Switching devices and robots

Abstract

The switching device includes: three or more switches disposed in the movable part of the robot; and an identification unit for enabling an operator to identify the three or more switches by touch, wherein the identification unit enables each of at least one switch to be distinguished from the other switches by touch.

Description

Technical Field

[0001] This disclosure relates to a switching device and a robot. Background Technology

[0002] As one of the teaching methods for industrial robots, there is direct teaching where the operator holds the robotic arm with their hand and directly operates it (for example, see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2023-096701 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Robotic arms sometimes have multiple switches for direct teaching. As the robotic arm moves, these switches may be positioned in locations difficult for the operator to visually identify. In such cases, to prevent accidental switch presses, it is desirable for the operator to be able to recognize the arrangement of multiple switches.

[0008] means for solving problems

[0009] One aspect of this disclosure is a switching device installed on a robot, the switching device comprising: three or more switches disposed in a movable part of the robot; and an identification unit for allowing an operator to identify the arrangement of the three or more switches by touch, the identification unit enabling each of at least one of the switches to be distinguished by touch from the other switches. Attached Figure Description

[0010] Figure 1 This is an overall structural diagram of the robot according to the first embodiment.

[0011] Figure 2 yes Figure 1 An enlarged view of the wrist flange of the robot shown illustrates the structure of the switching device according to the first embodiment.

[0012] Figure 3 This is an enlarged view of the wrist flange showing the structure of the switching device according to the second embodiment.

[0013] Figure 4 This is a block diagram showing the structure of the switching device according to the second embodiment.

[0014] Figure 5 This is a block diagram showing the structure of the switching device according to the third embodiment. Detailed Implementation

[0015] (First Implementation)

[0016] Referring to the accompanying drawings, the switching device and robot according to the first embodiment will be described.

[0017] like Figure 1 As shown, the robot 10 of this embodiment includes: a base 11, which is fixed to a mounting surface such as the ground; a movable part 12, which is capable of moving relative to the base 11; and a switch device 1, which is mounted on the movable part 12.

[0018] Robot 10 is an industrial robot, such as a collaborative robot that works in a space shared with workers. Robot 10 is connected to and controlled by a control device (not shown).

[0019] The movable part 12 is a multi-joint robotic arm connected to the base 11.

[0020] exist Figure 1 In the example, robot 10 is a vertical multi-joint robot, and the robotic arm 12 has: multiple joints that can rotate about axes J1, J2, J3, J4, J5, and J6 respectively; and a wrist flange 12a at the front end. Tools such as grippers are connected to the front end face of the wrist flange 12a.

[0021] like Figure 2 As shown, the switching device 1 includes: three switches 2A, 2B, and 2C, which are disposed on the wrist flange 12a; and an identification unit 3, which is used by the operator to identify the arrangement of the three switches 2A, 2B, and 2C by touch.

[0022] Switches 2A, 2B, and 2C are located on the cylindrical outer circumferential surface of the wrist flange 12a and are arranged in a row along the circumference. Each switch 2A, 2B, and 2C is a push-button switch that is pressed by the operator, or it can be a push-button switch that protrudes from the outer circumferential surface of the wrist flange 12a.

[0023] The three switches 2A, 2B, and 2C are assigned different identification numbers, such as "1", "2", and "3", and are respectively assigned a prescribed function for direct teaching of robot 10.

[0024] In direct teaching, the operator holds a portion of the robotic arm 12 and moves it directly. Additionally, the operator uses a portable teaching pendant to set and teach the robot 10's movements, and to operate peripheral devices such as the gripper. The functions described above are part of the functions of the teaching pendant.

[0025] Switching device 1 connects to the control device wirelessly or via a wired connection and sends signals to the control device in response to the pressing of switches 2A, 2B, or 2C. The control device performs the function corresponding to the pressed switch 2A, 2B, or 2C. Operators perform actions such as setting up actions, teaching others, or operating peripheral equipment by pressing switches 2A, 2B, or 2C, instead of operating a teach pendant.

[0026] The identification unit 3 has three protrusions (concave and convex portions) 4A, 4B, and 4C corresponding to the three switches 2A, 2B, and 2C, respectively. Figure 2 In the diagram, protrusions 4A, 4B, and 4C are respectively positioned on the corresponding switches 2A, 2B, and 2C. Alternatively, protrusions 4A, 4B, and 4C can also be positioned near the corresponding switches 2A, 2B, and 2C.

[0027] The protrusions 4A, 4B, and 4C are structures that protrude from the upper surfaces of switches 2A, 2B, and 2C, and have different shapes. Therefore, an operator can determine which switch 2A, 2B, or 2C is being touched by their finger based on the shape of the protrusions 4A, 4B, or 4C, thereby identifying the arrangement of switches 2A, 2B, and 2C.

[0028] Each protrusion 4A, 4B, 4C may also have a shape representing an identification number for the corresponding switch 2A, 2B, or 2C. Figure 2 In this configuration, protrusions 4A, 4B, and 4C consist of one or more linear protrusions extending from the upper surface of switches 2A, 2B, or 2C, and have the same number of protrusions as the identification number of the corresponding switch 2A, 2B, or 2C. Operators can determine the identification number of switch 2A, 2B, or 2C by touching the protrusions with their fingers and counting the number of protrusions.

[0029] Next, the functions of the switching device 1 and the robot 10 will be explained.

[0030] In direct teaching of robot 10, the operator holds a portion of robotic arm 12 and moves it towards the desired teaching point. Then, the operator presses switch 2A (e.g., "1") to teach the point to the control device. As needed, the operator can set the robot 10's actions or operate peripheral equipment by operating the teaching control panel or pressing switches 2B and 2C.

[0031] In direct teaching, as the position and posture of the robotic arm 12 change, switches 2A, 2B, and 2C are sometimes positioned in locations difficult for the operator to visually identify. In these cases, the arrangement of switches 2A, 2B, and 2C appears different to the operator depending on the posture of the robotic arm 12. When there are only one or two switches, the operator can easily identify the arrangement based on the posture of the robotic arm 12, even when the switches are not visible, thus easily determining the desired switch. However, when there are three or more switches, the operator may find it difficult to grasp how the unseen switches are arranged.

[0032] When switches 2A, 2B, and 2C cannot be visually identified, the operator can use their finger to touch the protrusions 4A, 4B, or 4C of any one of the switches 2A, 2B, and 2C to determine their shape. The shapes of the protrusions 4A, 4B, and 4C differ depending on the switch 2A, 2B, and 2C, allowing the operator to determine the contacted switch based on the identified protrusion shape. For example, the operator can easily determine the identification number of the contacted switch based on the number of protrusions 4A, 4B, or 4C. Furthermore, the operator can identify the arrangement of the three switches 2A, 2B, and 2C based on the identified switch.

[0033] Furthermore, operators can determine the desired switch position based on the known arrangement. Additionally, operators can confirm that the switch in the determined position is the desired switch based on the shape of the switch's protrusion.

[0034] In this way, even when it is difficult to visually confirm switches 2A, 2B, and 2C, operators can accurately determine the desired switch based on the shape of the protrusions 4A, 4B, and 4C that their fingers touch, thereby preventing accidental pressing of the switch.

[0035] In this embodiment, protrusions 4A, 4B, and 4C are provided for all switches 2A, 2B, and 2C. However, alternatively, protrusions may be provided only for a portion of switches 2A, 2B, and 2C.

[0036] For example, a protrusion can be provided only for the reference switch. The reference switch is any one of the three switches 2A, 2B, and 2C, such as the edge switch 2A. The operator identifies the reference switch 2A and the other switches 2B and 2C based on the presence or absence of the protrusion, thereby enabling the identification of the arrangement of the three switches 2A, 2B, and 2C.

[0037] In this embodiment, the raised and recessed portions are raised portions 4A, 4B, and 4C, but they can also be recessed portions, or a combination of raised and recessed portions. The recessed portion is constructed to be more concave than the upper surface of switches 2A, 2B, and 2C. The operator can determine which switch 2A, 2B, or 2C is being contacted by their finger based on the shape of the recessed portion.

[0038] In this embodiment, the identification unit 3 has a concave-convex portion, but instead, it can have other structures as long as each switch 2A, 2B, 2C can be identified from other switches by touch. For example, the identification unit 3 can also be configured to identify each switch 2A, 2B, 2C based on differences in texture such as hardness or surface roughness.

[0039] (Second Implementation)

[0040] Next, with reference to the accompanying drawings, the switching device and robot of the second embodiment will be described.

[0041] The difference between this embodiment and the first embodiment is that, instead of the protrusions and recesses, the arrangement of the switches is identified based on the vibration of the switches. In this embodiment, structures that differ from those in the first embodiment will be described, while structures common to the first embodiment will be labeled with the same reference numerals and their descriptions will be omitted.

[0042] The robot of this embodiment includes: a base 11, a movable part 12 including a robotic arm, and a switching device 101.

[0043] like Figure 3 and Figure 4 As shown, the switching device 101 of this embodiment includes: three switches 2A, 2B, and 2C, which are disposed on the wrist flange 12a; and an identification unit 31, which is used for the operator to identify the arrangement of the three switches 2A, 2B, and 2C by touch.

[0044] Similar to the first embodiment, switches 2A, 2B, and 2C are all push-button switches that are pressed by the operator, or they can be button switches.

[0045] The identification unit 31 includes: a contact detection unit 5, which detects contact with each of the three switches 2A, 2B, and 2C; and a vibration generation unit 6, which causes the three switches 2A, 2B, and 2C to vibrate respectively.

[0046] The contact detection unit 5 has sensors 5a, 5b, and 5c respectively installed on three switches 2A, 2B, and 2C. Sensors 5a, 5b, and 5c detect contact with the corresponding switches 2A, 2B, and 2C respectively.

[0047] The vibration generating unit 6 has vibrators 6a, 6b, and 6c respectively disposed on three switches 2A, 2B, and 2C. Vibrators 6a, 6b, and 6c intermittently vibrate in response to sensors 5a, 5b, and 5c respectively disposed on the corresponding switches 2A, 2B, and 2C detecting contact. The number of vibrations of each vibrator 6a, 6b, and 6c is different, and each vibrator 6a, 6b, and 6c vibrates at a frequency corresponding to the identification number of the corresponding switch 2A, 2B, and 2C, for example, the same frequency as identification numbers "1", "2", and "3". The vibration generating unit 6 may further include a control circuit for controlling such operation of the vibrators 6a, 6b, and 6c.

[0048] Based on the number of vibrations felt by the fingers, the operator can determine whether the finger is touching switch 2A, 2B, or 2C, thereby identifying the arrangement of switches 2A, 2B, and 2C.

[0049] Next, the functions of the switching device 101 and the robot in this embodiment will be explained.

[0050] Similar to the first embodiment, in direct teaching, switches 2A, 2B, and 2C are sometimes positioned in locations that are difficult for operators to visually confirm.

[0051] In this situation, the operator touches any one of switches 2A, 2B, and 2C with their finger. The contact of the finger with switch 2A, 2B, or 2C is detected by the contact detection unit 5. In response, the vibration generating unit 6 causes the touched switch 2A, 2B, or 2C to vibrate a number corresponding to its identification number. The operator can determine which switch 2A, 2B, or 2C was touched by feeling the number of vibrations, thereby identifying the arrangement of the three switches 2A, 2B, and 2C.

[0052] Furthermore, operators can determine the desired switch position based on the known arrangement. Additionally, operators can confirm that the switch in the determined position is the desired switch by touching the switch and counting the number of vibrations.

[0053] In this way, even when it is difficult to visually confirm switches 2A, 2B, and 2C, operators can accurately determine the desired switch based on the number of vibrations felt by their fingers, thereby preventing accidental pressing of the switch.

[0054] (Third implementation method)

[0055] Next, with reference to the accompanying drawings, the switching device and robot of the third embodiment will be described.

[0056] The difference between this embodiment and the first embodiment is that, instead of the raised and recessed portions, the arrangement of the switches is identified based on sound. In this embodiment, structures that differ from those in the first embodiment will be described, while structures common to the first embodiment will be labeled with the same reference numerals and their descriptions will be omitted.

[0057] The robot in this embodiment includes: a base 11, a movable part including a robotic arm 12, and a switching device 102.

[0058] like Figure 5 As shown, the switching device 102 of this embodiment includes: three switches 2A, 2B, and 2C, which are disposed on the wrist flange 12a; and an identification unit 32, which is used for the operator to identify the three switches 2A, 2B, and 2C by hearing. Switches 2A, 2B, and 2C are push-button switches for the operator to press, or they may be push-button switches.

[0059] The identification unit 32 includes: a contact detection unit 5, which detects contact with each of the three switches 2A, 2B, and 2C; and a sound generation unit 7, which emits a prompt sound in response to the contact detection unit 5 detecting the contact.

[0060] As described in the second embodiment, the contact detection unit 5 has sensors 5a, 5b, and 5c.

[0061] The sound generating unit 7 has a speaker (not shown) that emits a prompt tone, capable of emitting a prompt tone corresponding to the contact detected by the contact detection unit 5 of switches 2A, 2B, or 2C. The prompt tone is a buzzer sound of the same number of times as the identification number of the detected contact of the switches 2A, 2B, or 2C, for example, the same number of times as the identification numbers "1", "2", or "3". The sound generating unit 7 may further include control circuitry for controlling the operation of the speaker.

[0062] Operators can identify which switch 2A, 2B, or 2C is being touched by their finger based on the number of beeps, thereby recognizing the arrangement of switches 2A, 2B, and 2C.

[0063] Next, the functions of the switching device 102 and the robot in this embodiment will be explained.

[0064] Similar to the first embodiment, in direct teaching, switches 2A, 2B, and 2C are sometimes positioned in locations that are difficult for operators to visually confirm.

[0065] In this situation, the operator touches any one of switches 2A, 2B, and 2C with their finger. The contact of the finger with switch 2A, 2B, or 2C is detected by the contact detection unit 5, and in response, the sound generating unit 7 emits a beeping sound corresponding to the identification number of the touched switch 2A, 2B, or 2C. The operator can identify the touched switch 2A, 2B, or 2C by counting the number of beeps, thereby identifying the arrangement of the three switches 2A, 2B, and 2C.

[0066] Furthermore, operators can determine the desired switch location based on the known arrangement. Additionally, by touching the identified switch and counting the number of beeps, operators can confirm that the identified switch is the desired one.

[0067] In this way, even when it is difficult to visually confirm switches 2A, 2B, and 2C, operators can accurately identify the desired switch based on the number of beeps, thereby preventing accidental button presses.

[0068] In this embodiment, the prompt sound is set to a buzzer sound, but alternatively, it can be a sound corresponding to the detected contact of switches 2A, 2B, and 2C.

[0069] The sound can also be an identification name attached to switches 2A, 2B, and 2C. This identification name can be, for example, an identification number, or a name indicating the function assigned to switches 2A, 2B, and 2C.

[0070] According to this structure, the sound generating unit 7 emits a sound indicating the identification name of the switch 2A, 2B, or 2C that the finger is touching. The operator can determine whether the switch 2A, 2B, or 2C is touched based on the sound.

[0071] The embodiments and variations of this disclosure have been described above. However, the switching device and robot of this disclosure are not limited to the above embodiments and variations, and various changes can be made without departing from the spirit of this disclosure.

[0072] For example, in the above embodiments, the three switches 2A, 2B, and 2C are arranged in a row along the circumference, but the number and arrangement of the switches are not limited to this and can be appropriately changed. For example, the switch devices 1, 101, and 102 may also have more than four switches, and the switches may also be arranged in a two-dimensional manner.

[0073] Switches 2A, 2B, and 2C may also be located on the outer surface of other parts of the robotic arm 12, instead of on the wrist flange 12a. Switches 2A, 2B, and 2C are preferably located in areas where their positions are difficult for the operator to visually confirm due to the movement of the robotic arm 12.

[0074] The switching device may also include a combination of two or more of the recognition units 3, 31, and 32. In this case, the operator can more accurately identify the touched switch based on at least two of the following: the raised or recessed part, vibration, and prompt sound.

[0075] Robot 10 can also be an industrial robot other than a vertical joint robot, such as a horizontal joint robot or a parallel linkage robot.

[0076] The functions assigned to switches 2A, 2B, and 2C are not limited to functions for direct teaching; they can also be other functions related to the robot 10 or peripheral devices such as tools.

[0077] The following notes are also disclosed regarding the above-described embodiments and variations.

[0078] (Note 1)

[0079] A switching device installed on a robot, comprising:

[0080] Three or more switches are configured in the movable part of the robot; and

[0081] The identification unit allows operators to identify the arrangement of three or more switches by touch.

[0082] The identification unit enables each of at least one of the switches to be distinguished from the other switches by touch.

[0083] (Note 2)

[0084] According to the switching device described in Appendix 1, the identification portion has at least one protrusion or recess, which is respectively disposed in at least one of the switches or in the vicinity of the switch.

[0085] (Note 3)

[0086] According to the switching device described in Appendix 2, the identification portion has three or more of the aforementioned protrusions and recesses, which are respectively disposed on or near the three or more switches.

[0087] The three or more protrusions and concave parts have different shapes from each other.

[0088] (Note 4)

[0089] A switching device installed on a robot, comprising:

[0090] Three or more switches are configured in the movable part of the robot; and

[0091] The identification unit allows operators to identify the arrangement of three or more switches by touch.

[0092] The identification unit includes:

[0093] The contact detection unit detects the contact of each of the three or more switches; and

[0094] A vibration generating unit, in response to the contact detection unit's detection of contact, causes the switch that detects contact to vibrate.

[0095] The vibration generating unit causes the switch that detected the contact to vibrate a number of times corresponding to the identification number assigned to the switch that detected the contact.

[0096] (Note 5)

[0097] A switching device installed on a robot, comprising:

[0098] Three or more switches are configured in the movable part of the robot; and

[0099] An identification unit is provided to allow operators to identify the arrangement of three or more switches by sound.

[0100] The identification unit includes:

[0101] The contact detection unit detects the contact of each of the three or more switches; and

[0102] The sound generating unit emits a prompt tone in response to the contact detection unit's detection of contact.

[0103] The sound generating unit emits a prompt tone corresponding to the detection of the contact with the switch.

[0104] (Note 6)

[0105] According to the switching device described in Appendix 5, the prompt tone is a buzzing sound of a number corresponding to the identification number assigned to the switch upon detecting the contact.

[0106] (Note 7)

[0107] According to the switching device described in Appendix 5, the prompt tone is a sound with an identification name assigned to the switch upon detecting the contact.

[0108] (Note 8)

[0109] A robot, comprising:

[0110] Movable parts; and

[0111] The switching device according to any one of Appendices 1 to 7 is disposed in the movable part.

[0112] Explanation of reference numerals in the attached figures

[0113] 1, 101, 102: Switching devices

[0114] 2A, 2B, 2C: Switches

[0115] 3, 31, 32: Identification Department

[0116] 4A, 4B, 4C: Convex part (concave-convex part)

[0117] 5: Contact Detection Department

[0118] 5a, 5b, 5c: Sensors

[0119] 6: Vibration Generating Part

[0120] 6a, 6b, 6c: Oscillators

[0121] 7: Sound Production Section

[0122] 10: Robot

[0123] 11: Base

[0124] 12: Movable part (robotic arm)

Claims

1. A switching device installed on a robot, comprising: Three or more switches are configured in the movable part of the robot; as well as The identification unit allows operators to identify the arrangement of three or more switches by touch. The identification unit is able to distinguish each of at least one of the switches from the other switches by touch.

2. The switching device according to claim 1, wherein, The identification part has at least one protrusion or recess, which is respectively disposed in or near at least one of the switches.

3. The switching device according to claim 2, wherein, The identification part has three or more of the aforementioned protrusions and recesses, which are respectively disposed on or near the three or more switches. The three or more protrusions and concave parts have different shapes from each other.

4. A switching device installed on a robot, comprising: Three or more switches are configured in the movable part of the robot; as well as The identification unit allows operators to identify the arrangement of three or more switches by touch. The identification unit includes: A contact detection unit is used to detect contact with each of the three or more switches; as well as A vibration generating unit is used to cause the switch to vibrate upon detection of contact by the contact detection unit. The vibration generating unit causes the switch that detected the contact to vibrate a number of times corresponding to the identification number assigned to the switch that detected the contact.

5. A switching device installed on a robot, comprising: Three or more switches are configured in the movable part of the robot; as well as An identification unit is provided to allow operators to identify the arrangement of three or more switches by sound. The identification unit includes: A contact detection unit, used to detect contact with each of the three or more switches; as well as A sound generating unit is used to emit a prompt tone in response to the contact detection unit's detection of contact. The sound generating unit is used to emit a prompt tone corresponding to the detection of the contact of the switch.

6. The switching device according to claim 5, wherein, The prompt tone is a beeping sound corresponding to the number of times the switch is assigned an identification number when the contact is detected.

7. The switching device according to claim 5, wherein, The prompt sound is a sound with an identification name assigned to the switch upon detecting the contact.

8. A robot comprising: Movable parts; as well as The switching device according to any one of claims 1 to 7 is disposed on the movable part.

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