Control unit of a robot for carrying out manual operation by means of an operating device

Abstract

Control device (4) of a robot, comprising: an operating device (5) by which an operator performs an operation to manually change the position and orientation of a robot (1); and a processing unit (40) which is configured to process a signal from the operating unit, wherein the operating device comprises a movable part (52) which is configured to perform a push operation, a pull operation and a tilt operation in a predetermined direction, and an actuation detection unit (57) which is configured to detect an actuation of the movable part, the processing device includes a hand control unit (61) which is configured to control a jog operation to change the position and orientation of the robot by a predetermined minute amount in response to an actuation of the movable part detected by the actuation detection unit, and The hand control unit includes a force detection unit (63) which is configured to detect, based on an output of the actuation detection unit, the magnitude of a force with which the movable part is actuated, and to determine, based on the magnitude of the force with which the movable part is actuated, whether the jog operation is performed.

Description

[0001] The present invention relates to a control device of a robot for performing a manual operation by means of an operating device.

[0002] In the prior art, a method is known in which an operator specifies a teaching point of a robot when creating a robot operation program. The operator manually moves the robot to determine a position and orientation of a work tool relative to a workpiece. Furthermore, information containing the position and orientation of the robot at that time can be stored as a teaching point in the controller. The operator sets a plurality of teaching points according to an operation of the robot. For example, the controller can create an operation program such that a tool center point passes through the teaching point or in the vicinity of the teaching point. Furthermore, the controller can generate an operation program such that the orientation of the robot at the teaching point assumes the orientation specified by the operator.

[0003] As a method for moving a robot to set the teaching point, it is known that the operator moves the robot by pressing a button on a teaching pendant (see, for example, JP 2016 - 000 439 A). The operator can move the robot along a coordinate axis of a given coordinate system.

[0004] Furthermore, a method is known in which an operator changes the position and orientation of a robot by moving an operation handle attached to the robot when teaching (programming) a teaching point. This teaching method is called a direct teaching method. A force sensor is attached to the operation handle or robot. The controller detects a direction of operation of the operation handle through the force sensor to move the robot. As described above, a controller for changing the position and orientation of the robot in response to the operator's operation of the operation handle is known (see, for example, JP 2015 - 182 142 A, JP 2017 - 177 293 A, JP H08 - 216 074 A, JP H10 - 230 489 A, and WO 2017 / 064 851 A1).

[0005] Alternatively, it is known to attach the operating device for operating the robot to the robot or the like (see, for example, JP 2010 - 269 418 A, JP 5 637 883 B2, and JP H11 - 000 882 A). An operator can move the robot to a desired position and orientation by operating the operating device.

[0006] In addition, a controller for displaying a robot movement path on a display device is known (see, for example, JP 2016 - 221 653 A and JP H09 - 230 917 A).

[0007] Further prior art is disclosed by DE 10 2009 041 946 A1, DE 696 22 572 T2, EP 3 192 449 A1, EP 2 194 434 B1, US 2017 / 0 028 557 A1 and US 2011 / 0 015 787 A1.

[0008] US 2017 / 0 028 557 A1 is the closest state of the art.

[0009] When an operator sets a teaching point using a teach pendant or the like, the position and orientation of a robot can be significantly changed. This operation is called jog operation. A positive key and a negative key for moving the robot along a predetermined coordinate axis are provided on the teach pendant. When performing a jog operation, the operator continuously presses the key, which allows the position and orientation of the robot to be changed along the coordinate axis.

[0010] On the other hand, when setting the teaching points, there may be a case where the operator wants to slightly change the position and orientation of the robot. For example, the position and orientation of the robot may need to be fine-tuned near a desired position. The robot's control device may be configured to perform an inching operation that slightly changes the position and orientation of the robot. The operator switches to a mode that performs the inching operation. The operator can then slightly change the position and orientation of the robot along each coordinate axis by pressing a button on the coordinate axis of the teach pendant.

[0011] However, with the related technology, the robot cannot be moved in a direction other than the specified coordinate axis when performing a jog operation, resulting in poor operability. Furthermore, the operator must look at the teach pendant each time the operation is performed to confirm the position of the teach pendant button.

[0012] In addition, if the operator accidentally touches the button, the robot may move along the drive axis corresponding to the button. Alternatively, a movement amount when performing the jogging operation is a length along the coordinate axis. The operator calculates the length along the coordinate axis when changing the movement amount. Then, the operator needs to press the button on the teach pendant to change the movement amount. Thus, the related control device has a problem in that operability is poor when performing the jogging operation. This poses a problem in that it takes a long time for the robot to reach a target position and orientation. Therefore, an object is to solve these problems. According to the invention, a solution lies in a control device of a robot having the features of patent claim 1 and according to a first aspect of the present disclosure.This control device comprises an operating device with which an operator performs an operation for manually changing a position and orientation of a robot, and a processing device configured to process a signal from the operating device. The operating device comprises a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect the operation of the movable part. The processing device comprises a hand control unit configured to control a jogging operation that changes the position and orientation of the robot by a predetermined minimum amount in response to an operation of the movable part detected by the operation detection unit.The hand control unit includes a force detection unit configured to detect a magnitude of a force with which the movable part is actuated based on an output of the actuation detection unit. The hand control unit determines whether the inching operation is performed based on the magnitude of the force with which the movable part is actuated.

[0013] According to the invention, a further solution lies in a control device of a robot with the features of claim 3 and according to a second aspect of the present disclosure. This control device comprises an operating device with which an operator performs an operation for manually changing a position and orientation of a robot, and a processing device configured to process a signal from the operating device. The operating device comprises a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect the operation of the movable part.The processing device comprises a hand control unit configured to control a jog operation that changes the position and orientation of the robot by a predetermined minimum amount in response to an operation of the movable part detected by the operation detection unit, and a storage unit that stores information related to a hand operation. A setting direction in which the work tool attached to the robot moves is predetermined and stored in the storage unit. The hand control unit performs the jog operation regardless of the type of operation of the movable part such that the work tool moves in the setting direction when the movable part is operated.

[0014] According to the invention, a further solution lies in a control device of a robot with the features of claim 7 and according to a third aspect of the present disclosure. This control device comprises an operating device with which an operator performs an operation for manually changing a position and orientation of a robot, and a processing device configured to process a signal from the operating device. The operating device comprises a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect the operation of the movable part.The processing device comprises a hand control unit configured to control a jog operation that changes the position and orientation of the robot by a predetermined minimum amount in response to an operation of the movable part detected by the operation detection unit, and a storage unit that stores information related to a hand operation. A curved movement path along which a work tool attached to the robot moves and a movement length along the movement path during a single jog operation are predetermined and stored in the storage unit. The hand control unit performs the jog operation such that the work tool moves the movement length along the movement path upon an operation of the movable part. Fig. 1 is a side view of a robot apparatus of an embodiment. Fig. 2 is a block diagram of the robot device of the embodiment. Fig. 3 is an enlarged perspective view of an operating device of the embodiment. Fig. 4 is a schematic diagram showing an operation of the robot when the operating device is operated. Fig. 5 is a diagram showing a movement path when performing a jog operation. Fig. 6 is a first illustration showing a movement amount in jogging operation. Fig. 7 is a second diagram showing a movement amount during jog operation. Fig. 8 is a third diagram showing a movement amount during jog operation. Fig. 9 is a fourth diagram showing a movement amount in jogging operation. Fig. 10 is a fifth diagram showing a movement amount in jogging operation.

[0015] A control device of a robot according to the embodiment is described with reference to Fig. 1 to Fig. 10. The control device of the robot of the present embodiment is configured to allow an operator to manually move the robot. Furthermore, the control device is configured to perform a jog operation in which a position and orientation of the robot are changed by a very small (small or "micro") movement amount. Control for manually moving a robot can be used, for example, when setting a teaching point.

[0016] Fig. 1 is a schematic view of a robot device according to the present embodiment. The robot device 9 includes a hand 2 as a work tool and a robot 1 that moves the hand 2. The robot 1 of the present embodiment is a multi-joint articulated robot. Each component of the robot 1 is configured to rotate about a drive axis of the robot 1. The robot 1 of the present embodiment includes a base 14 and a rotary base 13 supported by the base 14. The rotary base 13 rotates relative to the base 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is supported by the rotary base 13. The upper arm 11 is supported by the lower arm 12. The robot 1 includes a wrist 15 supported by the upper arm 11. The hand 2 for gripping or releasing the workpiece is attached to the flange 16 of the wrist 15.

[0017] The robot 1 of the present embodiment includes six drive axes, but the embodiment is not limited to this. A robot that changes position and orientation by any means may be employed. Further, the work tool of the present embodiment is the hand that grips the workpiece, but this is not limited to this embodiment. The operator can select a work tool according to the operation performed by the robot device. For example, a work tool for removing burrs, a work tool for performing welding, a work tool for applying an adhesive, or the like may be employed.

[0018] In the robot device 9 of the present embodiment, a reference coordinate system 71 is defined. Fig. In the example shown in Figure 1, an origin of the reference coordinate system 71 is located at the base 14 of the robot 1. The reference coordinate system 71 is also called a world coordinate system. The reference coordinate system 71 is a coordinate system in which the position of the origin and the orientation of the coordinate axis are fixed. Even if the position and orientation of the robot 1 change, the position and orientation of the reference coordinate system 71 do not change. The reference coordinate system 71 has an X-axis, a Y-axis, and a Z-axis, which are orthogonal to each other as coordinate axes. In addition, a W-axis is defined as a coordinate axis around the X-axis. A P-axis is defined as a coordinate axis around the Y-axis. An R-axis is defined as a coordinate axis around the Z-axis.

[0019] In the present embodiment, a tool coordinate system 72 is defined, which has an origin set at an arbitrary position in the work tool. The origin of the tool coordinate system 72 of the present embodiment is set at a tool center point 70. The tool coordinate system 72 has an X-axis, a Y-axis, and a Z-axis, which are mutually orthogonal as coordinate axes. In the Fig. In the example shown in Figure 1, the tool coordinate system 72 is set so that the extension direction of the Z-axis is parallel to the direction in which the claw part of the hand 2 extends. Furthermore, the tool coordinate system 72 has a W-axis around the X-axis, a P-axis around the Y-axis, and an R-axis around the Z-axis. The position of the robot 1 corresponds, for example, to the position of the tool center point 70. Furthermore, the orientation of the robot 1 corresponds to the orientation of the tool coordinate system 72 with respect to the reference coordinate system 71.

[0020] Fig. 2 is a block diagram showing the robot device of the present embodiment. Referring to Fig. 1 and Fig. 2, the robot 1 includes a robot drive device that changes the position and orientation of the robot 1. The robot drive device includes a robot drive motor 22 that drives components such as an arm and a wrist. In the present embodiment, a plurality of robot drive motors 22 are arranged corresponding to the respective drive axes.

[0021] The robot device 9 includes a hand drive device that drives the hand 2. The hand drive device includes a hand drive motor 21 that drives the claw part of the hand 2. The claw part of the hand 2 is opened or closed by driving the hand drive motor 21.

[0022] The robot device 9 includes a controller 4 that controls the robot 1 and the hand 2. The controller 4 includes a processing device 40 that performs control, and a teach pendant 37 with which the operator operates the processing device 40. The processing device 40 includes an arithmetic processing device (computer) that includes a central processing unit (CPU) serving as a processor, as well as a random access memory (RAM) and a read-only memory (ROM) or the like, which are connected to the CPU via a bus. The robot 1 and the hand 2 are connected to the controller 4 via a communication device.

[0023] The teaching pendant 37 is connected to the processing device 40 via a communication device. The teaching pendant 37 includes an input part 38 for inputting information regarding the robot 1 and the hand 2. The input part 38 consists of a keyboard, a rotary switch, and the like. The operator can input the setting value of the variables, permissible ranges of the variables, and the like into the processing device 40 via the input part 38. The teaching pendant 37 includes a display part 39 that displays information regarding the robot 1 and the hand 2.

[0024] The operator can set a teaching point of the robot 1 by manually moving the robot 1. The controller 4 can generate an operation program for performing the operation of the robot 1 and the hand 2 based on the teaching point. Alternatively, the operation program can be input to the controller 4.

[0025] The processing device 40 includes a storage unit 42 that stores information related to the control of the robot 1 and the hand 2. The storage unit 42 can be formed by a storage medium capable of storing information, such as a volatile memory, a non-volatile memory, or a hard disk memory. The processor of the arithmetic processing device is configured to read the information stored in the storage unit 42. The operation program is stored in the storage unit 42. The robot device 9 of the present embodiment conveys the workpiece based on the operation program. The robot 1 can automatically convey the workpiece from an initial position to a target position.

[0026] The processing device 40 includes an operation control unit 43 configured to control the operation of the robot 1. The operation control unit 43 corresponds to a processor that operates according to the operation program. The processor reads the operation program and functions as the operation control unit 43, performing the control defined in the operation program.

[0027] The operation control unit 43 sends operation commands based on the operation program to a robot drive unit 45 for driving the robot 1. The robot drive unit 45 includes an electrical circuit that drives the robot drive motor 22. The robot drive unit 45 supplies power to the robot drive motor 22 based on the operation commands. Furthermore, the operation control unit 43 controls the operation of the hand 2. The operation control unit 43 sends operation commands based on the operation program to a hand drive unit 44 for driving the hand 2. The hand drive unit 44 includes an electrical circuit that drives the hand drive motor 21. The hand drive unit 44 supplies power to the hand drive motor 21 based on the operation commands.

[0028] The robot 1 includes a state detector for detecting the position and orientation of the robot 1. The state detector of the present embodiment includes a position detector 19 mounted on the robot drive motor 22 corresponding to the drive axis of an arm, and the like. The orientation of the component along each drive axis can be detected based on an output of the position detector 19. For example, the position detector 19 detects a rotation angle when the robot drive motor 22 is driven. In the present embodiment, the position and orientation of the robot 1 are detected based on the output of a plurality of position detectors 19.

[0029] Fig. 3 is an enlarged perspective view of an operating device of the present embodiment. Referring to Fig. 1 to Fig. 3, the control device 4 of the robot of the present embodiment includes an operating device 5 with which an operator performs an operation for manually changing the position and orientation of the robot 1. In the present embodiment, the operating device 5 is attached to a stationary frame 81. The operator can perform manual operation of the robot 1 by standing near the frame 81 and operating the operating device 5.

[0030] The operating device of the present embodiment includes an arithmetic processing device including a CPU serving as a processor, a RAM, and the like. The operating device 5 includes a wireless communication unit 58 including a communication element for performing communication. The teaching pendant 37 also includes a wireless communication unit including a wireless copy protection plug (dongle) 36 as a communication element. The operating device 5 is configured to wirelessly communicate with the teaching pendant 37. The operating device 5 is further configured to communicate with the processing device 40 via the teaching pendant 37. The processing device 40 can process a signal from the operating device 5.

[0031] The operating device 5 of the present embodiment is designed to communicate wirelessly with the programming pendant 37, but the embodiment is not limited thereto. The operating device 5 can also be connected to the programming pendant 37 via a communication line. Alternatively, the operating device 5 can be designed to communicate with the processing device 40 wirelessly or via the communication line.

[0032] The operating device 5 of the present embodiment includes a main body 51 and a joystick 52 serving as a movable part supported by the main body 51. The movable part is formed by a movable element that moves upon operator operation. The joystick 52 is configured to move relative to the main body 51. The main body 51 is fixed to the frame 81.

[0033] In Fig. 3, an operating coordinate system 73 is described to illustrate the operation of the joystick 52. The origin of the operating coordinate system 73 can be located on the axis of the joystick 52 when the hand is released from the joystick 52. In addition, the orientation of the operating coordinate system 73 can be set to any desired orientation. Fig. In the example shown in Figure 3, the Z-axis is arranged so that it overlaps the axis of the stick 52 when the hand is released from the stick 52.

[0034] The stick 52 of the present embodiment is configured to be tiltable in the X-axis and Y-axis directions of the operation coordinate system 73. That is, the stick 52 is configured to rotate around a predetermined rotation center. Furthermore, the stick 52 is configured to be tiltable even in an intermediate range between the X-axis and the Y-axis. As described above, the stick 52 is configured to be tiltable in any direction. Furthermore, the stick 52 is configured to perform a pulling operation or a pushing operation in the Z-axis direction.

[0035] A spring serving as an elastic element that biases the stick 52 back to the neutral state is arranged in the main body 51. The neutral state is, for example, a state in which the axis of the stick 52 extends in the vertical direction. In the Z-axis direction, the center position of the operating ranges of the push operation and the pull operation corresponds to the neutral state position.

[0036] Furthermore, the operating device 5 of the present embodiment is designed such that the joystick 52 can be rotated in the R-axis direction around the Z-axis of the operating coordinate system 73. In other words, it is designed such that the joystick 52 can be rotated by the operator. The position of the neutral state then corresponds to a center position in the range in which the rotation operation along the R-axis is possible.

[0037] The arithmetic processing unit of the operating device 5 includes an operation detection unit 57 for detecting an operation by the operator. The operation detection unit 57 corresponds to a processor that operates according to the operating program. The processor reads the operating program and functions as the operation detection unit 57 by performing the control defined in the operating program. When the operator operates the joystick 52, the operation detection unit 57 detects an operation direction and an operation amount of the joystick 52. The operation amount can be detected as the amount of movement of the joystick 52 at a predetermined position or a rotation angle around the rotation center when rotating the joystick 52.

[0038] The operation detection unit 57 can detect the operation direction and the operation amount using each coordinate value of the operation coordinate system 73. Specifically, the operation detection unit 57 is configured to detect the operation amount based on the neutral state of the joystick 52. Thus, the operation detection unit 57 can detect the operation performed by the operator. Note that the operation detection unit may not include a CPU as the processor. The operation detection unit may be configured to detect the operator's operation of the joystick by a mechanical device.

[0039] The operating device 5 of the present embodiment is fixed to the frame 81, but the embodiment is not limited thereto. The operating device 5 can be arranged in various positions. For example, the operating device 5 can be fixed to a support member by placing the support member on the wrist 15 or hand 2 of the robot 1. That is, the operating device 5 can be arranged to move with the wrist 15 or hand 2 of the robot 1. In this case, the operator can manually change the position and orientation of the robot 1 by standing near the robot 1 and operating the operating device 5. Alternatively, the operator can hold the operating device with his hand to operate the operating device.

[0040] Fig. Figure 4 is a schematic view of an operating device and a robot to illustrate the correspondence between the operating direction of the joystick of the operating device and the direction in which the robot is moved. Referring to Fig. 2 and Fig. 4, the processing device 40 of the present embodiment is configured to perform a touch operation in which the position and orientation of the robot 1 are continuously changed during the period in which the operation of the joystick 52 is performed. Furthermore, the processing device 40 is configured to perform the jog operation in response to the operation of the joystick 52, which changes the position and orientation of the robot 1 by the predetermined minimum amount. The operating device 5 of the present embodiment includes a button 53 that switches between a touch mode for performing a touch operation and a jog mode for performing a jog operation. The operator can switch between the touch mode and the jog mode by pressing the button 53.

[0041] The touch operation for continuously changing the position and orientation of the robot 1 will now be described. When performing the touch operation, the operator sets the control mode to the touch mode. The processing device 40 changes the position and orientation of the robot 1 during the period in which the joystick 52 is operated. In the touch operation, the position and orientation of the robot 1 are changed in response to the operation direction and amount of the joystick 52 of the operating device 5.

[0042] The processing device 40 of the present embodiment includes a hand controller 61 that changes the position and orientation of the robot 1 in response to the operation of the operating device 5. The hand controller 61 sends an operation command to the operation control unit 43 in response to the operation of the operating device 5. The operation control unit 43 then changes the position and orientation of the robot 1 based on the operation command. As described below, the hand controller 61 includes a timer unit 62 and a force detection unit 63. Each unit of the hand controller 61, the timer unit 62, and the force detection unit 63 corresponds to a processor that operates according to the operation program. The processor functions as each unit by reading the operation program and performing control defined in the operation program.

[0043] In touch mode, the hand control unit 61 can move the robot 1 such that the direction of the coordinate axis in the operating coordinate system 73 corresponds to the direction of the coordinate axis of the tool coordinate system 72. For example, if the operator tilts the joystick 52 in the X-axis direction of the operating coordinate system 73, the hand control unit 61 controls the robot 1 such that the tool center point 70 moves in the X-axis direction of the tool coordinate system 72.

[0044] In the present embodiment, the operating device 5 is fixed to the frame. The position and orientation of the operating device 5 are immovable, thereby fixing the position and orientation of the operating coordinate system 73. The operator can input the position and orientation of the operating coordinate system 73 as the setting value 48. For example, the operator can input the position and orientation of the operating coordinate system 73 with respect to the reference coordinate system 71 in advance. Furthermore, the hand controller 61 can calculate the position and orientation of the tool coordinate system 72 with respect to the reference coordinate system 71 based on the output of the position detector 19. Therefore, the hand controller 61 can calculate the relative position and orientation of the tool coordinate system 72 with respect to the operating coordinate system 73.

[0045] Similarly, when the operating device 5 is attached to the hand or wrist of the robot, the position and orientation of the operating coordinate system 72 with respect to the reference coordinate system 71 are calculated based on the output of the position detector 19. Therefore, the hand control unit 61 can calculate the relative position and orientation of the tool coordinate system 72 with respect to the operating coordinate system 73.

[0046] When the operator operates the joystick 52 in a direction of the operating coordinate system 73, the hand control unit 61 changes the position and orientation of the robot 1 such that the tool coordinate system 72 (hand 2) moves in the direction in which the joystick 52 is operated.

[0047] Here, the control device 4 is designed so that it can switch between a translation mode, which moves the position of the tool center point 70 while maintaining the orientation of the hand 2, and a rotation mode, which changes the orientation of the hand 2 while maintaining the position of the predetermined point. In the rotation mode of the present embodiment, the hand 2 rotates around the tool center point 70 as the center of rotation. The operator can switch between the translation mode and the rotation mode by pressing a button 55 arranged on the main body 51. Referring to Fig. 3, in translation mode, for example, by tilting the joystick 52 in the direction of the X-axis of the operating coordinate system 73, the hand 2 is controlled to move in the direction of the X-axis of the tool coordinate system 72. In turning mode, the hand 2 is controlled to rotate in the direction of the W-axis of the tool coordinate system 72 by tilting the joystick 52 in the direction of the X-axis of the operating coordinate system 73.

[0048] A movement speed and a rotational speed of the hand 2 in the probing operation (the movement speed and rotational speed of the tool coordinate system 72) can be specified by the operator as setting values ​​48 and stored in the storage unit 42. Furthermore, the robot 1 will continue to move with respect to the movement amount of the probing operation during the period in which the operator operates the joystick 52.

[0049] In the above embodiment of the touch operation, the position and orientation of the robot 1 are changed so that the coordinate axes of the operation coordinate system 73 correspond to the coordinate axes of the tool coordinate system 72, but the embodiment is not limited to this. The robot 1 can be controlled so that the work tool moves or rotates in any direction according to the operation of the joystick 52 of the operation device 5. For example, the hand controller 61 can change the position and orientation of the robot 1 so that the coordinate axes of the operation coordinate system 73 correspond to the coordinate axes of the reference coordinate system 71. For example, when the joystick 52 is tilted in the X-axis direction of the operation coordinate system 73, the hand controller 61 can control the position of the tool center point 70 to move in the X-axis direction of the reference coordinate system 71.

[0050] Alternatively, if the operating device is mounted on the robot's wrist, the hand controller can control the wrist to move in a direction in which the joystick is operated. In this case, the coordinate axis of the operating coordinate system and the coordinate axis of the tool coordinate system can be adjusted so that the direction in which the joystick is operated coincides with the direction in which the wrist is moved.

[0051] Next, a jogging operation will be described in which the position and orientation of the robot 1 are changed by a predetermined minimum amount. When performing the jogging operation, the operator switches the control mode to the jogging mode by pressing a button 53. The travel amount of the robot in the jogging operation is very small. For example, in the translation operation, the movement distance of the hand 2 (the movement distance of the tool coordinate system 72) is set to 10 mm or less. More preferably, the movement distance of the hand 2 is set to 5 mm or less. In the turning operation, the rotation angle of the hand 2 (the rotation angle of the tool coordinate system 72) is set to 5° or less. More preferably, the rotation angle of the work tool is set to 1° or less.

[0052] First, a determination control for determining whether a jog operation is performed will be described. A first control of the determination control is similar to the control of the touch operation. When the operator moves the joystick 52, the hand control unit 61 performs control to perform the jog operation. That is, when the joystick 52 is operated, the hand control unit 61 performs the jog operation by a predetermined amount of movement, regardless of the length of time the joystick 52 is operated or the force applied to the joystick 52.

[0053] In a second and third control of the determination control, the hand control unit 61 determines whether the inching operation is performed based on the time elapsed since the operation of the stick 52. Referring to Fig. 2, the hand control unit 61 of the present embodiment includes a time measurement unit 62 that measures the time associated with the operation of the joystick 52. The determination value of the elapsed operation time can be specified by the operator. For example, a period of 1 second or less can be set as the determination value of the elapsed time. The operator can store the determination value as the setting value 48 in the storage unit 42.

[0054] In the second determination control, the hand control unit 61 does not perform the inching operation when the elapsed time from the operation of the joystick 52 until the hand is released is longer than the predetermined determination value. On the other hand, the hand control unit 61 performs the inching operation when the elapsed time from the operation of the joystick 52 until the hand is released is equal to or less than the predetermined determination value. The hand control unit 61 determines that the operator has released his hand from the joystick 52 when the joystick 52 returns to the neutral state.

[0055] In the second control, the hand control unit 61 does not perform the inching operation if the operator continues to operate the joystick 52 for a period longer than the predetermined determination value. However, if the operator releases the hand within a period equal to or less than the predetermined determination value, the hand control unit 61 performs the inching operation once.

[0056] In jogging operation, the position and orientation of the robot 1 change slightly. In the second control, jogging operation is performed when the operator operates the joystick 52 for a short period of time. In the second control, when performing jogging operation with a small movement amount, it is sufficient to perform one operation for a short period of time, and the operator can perform jogging operation without inconvenience. Alternatively, the operator may sometimes mistakenly assume that the current control mode is in touch mode even when the current control mode is in jogging mode. In such a case, movement of the robot 1 can be avoided by operating the joystick 52 for a long period of time.

[0057] In the third control of the determination control, the hand control unit 61 does not perform the inching operation when the time elapsed from the operation of the stick 52 until the hand is released is shorter than the predetermined determination value. However, if the time elapsed since the operation of the stick 52 is equal to or greater than the predetermined determination value, the hand control unit 61 performs the inching operation.

[0058] In the third control, the hand control unit 61 does not perform the inching operation if the operator releases the hand from the joystick 52 within a time period shorter than the predetermined determination value. However, if the joystick 52 continues to be operated for a time period equal to or greater than the predetermined determination value, the hand control unit 61 performs the inching operation once.

[0059] By performing the third control, it is possible to avoid performing the jog operation when the operator mistakenly operates the stick or the operator bumps the stick.

[0060] Next, in fourth and fifth control of the determination control, the manual control unit 61 determines whether the inching operation is performed based on the magnitude of the force with which the joystick 52 is operated. Such a determination value of the force may be set in advance by the operator. The determination value may be stored as the setting value 48 in the storage unit 42. The determination value of the magnitude may be set to a value of 5 N or less, for example. More preferably, the determination value of the force magnitude may be set to a value equal to or less than 2 N. Alternatively, the determination value of the force may be set based on the amount of movement of the joystick 52. The determination value of the force may be set to a magnitude, for example, when the joystick 52 is operated to a position that is 1 / 2 of the maximum amount of movement.

[0061] The hand control unit 61 includes a force detection unit 63 that detects the magnitude of the force applied to the stick 52 when the stick 52 is operated. The force detection unit 63 detects the magnitude of the force with which the stick 52 is operated based on the output of the operation detection unit 57. The force detection unit 63 of the present embodiment detects the operation amount based on the neutral state of the stick 52 from the operation detection unit 57. The force detection unit 63 can calculate a magnitude of the force applied by the operator based on the operation amount of the stick 52.

[0062] In the present embodiment, as described above, the spring is arranged in the main body 51 so that the stick 52 returns to the neutral state. The greater the operation amount detected by the operation detection unit 57, the greater the force applied by the operator. The force detection unit 63 can calculate the magnitude of the force applied to the stick 52 based on the operation amount of the stick 52.

[0063] In the fourth control of the determination control, the manual control unit 61 performs control in which the inching operation is not performed when the magnitude of the force with which the joystick 52 is operated is equal to or greater than the predetermined determination value. On the other hand, the manual control unit 61 performs the inching operation when the magnitude of the force with which the joystick 52 is operated is less than a predetermined determination value. The manual control unit 61 performs the inching operation once in a single operation.

[0064] In a fourth control, a jog operation can be performed with a small force. The jog operation can be performed with a small amount of movement of the joystick 52. Therefore, if the jog operation is performed multiple times, the jog operation can be performed in a short period of time. Therefore, the robot 1 can be moved to the target position and orientation in a short period of time.

[0065] In the fifth control of the determination control, the manual control unit 61 does not perform the inching operation when the magnitude of the force with which the joystick 52 is operated is equal to or less than the predetermined determination value. However, if the magnitude of the force when operating the joystick 52 is greater than the predetermined determination value, the manual control unit 61 performs the inching operation. The manual control unit 61 performs the inching operation once for a single operation.

[0066] In the fifth control, the inching operation is performed when the force applied to the stick 52 is large. Therefore, the inching operation can be avoided if the operator mistakenly touches the stick 52.

[0067] It should be noted that in the fourth and fifth control modes, the operating time of the joystick 52 can be measured by the timing unit 62. The operating time range of the joystick 52 can be determined. The manual control unit 61 can determine the force applied to the joystick within this operating time range.

[0068] Furthermore, the processing device 40 may be configured to perform the above-described plurality of controls with respect to a determination control that determines whether the jogging operation of the robot 1 is performed. In this case, the processing device 40 may be configured to switch between the plurality of controls.

[0069] In the determination control of the present embodiment, it is possible to determine whether the jog operation is performed by the operation of the operation device, thereby improving the operability in the manual operation.

[0070] Next, control regarding the direction of movement of the work tool will be described. In a first control regarding the direction of movement of the work tool, control similar to the aforementioned control of the touch operation is also performed in the jog mode. The hand control unit 61 can change the position and orientation of the robot 1 so that the hand 2 moves in the direction of the tool coordinate system 72 that corresponds to the operating direction of the joystick 52 in the operating coordinate system 73.

[0071] The operator selects, for example, the translation operation or the rotation operation using button 55. The hand control unit 61 detects the operation of the joystick 52 based on the operation coordinate system 73. The hand control unit 61 changes the position and orientation of the robot 1 such that the hand 2 moves or rotates in the direction of the tool coordinate system 72 that corresponds to the operation direction of the joystick 52. In the control mode in which the translation operation is performed, if the operator tilts the joystick 52, for example, in the X-axis direction of the operation coordinate system 73, the hand control unit 61 changes the position and orientation of the robot 1 such that the tool center point 70 moves in the X-axis direction of the tool coordinate system 72.

[0072] In the first control, since the direction in which the joystick 52 is operated corresponds to the direction in which the hand 2 moves, the operator can operate the robot 1 even without looking at the teach pendant 37. For example, the robot 1 can be operated and viewed simultaneously without confirming the position of the button corresponding to the operation direction and located on the teach pendant 37.

[0073] Next, in the second control regarding the movement direction of the work tool, the hand control unit 61 performs the jog operation so that the hand 2 moves in the specified direction regardless of the operation of the joystick 52. The operator can set the setting direction in which the hand 2 moves and store the setting direction as the setting value 48 in the storage unit 42.

[0074] For example, the direction on the positive side of the Y-axis of the reference coordinate system 71 can be set as the setting direction in which the hand 2 moves. Even if the operator tilts the stick 52 in the X-axis direction of the operation coordinate system 73, tilts it in the Y-axis direction, pushes it in the Z-axis direction, and pulls it in the Z-axis direction, the hand control unit 61 controls the robot 1 so that the tool center point 70 moves in the positive direction of the Y-axis.

[0075] Alternatively, the operator can preset a curved movement path along which hand 2 moves. The operator can store the curved movement path as a setting value 48 in the storage unit 42. The movement path can be specified in any coordinate system. For example, the path represented by the reference coordinate system 71 can be set as the movement path. The movement path includes the orientation of hand 2 and the direction in which hand 2 moves.

[0076] Fig. Figure 5 shows a schematic diagram illustrating a curved movement path. In Fig. 5 shows the coordinate axes of the reference coordinate system 71. The operator can set the movement path 85 along which the tool center 70 moves in the space surrounding the robot 1. Furthermore, the orientation of the hand 2 can be set along the movement path 85. For example, a tool center 70 is positioned at a position P0. By operating the joystick 52 in any direction, the operator changes the position and orientation of the robot 1 so that the tool center 70 moves from position P0 to position P1. The tool center 70 moves along the movement path 85.

[0077] By performing the second control, the jog operation can be performed so that the hand 2 moves along the predetermined movement path 85. For example, when performing removal of burrs formed in the corner of the workpiece, it can be confirmed whether the tool attached to the work tool moves along the shape of the corner. The operator can set a curved movement path along the shape of the corner. Then, by performing the jog operation, the operator changes the position and orientation of the work tool by a minute amount along the movement path. The operator can confirm whether the position and orientation of the work tool are appropriate for each very small section. Note that the movement path is curved in the example described above, but the embodiment is not limited to this. The movement path may also be linear.

[0078] Next, in the third control, the robot 1 can be controlled with respect to the direction of movement of the work tool so that the hand 2 moves in a direction that is offset by a predetermined angle relative to the direction in which the joystick 52 is operated by the operator. This predetermined angle can be set in advance by the operator and stored as a preset setting value 48 by the operator in the storage unit 42.

[0079] For example, the operator can set 30° on the positive side of the R-axis as the angle that shifts the operation direction. In translation mode, the operator performs an operation to tilt the joystick 52 toward the positive side of the X-axis of the operation coordinate system 73. The hand control unit 61 can control the position and orientation of the robot 1 so that the hand 2 moves in a direction shifted by 30° on the positive side of the R-axis from a direction on the positive side of the X-axis of the tool coordinate system 72.

[0080] The processing device 40 can be configured to perform the multiple controls described above with respect to the direction of movement of the hand. In this case, the processing device 40 can be configured to switch between the multiple controls.

[0081] With the movement direction control of the present embodiment, the hand can be moved in a desired direction by operating the operating device according to the direction in which the hand moves. Therefore, the operability of the hand operation is improved.

[0082] Next, control regarding the amount of movement by which the position and orientation of the hand 2 change in a single jog operation will be described. In translation operation, for example, the length of movement of the hand 2 (or the tool center point 70) corresponds to the amount of movement. Furthermore, in rotation operation, the angle by which the hand 2 rotates corresponds to the amount of movement. The amount of movement can be set in various ways. The operator can set the amount of movement in advance and store the amount of movement as the setting value 48 in the storage unit 42. The hand control unit 61 changes the position and orientation of the robot 1 so that the hand 2 moves by a predetermined amount of movement when the movement direction of the hand 2 is determined.

[0083] In a first control regarding the amount of hand movement, the operator sets the linear distance from the current position P0 to the moved position P1 as the amount of movement when performing the translation operation. That is, the linear distance over which the tool center point 70 moves is set as the amount of movement. Furthermore, when performing the rotation operation, the operator can set the angle of rotation of the hand 2 as the amount of movement.

[0084] Fig. 6 shows a first illustration describing the amount of movement in the first control. In Fig. Figure 6 shows the amount of movement of the work tool during a translation operation in the tool coordinate system 72. This means that the distance over which the tool center 70 moves from the starting point position P0 of the jog operation to the position P1 at the end of the jog operation is shown. The amount of movement in all directions is indicated by a sphere 87. Fig. 6, the amount of movement during jog operation is set to a distance that is the same in all directions. For example, the amount of movement in the direction indicated by arrow 94 and the amount of movement in the direction indicated by arrow 95 are set to the same distance.

[0085] Fig. Figure 7 shows a second diagram describing the amount of movement in the first control. Fig. 7 shows the movement amount of the working tool during translation operation in the tool coordinate system 72. The movement amount can be set differently in each direction of movement. In the second illustration, the movement amount is indicated by a quadrangular prism 88. In the Fig. In the example shown in Figure 7, the movement amount is set to be large in the X-axis direction and small in the Y-axis and Z-axis directions. Therefore, the movement amount in the direction indicated by arrow 96 is smaller than the movement amount in the direction indicated by arrow 97. Thus, the movement amount in each direction can be set to any desired distance.

[0086] In the cases described above, Fig. 6 and Fig. In the examples shown in Figure 7, the translation operation is described, but similar control can be performed for a turning operation. For example, the same movement amount (rotation angle) can be set for the W-axis, the P-axis, and the R-axis of the tool coordinate system 72. Alternatively, different movement amounts (rotation angles) can be set for each of the W-axis, the P-axis, and the R-axis of the tool coordinate system 72.

[0087] Next, in the second control regarding the movement amount of the hand in the translation operation, the length projected on the predetermined plane is set as the movement amount of the linear movement from the current position P0 to the position P1 at which the jogging operation ends.

[0088] Fig. Figure 8 is a schematic diagram showing the length when a linear motion path is projected onto the XY plane. The motion path of Fig. 8 is shown in a tool coordinate system 72. In this example, the XY plane is set as the predetermined plane. By performing the jog operation, the tool center 70 moves from a position P0 to a position P1. Then, the operator can set a distance dxy obtained by projecting the movement path onto, for example, the XY plane including the X-axis and the Y-axis. The hand controller 61 calculates the target position P1, at which a distance in the XY plane is dxy, based on the movement direction. The hand controller 61 changes the position and orientation of the robot 1 so that the tool center 70 moves from the position P0 to the position P1.

[0089] Next is the third control regarding the amount of movement, as in Fig. 5 shows the control in which the curved movement path 85 along which the hand 2 moves is predetermined. The tool center point 70 moves along the movement path 85 regardless of the manner in which the operator actuates the stick 52.

[0090] Fig. 9 is a diagram describing the movement amount of the third control. In the third control, movement from the current position P0 to position P1 is performed by the jog operation. In this case, the movement amount is set to a length projected onto a predetermined plane. In this example, the XY plane is set as the predetermined plane. The operator can set the length dxy projected onto the XY plane as the movement amount. The hand controller 61 can calculate the position P1 at which the projected length becomes the length dxy based on the position P0 and the movement path 85. The hand controller 61 changes the position and orientation of the robot 1 such that the tool center point 70 moves along the movement path 85 from the position P0 to the position P1.

[0091] Next is the fourth control regarding the amount of movement, as shown in Fig. 5 shows the control in which the curved movement path 85 along which the hand 2 moves is specified. In the fourth control, the movement length along the movement path 85 is set as the movement amount.

[0092] Fig. 10 shows a diagram describing the movement amount of the fourth controller. The movement path 85 is set to be curved. The tool center point 70 of the robot 1 moves along the movement path 85 from position P0 to position P1. In the fourth controller, the length dxy, which is the movement length along the movement path 85 from position P0 to position P1, can be set as the movement amount. The hand controller 61 calculates the position P1 at which the movement length traveled along the movement path 85 is dxy based on the position P0 and the movement path 85. When the operating device 5 is operated, the hand controller 61 changes the position and orientation of the robot 1 such that the tool center point 70 moves along the movement path 85 from position P0 to position P1.

[0093] With the movement amount control of the present embodiment, the movement amount can be adjusted by an appropriate method according to the movement pattern of each hand. Therefore, the operability of the hand operation is improved.

[0094] Next, a setting control for setting the movement amount and direction in the jog mode is described. In the first setting control, the movement amount and direction of hand 2 are set by operating the teach pendant 37. The operator sets the movement amount by operating the input part 38 while viewing the display part 39.

[0095] Alternatively, an input device different from the teaching pendant 37 can be arranged to adjust the movement amount and direction. For example, an input device comprising a slider-like handle or an input device comprising a rotary knob can be connected to the teaching pendant 37. The operator can adjust the movement amount and direction by tilting the slider-like handle while viewing the display part 39 of the teaching pendant 37. Alternatively, the operator can adjust the movement amount and direction by rotating the knob while viewing the display part 39 of the teaching pendant 37.

[0096] In the second to sixth control of the setting control, the movement amount and the movement direction are set by operating the operating device 5 of the present embodiment. As shown in Fig.As shown in Figure 7, when changing the movement amount for the X-axis, Y-axis, and Z-axis of the operation coordinate system 73, the movement amount can be set for each coordinate axis. The controller 4 is configured to switch between the operation mode for operating the robot 1 and the setting mode for setting the setting value. The setting mode includes a movement amount setting mode and a movement direction setting mode. When setting the movement amount, the operator switches to a movement amount setting mode in the setting mode. When setting the movement direction, the operator switches to a movement direction setting mode in the setting mode.

[0097] In the second and third control of the adjustment control, the manual control unit 61 sets the movement amount based on the time duration of the operation of the joystick 52 of the operating device 5. The time measuring unit 62 measures the time duration after the operation of the joystick 52.

[0098] In the second control of the adjustment control, the hand controller 61 sets the movement amount based on the number of times the joystick 52 is operated within a predetermined time period. For example, if the joystick 52 is pressed twice in the Z-axis direction of the operation coordinate system 73 within 5 seconds, the movement amount can be set to 5 mm. Furthermore, if the joystick 52 is pressed three times in the Z-axis direction of the operation coordinate system 73 within 5 seconds, the movement amount can be set to 10 mm.

[0099] In the third control of the adjustment control, the hand control unit 61 performs control to adjust the movement amount based on the continuation time of the operation of the joystick 52. The determination value of the continuation time of the operation may be predetermined. For example, when the joystick 52 is tilted to the positive side of the X-axis, the hand control unit 61 may set the movement amount to 5 mm if the hand is released within 1 second and the joystick 52 returns to the neutral state. Furthermore, when the joystick is tilted to the positive side of the X-axis, the movement amount may be set to 10 mm if the elapsed time until the hand is released is longer than 1 second.

[0100] In the fourth control of the adjustment control, the hand control unit 61 adjusts the movement amount based on the magnitude of the force applied to the stick 52. The force detection unit 63 detects a force applied to the stick 52. The hand control unit 61 adjusts the movement amount in response to the magnitude of the force detected by the force detection unit 63. The determination value of the force magnitude may be predetermined. For example, the determination value of the force magnitude may be set to 5 N. When the operator operates the stick 52 with a force smaller than the determination value on the positive side in the X-axis direction, the movement amount may be set to 5 mm. Furthermore, when the operator operates the stick 52 with a force equal to or greater than the determination value on the positive side in the X-axis direction, the movement amount may be set to 10 mm.

[0101] The following fifth and sixth controls can be performed to adjust the direction of movement. The fifth control of the adjustment control can be performed if, during a second control of the control regarding the direction of movement of the work tool, the hand 2 is moved in a predetermined direction of movement. The operator can adjust the direction of movement by operating the joystick 52 in a direction corresponding to the direction of movement in the operating coordinate system 73.

[0102] In the sixth control of the adjustment control, similar to the movement amount adjustment, the hand controller 61 can adjust the movement direction based on the number of times the joystick 52 is operated within a predetermined time period. For example, if the joystick 52 is pressed twice in the Z-axis direction of the operation coordinate system 73 within 5 seconds, the movement direction can be adjusted in the positive direction of the X-axis. Furthermore, if the joystick 52 is pressed three times in the Z-axis direction of the operation coordinate system 73 within 5 seconds, the movement direction can be adjusted in the positive direction of the X-axis.

[0103] Furthermore, in the third control of the control regarding the moving direction of the work tool, even when setting the angle shifted with respect to the direction in which the stick 52 is operated, the shifted angle can be set based on the number of times the stick 52 is operated.

[0104] The control for setting the movement amount and direction can be combined with the setting control described above. The operator switches the control device 4 to the setting mode for setting the setting value. The direction of movement can be set by a first operation of the joystick 52. The movement amount can be set by a second operation of the joystick 52.

[0105] For example, the direction in which the joystick 52 is operated the first time can be set to the direction in which the tool center 70 moves. In the second operation, the amount of movement can be set based on the time period in which the joystick 52 is pressed in the Z-axis direction. For example, if the time period in which the joystick 52 is pressed is within 1 second, the amount of movement can be set to 5 mm. Alternatively, if the time period in which the joystick 52 is pressed is longer than 1 second, the amount of movement can be set to 10 mm. Thus, the amount of movement and the direction of movement can be continuously adjusted.

[0106] Note that the setting of the movement amount and direction is not limited to the above-described embodiment. For example, the movement amount and direction set by a device other than the teaching pendant can be input to the processing device via a communication device.

[0107] In the second to sixth control modes of the adjustment control of the present embodiment, the movement amount and direction can be adjusted by operating the operating device. Therefore, the operability of manual operation is improved.

[0108] The operating device 5 of the present embodiment may be equipped with the function of an enable switch. The enable switch is a switch that allows operation of the robot by pressing it. For example, control may be performed so that the robot's operation is performed during the period in which the enable switch is pressed. Alternatively, control may be performed so that the robot's operation is permitted when the enable switch is pressed once and the robot's operation is prohibited when the switch is pressed again.

[0109] In a first control of the present embodiment that permits operation of the robot 1, the hand controller 61 determines whether operation of the robot 1 is permitted or prohibited based on the time elapsed since the operator operated the joystick 52. Immediately after the operator turns on the control device 4, the hand controller 61 prohibits operation of the robot 1. The operator operates the joystick 52 in this state.

[0110] The time measuring unit 62 measures the elapsed time since the operator operated the joystick 52. If the elapsed time from the operator's operation of the joystick 52 until the operator releases the hand (until the joystick 52 returns to the neutral state) is less than the predetermined time period determination value, the hand control unit 61 performs control that permits the operation of the robot 1. Conversely, if the elapsed time from the operator's operation of the joystick 52 until the operator releases the hand is equal to or greater than the predetermined time period determination value, the hand control unit 61 performs control that prohibits the operation of the robot 1. The time period determination value can be set to a period of 1 second or less, for example.

[0111] That is, when the operator operates the joystick 52 for a short period of time, the hand control unit 61 allows the operation of the robot 1. For example, before performing the operation to operate the robot 1 by pushing the joystick 52 in the Z-axis direction of the operation coordinate system 73 for a short period of time, the hand control unit 61 performs control that allows the operation of the robot 1.

[0112] Alternatively, if the time elapsed from the operator's operation of the joystick 52 until the hand is released is greater than the predetermined determination value of the time period, the hand control unit 61 may perform control that permits operation of the robot 1. That is, if the operator operates the joystick 52 for a long period of time, the hand control unit 61 may permit operation of the robot 1. The determination value of the time period may then be set to, for example, 1 second or less.

[0113] In the second control that permits operation of the robot 1, the hand control unit 61 determines whether the operation of the robot 1 is permitted or prohibited based on the magnitude of the force with which the joystick 52 is operated. The operator operates the joystick 52 in a state where the hand control unit 61 prohibits operation of the robot 1. The force detection unit 63 detects the magnitude of the force applied to the joystick 52. When the magnitude of the force with which the joystick 52 is operated is greater than a predetermined determination value, the hand control unit 61 performs control that permits the operation of the robot 1. The determination value of the magnitude of the force can be set to a value of, for example, 5 N or less. More preferably, the determination value of the magnitude of the force can be set to a value equal to or less than 2 N.

[0114] Thus, when the operator operates the joystick 52 with great force, the hand controller 61 performs control that permits the operation of the robot 1. For example, when the operator pushes the joystick 52 to the lowest position, the hand controller 61 performs control that permits the operation of the robot 1. When the magnitude of the force with which the joystick 52 is operated is equal to or less than the predetermined determination value, the hand controller 61 performs control that prohibits the operation of the robot 1.

[0115] Alternatively, when the magnitude of the force with which the joystick 52 is operated is smaller than a predetermined determination value, the hand controller 61 may perform control to permit the operation of the robot 1. That is, control may be performed in which the operation of the robot 1 is permitted when the operator operates the joystick 52 with a small force, and the operation of the robot 1 is prohibited when the operator operates the joystick 52 with a large force. In this case, a determination value of the force may be set to a value, for example, not greater than 5 N. More preferably, the determination value of the magnitude of the force may be set to a value equal to or less than 2 N.

[0116] In this way, the hand controller 61 can switch between a state in which the operation of the robot 1 is permitted and a state in which the operation of the robot 1 is prohibited based on the length of time the operator operates the joystick or the magnitude of the force with which the operator operates the joystick. In the state in which the operation of the robot 1 is permitted, the hand controller 61 moves the robot 1 in response to the operator's operation of the joystick 52. Conversely, in a state in which the operation of the robot 1 is prohibited, the hand controller 61 does not move the robot 1 even if the operator operates the joystick 52.

[0117] After the operation of the robot 1 is permitted, the operator can move the robot 1. At this time, the time measurement unit 62 can measure the time during which the operator does not operate the joystick 52. If the time during which the operator does not operate the joystick 52 exceeds the predetermined determination value of the time period, the hand control unit 61 can perform control that prohibits the operation of the robot 1. That is, if the time during which the operator does not operate the joystick 52 is long, the hand control unit 61 can perform control that prohibits the operation of the robot 1.

[0118] Alternatively, the hand controller 61 may perform control prohibiting the operation of the robot 1 by operating the joystick 52. For example, if the operator performs an operation that rotates the joystick 52 in the R-axis direction, the hand controller 61 may perform control prohibiting the operation of the robot 1. When the operator resumes the operation of the robot 1, the operator may perform the above-described operation of the joystick 52, so that the hand controller 61 permits the operation of the robot 1.

[0119] With the permission control of the present embodiment, the operating device can switch between a state in which the robot's operation is permitted and a state in which the robot's operation is prohibited. Therefore, the operability of the robot 1 during manual operation is improved.

[0120] Furthermore, when the controller 4 is activated, immediately after performing the operation of the joystick 52 to permit operation of the robot 1 by the operation of the joystick 52, the type of control can be selected, such as the determination control for determining whether the above-described jogging operation is performed, or the movement direction control regarding the movement direction of the work tool. For example, immediately after performing the operation of the joystick 52 to permit operation of the robot 1, when the joystick 52 is pushed in the Z-axis direction and tilted to the positive side of the X-axis, the first control of the plurality of determination controls can be set to be performed. Alternatively, when the joystick 52 is tilted to the negative side of the X-axis and simultaneously pushed in the Z-axis direction, the second control can be set to be performed.Alternatively, if the joystick 52 is pushed in the Z-axis direction and tilted toward the positive side of the Y-axis, the third control can be set to be executed. Thus, by continuously operating the joystick 52, multiple preset controls can be selected and executed.

[0121] According to one aspect of the present disclosure, it is possible to provide a control device of a robot for performing a manual operation with excellent operability.

Claims

[1] Control device (4) of a robot, comprising: an operating device (5) with which an operator performs an operation for manually changing a position and orientation of a robot (1); and a processing device (40) which is arranged to process a signal from the operating device, wherein the operating device comprises a movable part (52) which is designed to carry out a pushing operation, a pulling operation and a tipping operation in a predetermined direction, and an operation detection unit (57) which is designed to detect an operation of the movable part, the processing device comprises a hand control unit (61) which is arranged to control a jog operation for changing the position and orientation of the robot by a predetermined minute amount in response to an operation of the movable part detected by the operation detection unit, and the hand control unit comprises a force detection unit (63) configured to detect a magnitude of a force with which the movable part is operated based on an output of the operation detection unit, and to determine whether the inching operation is performed based on the magnitude of the force with which the movable part is operated. [2] A control device of a robot according to claim 1, wherein the hand control unit does not perform the jogging operation when the magnitude of the force with which the movable part is operated is smaller than a predetermined determination value, and performs the jogging operation when the magnitude of the force with which the movable part is operated is larger than the predetermined determination value. [3] Control device (4) of a robot, comprising: an operating device (5) with which an operator performs an operation for manually changing a position and orientation of a robot (1), and a processing device (40) which is arranged to process a signal from the operating device, wherein the operating device comprises a movable part (52) which is designed to carry out a pushing operation, a pulling operation and a tipping operation in a predetermined direction, and an operation detection unit (57) which is designed to detect an operation of the movable part, the processing device comprises a hand control unit (61) which is arranged to control a jog operation for changing the position and orientation of the robot by a predetermined minimum amount in response to an operation of the movable part detected by the operation detection unit, and a storage unit (42) which is arranged to store information relating to a hand operation, a setting direction in which a working tool (2) attached to the robot moves is specified and stored in the storage unit, and the hand control unit, when the movable part is operated, performs the inching operation so that the working tool is moved in the setting direction, regardless of the manner in which the movable part is operated. [4] A robot control device according to claim 3, wherein a curved movement path (85) along which the working tool moves is predetermined and stored in the storage unit, and the hand control unit performs the jog operation to change the position and orientation of the robot so that the work tool moves along the movement path. [5] Control device of a robot according to one of claims 1 to 4, wherein the processing device is configured to switch between an operating mode for operating the robot and a setting mode for setting a movement amount and / or a movement direction of a working tool (2) attached to the robot, and the hand control unit in the setting mode adjusts the amount of movement and / or the direction of movement of the working tool in response to the number of operations of the movable part. [6] Control device of a robot according to one of claims 1 to 4, wherein the processing device is configured to switch between an operating mode for operating the robot and a setting mode for setting a movement amount and / or a movement direction of a working tool attached to the robot, the hand control unit comprises a time measuring unit (62) which measures an elapsed time after actuation of the movable part, and the hand control unit in the setting mode sets the direction of movement based on a direction of a first operation of the movable part and the amount of movement based on a duration of a second operation of the movable part. [7] Control device (4) of a robot, comprising: an operating device (5) with which an operator performs an operation for manually changing a position and orientation of a robot (1); and a processing device (40) which is arranged to process a signal from the operating device, wherein the operating device comprises a movable part (52) which is designed to carry out a pushing operation, a pulling operation and a tipping operation in a predetermined direction, and an operation detection unit (57) which is designed to detect an operation of the movable part, the processing device comprises a hand control unit (61) which is arranged to control a jog operation for changing the position and orientation of the robot by a predetermined minimum amount in response to an operation of the movable part detected by the operation detection unit, and a storage unit (42) which is arranged to store information relating to a hand operation, a curved movement path (85) along which a work tool attached to the robot moves and a movement length along the movement path in a single jog operation are predetermined and stored in the storage unit, and the hand control unit carries out the jog operation in such a way that the working tool moves by the movement length along the movement path when the movable part is actuated.

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