dimension of the operator's fist.

[0039] The grips 32, 42, 52 have an outer diameter dimension larger than that of the gripping portions 31, 41, 51 and project radially from the outer peripheral surface of the gripping portions 31, 41, 51. By forming the grips 32, 42, 52 into a spherical shape, a force can be applied to the grips 32, 42, 52 in any direction even if the gripping portions 31, 41, 51 are arranged in any direction. In particular, by forming the grips 32, 42, 52 to be larger than the gripping portions 31, 41, 51, it is also possible to easily grasp the grips 32, 42, 52 or hook the fingers, and apply a force to pull the gripping portions 31, 41, 51 in the longitudinal direction.

[0040] As Figure 3 shown, the first handle 3 is fixed to the center of the end face on the side opposite to the side where the second flat plate portion 7 is joined of the first flat plate portion 6, and is arranged such that the gripping portion 31 extends in a direction orthogonal to the end face.

[0041] The second handle 4 and the third handle 5 are fixed to the chamfered surfaces (inclined surfaces) 43, 53 provided at both ends of the end face on the side opposite to the side where the first flat plate portion 6 is joined of the second flat plate portion 7. The second handle 4 and the third handle 5 are arranged such that the gripping portions 41, 51 extend in a direction orthogonal to the respective chamfered surfaces 43, 53. Each chamfered surface 43, 53 forms an angle of 45° with respect to the end face, and the second handle 4 and the third handle 5 in a state of being fixed to the two chamfered surfaces 43, 53 are arranged at an angle of 90° to each other.

[0042] The angles of the chamfered surfaces 43 and 53 can be arbitrary. Additionally, the chamfered surfaces 43 and 53 may not be provided.

[0043] As Figure 4 shown, for example, each of the handles 3, 4, and 5 has an external thread portion 10 at the end on the side opposite to the grips 32, 42, and 52, respectively. Each of the handles 3, 4, and 5 can be detachably fixed to the bracket 2 by fastening the external thread portion 10 to the threaded holes 11 formed in the end face of the first flat portion 6 and the chamfered surfaces 43 and 53. In the case where the chamfered surfaces 43 and 53 are not provided, the threaded holes 11 may be formed obliquely on the end face of the second flat portion 7.

[0044] The laser processing head 170 is a device that irradiates a workpiece with laser light guided from a light source from an emission end. In the Figure 5 example shown, it is a long tool with the major axis L passing through the center of the downward-facing emission end arranged in the vertical direction.

[0045] Since the laser processing head 170 has the above-described long shape, it cannot pass through the inside of the wrist unit 150, but is supported by the bracket 2 at a position eccentric with respect to the rotation axis X of the flange 160.

[0046] In the present embodiment, the laser processing head 170 is fixed to the bracket 2 in a state where the major axis L is arranged at a position offset substantially parallel to the rotation axis X of the flange 160. Here, the so-called substantially parallel includes not only the case of being exactly parallel, but also the case of forming a small angle with respect to the rotation axis X, for example, an angle in the range of ±15°.

[0047] When the laser processing head 170 is fixed to the second flat portion 7 of the bracket 2, and the bracket 2 is fixed to the flange 160 by the first flat portion 6, the rotation axis X and the major axis L of the laser processing head 170 are arranged in substantially the same plane (hereinafter, referred to as the tool plane P). Here, the so-called substantially the same plane includes not only the case of being exactly in the same plane, but also the case of being substantially in the same plane with a small angle between the rotation axis X and the major axis L of the laser processing head 170.

[0048] As Figure 5 shown, the first handle 3 fixed to the first flat portion 6 of the bracket 2 is arranged along the tool plane (plane) P. Here, the so-called first handle 3 is arranged along the tool plane P includes not only the case where the major axis Q of the first handle 3 is exactly arranged on the tool plane P, but also the case of being arranged along a plane substantially parallel to the tool plane P. Additionally, as Figure 5As shown, the second handle 4 and the third handle 5 fixed to the second flat portion 7 are arranged at an angle of 45° with respect to the tool plane P, respectively. By arranging the second handle 4 and the third handle 5 at the same angle, the lateral components of the forces acting on the second handle 4 and the third handle 5 can be more accurately canceled out.

[0049] Hereinafter, the operations of the robot operating device 1 and the robot 100 configured in this way will be described.

[0050] In order to perform teaching while guiding and controlling the robot 100 using the robot operating device 1 of the present embodiment, an operator Figure 6 As shown, holds the second handle 4 with the left hand and the third handle 5 with the right hand. Then, a guide switch (not shown) provided near the third handle 5 is pressed. Thereby, the guide control becomes effective.

[0051] Thereby, the forces applied by the operator to the second handle 4 and the third handle 5 are detected by sensors built into the robot 100, and the robot 100 moves to a position and posture corresponding to the detected forces. Then, at a desired position, the operator presses a teaching button (not shown) provided near the second handle 4, and thereby the angles of the respective axes of the robot 100 at the moment of pressing are stored. By repeating this operation, the operation program of the robot 100 can be taught.

[0052] In this case, according to the present embodiment, by applying the same magnitude of force to the second handle 4 and the third handle 5 in the same direction simultaneously, the laser processing head 170 can be translated in any direction to which the force is applied. For example, as Figure 7 and Figure 8 shown, by applying forces F a1 , F a2 , F b1 , F b2 in the same direction to the spherical handles 42, 52 of the second handle 4 and the third handle 5, the laser processing head 170 can be translated in the direction of the applied force F a , F b .

[0053] In the figure, thin arrows are used to indicate the positions and directions of the forces applied by the operator, and thick arrows are used to indicate the moving directions of the laser processing head 170. Figure 7 and Figure 8 show one direction orthogonal to the tool plane P and one direction along the tool plane P, and it can also be translated in other directions orthogonal to the tool plane P and other directions along the tool plane P in the same manner.

[0054] In addition, for example, asFigure 9 As shown, as long as the direction F is along the tool plane P and perpendicular to the rotation axis X c Even if the operator holds the gripping parts 41 and 51 and applies force F c1 、F c2 , it is also possible to make the laser processing head 170 move in translation. Figure 10 As shown, as long as the direction F along the rotation axis X d Even if the operator holds the gripping parts 41 and 51 and applies force F d1 、F d2 , the laser processing head 170 can also be translated. In addition, when the laser processing head 170 is translated, it is also possible to translate the laser processing head 170 by grasping not only the grasping portions 41 and 51 but also the grasping portion 31 of the first handle 3 and applying force. Thus, the rotation can be suppressed.

[0055] In this case, the left-right direction components of the force acting on each handle 4 , 5 from the left and right hands are naturally canceled out, and the handle 4 , 5 can be easily translated straight along the rotation axis X. Figure 10 Although the case where the rotation axis X is moved in a downward translational direction is exemplified, the same is true for the case where the rotation axis X is moved in an upward translational direction.

[0056] In addition, for example, Figure 11 As shown, by applying the force F to the two handles 4 and 5 e1 、F e2 The direction of the laser processing head 170 is different, and the laser processing head 170 can be moved along the axis F around the axis orthogonal to the rotation axis X of the flange 160. e Rotational movement: The same applies to the case where the laser processing head 170 is rotationally moved about the rotation axis X of the flange 160 .

[0057] In this case, the second handle 4 and the third handle 5 are arranged in a state where they are inclined and extended in a direction away from each other in the downward direction when the bracket 2 is mounted on the downward flange 160. Therefore, the operator can hold the second handle 4 with the left hand and the third handle 5 with the right hand in a natural state with the elbows hanging down while the force of the two arms is released.

[0058] That is, when holding the second handle 4 and the third handle 5, the two hands can be arranged with the little fingers at an oblique lower side, and the hands can be held naturally without tensing the shoulders and elbows. Thus, the movable range of the operator's two arms when moving the laser processing head 170 can be expanded, and the operability can be improved.

[0059] like Figure 12 As shown, the laser processing head 170 is moved along the axis F around the axis perpendicular to the tool plane P while holding the second handle 4 and the third handle 5. fWhen rotating and moving, a moment that tilts the rotation axis X of the flange 160 needs to be generated. As Figure 5 shown, the second handle 4 and the third handle 5 are arranged along the same plane orthogonal to the tool plane P. Therefore, as Figure 12 shown, at the two hands holding the second handle 4 and the third handle 5, different forces F need to be applied to the holding parts 41, 51 of the respective handles 4, 5 at different positions in the length direction of the holding parts 41, 51 f1 、F f2 . In this case, it is necessary to adjust the applied forces F f1 、F f2 with the respective fingers and palms of the two hands, which reduces the operability.

[0060] Especially in the following situation: the irradiation position (working point) R of the laser from the laser processing head 170 is far from the flange 160. As Figure 13 shown, when the laser processing head 170 is rotated and moved with such a working point R as the center, the applied forces F g1 、F g2 are difficult to distinguish from the forces applied for translational movement as Figure 9 shown. Therefore, it is difficult to position the laser processing head 170 with high precision.

[0061] In this case, as Figure 14 and Figure 15 shown, the operator can release the right hand from the third handle 5, or release the left hand from the second handle 4, and switch to the first handle 3. The first handle 3 is not arranged along the same plane as the second handle 4 and the first handle 3 is not arranged along the same plane as the third handle 5 respectively. Thus, when the laser processing head 170 is rotated around an axis orthogonal to the tool plane P, the forces applied to the two handles 3, 4 or the two handles 3, 5 can also be made different.

[0062] In addition, the first handle 3 and the second handle 4, and the first handle 3 and the third handle 5 are respectively arranged on opposite sides across the rotation axis X. Thus, when the laser processing head 170 is rotated around a working point R far from the flange 160, as Figure 15 shown, the forces F h1 、F h2 that are significantly different from those during translational movement can also be applied to the two handles 3, 4 or the two handles 3, 5. Thereby, the laser processing head 170 can be positioned with high precision.

[0063] Thus, according to the present embodiment, the first handle 3 is arranged orthogonal to the rotation axis X of the flange 160 and along the tool plane P, and the second handle 4 is arranged in a direction intersecting at an angle with respect to the tool plane P. Thus, since the first handle 3 and the second handle 4 are not arranged on the same plane, forces and torques in all directions can be generated by the forces F h1 and F h2 applied to the first handle 3 and the second handle 4.

[0064] In addition, as Figure 16 shown, for the first handle 3, a force F i1 is applied to the grip portion 31, and for the second handle 4, a force F i2 is applied to the handle 42. Thus, translation movement can also be achieved along the direction F i orthogonal to the tool plane P.

[0065] Furthermore, in the present embodiment, a bracket 2 having an L-shaped structure formed by joining the first flat plate portion 6 and the second flat plate portion 7 is illustrated as an example. Instead, brackets of any shape such as a rectangular parallelepiped shape or a cylindrical block can also be used.

[0066] In addition, in the present embodiment, as the bracket 2, an L-shaped structure in which the first flat plate portion 6 and the second flat plate portion 7 are arranged at an angle of 90° to each other is illustrated as an example, but it is not limited thereto. That is, the first flat plate portion 6 and the second flat plate portion 7 can also be arranged at an angle other than 90°.

[0067] In addition, the second handle 4 and the third handle 5 are arranged at an angle of 45° with respect to the tool plane P, respectively, but the angle can be arbitrary. For example, the two handles 4 and 5 can also extend along a direction orthogonal to the tool plane P.

[0068] In addition, a case where the first handle 3 extends along a direction orthogonal to the rotation axis X of the flange 160 is illustrated as an example. Instead, it can also be inclined in a direction away from the rotation axis X downward, similar to the second handle 4 and the third handle 5. Thus, even when holding the first handle 3, the movable range of the operator's two arms when moving the laser processing head 170 can be expanded, and the operability can be improved.

[0069] In addition, the second handle 4 and the third handle 5 are arranged along a plane orthogonal to the tool plane P and parallel to the rotation axis X of the flange 160, but it is not limited thereto. For example, they can also be arranged along a plane orthogonal to the tool plane P and inclined with respect to the rotation axis X of the flange 160.

[0070] In the present embodiment, the case where the handles 32 , 42 , 52 are spherical is described as an example, but instead, a handle of any shape protruding radially outward from the outer surface of the grip portion 31 , 41 , 51 may be adopted.

[0071] In addition, in the present embodiment, the structure in which the laser processing head 170 is fixed to the bracket 2 in a state where the major axis L is arranged at a position offset substantially parallel to the rotation axis X of the flange 160 is described as an example. Alternatively, a structure in which the laser processing head 170 is fixed to the bracket 2 in a state in which the major axis L is arranged on the same line of the rotation axis X may be adopted. Thus, since two handles 3, 4, two handles 4, 5, or two handles 3, 5 are arranged at positions across the rotation axis X, the rotation operation can be performed more efficiently.

[0072] In addition, in this embodiment, the case where the tool is the laser processing head 170 is exemplified. Figure 17 As shown, it can also be applied to the case where a welding torch 180 is used as a tool.

[0073] The welding torch 180 includes: a tubular torch body 181 that is bent in one direction; a substantially cylindrical neck holder 182 that is connected to the base end of the torch body 181; and a guide tube 183 that is connected to the base end of the neck holder 182. The guide tube 183, the neck holder 182, and the torch body 181 include an inner hole (not shown) through which a welding wire 190 passes in a longitudinal direction. The welding torch 180 welds a workpiece by causing the welding wire 190 that passes through the inner hole to protrude from the front end of the torch body 181 and generating an arc between the welding wire 190 and the workpiece.

[0074] Since the welding torch 180 also has a long shape as described above, it cannot be inserted into the wrist unit 150, but is supported by the bracket 2 at a position eccentric to the rotation axis X of the flange 160. In addition, the torch body 181 is bent from the position fixed to the bracket 2 along the tool plane P including the rotation axis X of the flange 160, and is arranged in a shape such that the welding wire 190 protrudes to a position intersecting with the rotation axis X of the flange 160. The intersection of the rotation axis X of the flange 160 and the welding wire 190 is generally a working point for welding.

[0075] In addition, in this embodiment, the robot 100 having a built-in sensor is described as an example. Alternatively, the sensor may be installed between the flange 160 of the robot 100 and the bracket 2 .

[0076] In addition, in the present embodiment, a structure in which the guidance control becomes effective by pressing the guidance switch is exemplified. Instead, a structure in which the guidance control becomes effective by means of a teach pendant of the robot 100 may also be adopted. Further, a structure in which the guidance switch is not provided and the guidance control is always effective may also be adopted.

[0077] In addition, in the present embodiment, a threaded hole 11 formed in the end face and the chamfered surfaces 43 and 53 of the first flat portion 6 is exemplified. Instead, a plurality of threaded holes 11 may be provided in the end faces of the first flat portion 6 and the second flat portion 7. Thereby, the positions where the respective handles 3, 4, and 5 are mounted can be changed.

[0078] In addition, in the present embodiment, the following may also be adopted: the lengths of the respective handles 3, 4, and 5 are different from each other. For example, since the distance of the acting point changes due to the difference in the lengths of the second handle 4 and the third handle 5, when an operator holds the grips 42 and 52 and performs a rotating operation, it is possible to rotate more simply along a specified left - right direction. Further, by changing the lengths of the two handles 4 and 5, it is possible to change the easiness of rotation in the specified left - right direction.

[0079] As described above, the respective embodiments of the present invention have been described in detail, but the present invention is not limited to the above - described respective embodiments. In these embodiments, various additions, conversions, changes, and partial deletions can be made without departing from the gist of the invention, or without departing from the idea and purpose of the present invention derived from the content recited in the claims and its equivalents. For example, in the above - described embodiments, the order of each action and the order of each process are shown as an example and are not limited thereto.

[0080] The following supplementary explanations are further disclosed for the above - described embodiments and modification examples.

[0081] (Supplementary Explanation 1)

[0082] An operation device for a robot, which is mounted on a robot,

[0083] The robot detects a force applied by an operator and can perform operations through guidance control, which changes the position and posture according to the detected force,

[0084] The operation device for a robot includes:

[0085] A bracket that mounts a tool on a flange at the front end of the robot; and

[0086] A first handle and a second handle that are fixed to the bracket and are held by the operator,

[0087] The first handle is arranged in a form extending in a direction intersecting the rotation axis of the flange.

[0088] The second handle is arranged in a form extending in a direction intersecting a plane, the plane including the rotation axis and parallel to the extending direction of the first handle.

[0089] (Supplementary Explanation 2)

[0090] For the robot operating device according to Supplementary Explanation 1, the tool is mounted on the bracket at a position eccentric with respect to the rotation axis.

[0091] (Supplementary Explanation 3)

[0092] For the robot operating device according to Supplementary Explanation 1 or 2, the second handle is arranged on the side opposite to the first handle across the rotation axis.

[0093] (Supplementary Explanation 4)

[0094] For the robot operating device according to any one of Supplementary Explanations 1 to 3, the bracket includes a first flat plate portion and a second flat plate portion. The first flat plate portion is fixed to the flange, and the second flat plate portion extends from one end edge of the first flat plate portion in a direction orthogonal to the first flat plate portion and mounts the tool.

[0095] The first handle is fixed to the end face of the first flat plate portion on the side opposite to the second flat plate portion.

[0096] The second handle is fixed to the end face of the second flat plate portion.

[0097] (Supplementary Explanation 5)

[0098] For the robot operating device according to Supplementary Explanation 4, the second handle is fixed to an inclined surface provided on the end face of the second flat plate portion on the side opposite to the first flat plate portion.

[0099] (Supplementary Explanation 6)

[0100] For the robot operating device according to any one of Supplementary Explanations 1 to 5, at least one of the first handle and the second handle includes: a rod-shaped grip portion held by the hand of the operator; and a protruding portion provided at the front end of the grip portion and protruding from the surface of the grip portion.

[0101] (Supplementary Explanation 7)

[0102] According to any one of Supplementary Notes 1 to 6 of the robot operating device, when the bracket is mounted on the flange arranged downward, the first handle is arranged in a form extending in an inclined direction away from the rotation axis downward.

[0103] (Supplementary Note 8)

[0104] The robot operating device according to any one of Supplementary Notes 1 to 7, wherein the robot operating device includes a third handle, the third handle being fixed to the bracket and held by the operator's hand,

[0105] The third handle is arranged on the side opposite to the second handle across the plane so as to extend in a direction intersecting the plane.

[0106] (Supplementary Note 9)

[0107] According to Supplementary Note 8, in a state where the bracket is attached to the flange arranged downward, the second handle and the third handle are arranged in a state where they extend in a direction inclined away from each other downward.

[0108] (Supplementary Note 10)

[0109] According to Supplementary Note 4 or 5, the robot operating device includes a third handle, the third handle is fixed to the bracket and is held by the operator's hand.

[0110] The third handle is fixed to another chamfered surface, and the other chamfered surface is provided on an end surface of the second flat plate portion on the opposite side to the first flat plate portion.

[0111] (Supplementary Note 11)

[0112] According to the robot operating device described in any one of Supplementary Notes 8 to 10, the third handle comprises: a rod-shaped gripping portion, which is gripped by the operator's hand; and a protruding portion, which is at the axial front end of the gripping portion and protrudes further in a direction intersecting the axial direction than the gripping portion.

[0113] (Supplementary Note 12)

[0114] According to Supplementary Note 6 or 11, the protrusion is spherical.

[0115] (Supplementary Note 13)

[0116] A robot comprising the robot operating device according to any one of Supplementary Notes 1 to 12.

[0117] Description of reference numerals:

[0118] 1: Robot operating device

[0119] 2: Bracket

[0120] 3: First handle

[0121] 4: Second handle

[0122] 5: Third handle

[0123] 6: First flat plate

[0124] 7: Second flat plate

[0125] 31, 41, 51: Grip

[0126] 32, 42, 52: handle (protrusion)

[0127] 43, 53: Chamfered surface (inclined surface)

[0128] 100: Robot

[0129] 160: Flange

[0130] 170: Laser processing head (tool)

[0131] P:Tool plane (plane)

[0132] X: Rotation axis

Claims

1. An operating device for a robot, which is installed on the robot, and is characterized in that the robot detects the force applied by an operator and can perform actions through guiding control, and the guiding control changes the position and posture according to the detected force. The operating device for the robot includes: a bracket that mounts a tool on a flange at the front end of the robot; and a first handle and a second handle that are fixed to the bracket and held by the operator. The first handle is arranged in a form extending along a direction intersecting with the rotation axis of the flange. The second handle is arranged in a form extending along a direction intersecting with a plane, and this plane includes the rotation axis and is parallel to the extending direction of the first handle.

2. The operating device for the robot according to claim 1, characterized in that the tool is mounted on the bracket at a position eccentric with respect to the rotation axis.

3. The operating device for the robot according to claim 1 or 2, characterized in that the second handle is arranged on the side opposite to the first handle across the rotation axis.

4. The operating device for the robot according to any one of claims 1 to 3, characterized in that the bracket includes a first flat plate portion and a second flat plate portion. The first flat plate portion is fixed to the flange, and the second flat plate portion extends from one end edge of the first flat plate portion in a direction orthogonal to the first flat plate portion and mounts the tool. The first handle is fixed to the end face of the first flat plate portion on the side opposite to the second flat plate portion. The second handle is fixed to the end face of the second flat plate portion.

5. The operating device for the robot according to claim 4, characterized in that the second handle is fixed to an inclined surface provided on the end face of the second flat plate portion on the side opposite to the first flat plate portion.

6. The operating device for the robot according to any one of claims 1 to 5, characterized in that at least one of the first handle and the second handle includes: a rod-shaped holding portion held by the hand of the operator; and a protruding portion provided at the front end of the holding portion and protruding from the surface of the holding portion.

7. The operating device for the robot according to any one of claims 1 to 6, characterized in that in a state where the bracket is installed on the flange arranged downward, the first handle is arranged in a form that extends while being inclined in a direction away from the rotation axis toward the lower direction.

8. The operating device for the robot according to any one of claims 1 to 7, characterized in that the operating device for the robot includes a third handle that is fixed to the bracket and held by the hand of the operator. The third handle is arranged on the side opposite to the second handle across the plane in a form extending along a direction intersecting with the plane.

9. The operating device for the robot according to claim 8, characterized in that in a state where the bracket is installed on the flange arranged downward, the second handle and the third handle are arranged in a form that extends while being inclined in a direction away from each other toward the lower direction.

10. The operating device for a robot according to claim 4 or 5, characterized in that the operating device for a robot is provided with a third handle, the third handle being fixed to the bracket and held by the hand of the operator, the third handle being fixed to another chamfered surface, the other chamfered surface being provided on the end surface of the second flat portion on the side opposite to the first flat portion.

11. The operating device for a robot according to any one of claims 8 to 10, characterized in that the third handle includes: a rod-shaped grip portion held by the hand of the operator; and a protruding portion protruding in a direction crossing the axial direction more than the grip portion at the front end in the axial direction of the grip portion.

12. The operating device for a robot according to claim 6 or 11, characterized in that the protruding portion is spherical.

13. A robot, characterized in that the robot is provided with the operating device for a robot according to any one of claims 1 to 12.

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