Robot control device

Abstract

A robot control device is provided, which is stably and detachably attached to an optional location on an external surface of a robot. A control device 1 of a collaborative robot includes a control unit 2, which is operated by an operator during direct robot training, and a fastening means 3 that detachably attaches the control unit 2 to an external surface of the robot. The control unit 2 includes a rotation lock between the external surface of the robot and the control unit 2.

Description

[0001] The present invention relates to a robot control device.

[0002] A robot in which a touch-panel monitor for direct training is detachably attached to an arm is well known (see, for example, publication JP 2015 182 142 A).

[0003] On this robot, the touch panel monitor is mounted near the arm, to which an operator applies force during direct teaching to enable the teaching process to be carried out close to the robot. If the touch panel monitor is difficult to see due to the arm's position, it is removed from the arm and used in a different location.

[0004] German patent application DE 10 2018 219 920 A1 further discloses a robot actuation device that operates a robot with a plurality of joints. It comprises an actuation unit that transmits a signal corresponding to an actuation by an operator to a control unit of the robot, wherein the actuation unit is designed to be detachably attached to a fastening element that is attached to an arm segment of the robot that is located closer to a base than the joint that is closest to a tip of the plurality of joints.

[0005] The publication DE 20 2017 107 400 U1 discloses a control device for a robot, comprising a fastening device for detachable attachment to an arm of the robot, at least one actuating device for controlling the robot, and a data connection device for connecting to an input / output unit of the robot.

[0006] The publication DE 10 2004 054 867 B4 discloses a haptically guided robot for medical applications equipped with sensory intelligence, with at least one arm, wherein at least one bidirectional operating interface is provided on the structure of the robot arm for directly influencing certain robot operating modes, wherein the at least one operating interface has a display and at least one operating button.

[0007] The publication EP 2 194 434 B1 discloses a robot system comprising: a robot with a control unit and a movable structure to which an end effector can be assigned; a portable programming terminal in data communication with the control unit, which includes a manually operated release device to enable manual control of displacements of the robot's movable structure; and a manual guide device provided with means for coupling it to the robot's movable structure and / or end effector. The manual guide device has wireless communication means for establishing a wireless communication channel for communication with the portable terminal, the communication means comprising a first transmit / receive module on the manual guide device and a second transmit / receive module on the portable terminal.

[0008] The publication EP 1 566 246 A1 discloses a robot with a display device that allows an operator to access information required for inspections or similar tasks without having to use a printed manual or the display screen of a training device. The display device comprises a flexible display screen using organic light-emitting diodes (OLEDs), a control unit, and a connector. The connector of the display device is plugged into a port provided at a suitable location on the robot arm. The display unit is then lightly pressed onto the surface of the robot arm, and an adhesive pad is attached to the surface. Instructions are transmitted from the programming handheld device to a robot controller. Electrical power and signals are transmitted to the control unit via cables, and an image is displayed on the display unit.

[0009] The publication JP S60-163 108 A discloses a robot in which the intervention time of manually operating a learning switch at the top of the robot is reduced by allowing the learning switch to be operated simultaneously with the robot being directly controlled by a tool. The learning switch is equipped with a learning start button that activates a controller and a learning box to prepare for the start of learning; another learning end button to end learning; a further learning button to activate the controller and learning box to allow the operator to directly control the robot and enable the robot to save the operation; a play button that replays and confirms the saved operation; and a safety button to stop the robot in an emergency. The operator operates the learning switch buttons while using a learning tool, for example, to...to learn directly how to insert a shaft into a hole in a disk.

[0010] Publication JP 2015 182 142 A, however, does not disclose how the touch-panel monitor is to be attached to the arm. One outer surface of the robot is curved to reduce the risk of operator injury should the robot come into contact with the operator. Furthermore, the curvature varies between different parts of the robot, making it difficult to attach the flat-panel monitor in a stable and removable manner.

[0011] An object of the present invention is to provide a robot control device that can be stably and detachably attached to the outer surface of the robot arm at an optional location. The robot control device is used by being attached to the outer surface only during direct teaching. During normal operation, when direct teaching is not performed, the robot control device is detached from the outer surface of the robot arm. This allows for maintenance of the smooth outer surface of the robot arm without an edge and reduces the risk of interference with a peripheral device and the risk of injury if the robot comes into contact with the operator. This object is achieved by a robot control device with the features of claim 1. Advantageous embodiments of the invention are the subject of the dependent claims.

[0012] A robot control device according to one aspect of the present invention comprises a control unit that is operated by an operator during the direct teaching of a robot and a fastening means that detachably attaches the control unit to an outer surface of the robot. The control unit includes a rotation locking means between the outer surface of the robot and the control unit.

[0013] According to the present aspect, when the control unit is attached to the optional outer surface of the robot by the fastening means, it can be stabilized in both the longitudinal and circumferential directions of the arm by the rotation lock provided on the control unit. This is particularly effective for collaborative robots, since the outer circumference of the collaborative robot's arm is desirablely cylindrical to minimize contact forces with the collaborative operator, and furthermore, direct teaching is often performed with collaborative robots.

[0014] During direct training, the operator must hold and guide the robot arm directly with one hand while simultaneously pressing a button on the control unit with a finger of the guiding hand. Therefore, absolute stability is crucial when the operator presses the button on the control unit to apply a pre-tensioned load.

[0015] Therefore, the control unit can be securely attached to the optional outer surface of the robot. Furthermore, play in the control unit can be prevented, even when force is applied during operation, thus facilitating operation. Additionally, the control unit can be securely attached to the robot's cylindrical outer surface, which has varying curvature, by means of a locking mechanism that prevents rotation between the control unit and the robot's outer surface, allowing for a location with good accessibility.

[0016] When the operator controls the robot during direct teaching, the operating information is communicated through the robot's control unit, and a teaching program is created in the control unit. Because direct teaching is performed while the operator control is attached to the robot's cylindrical outer surface, the operator can perform the direct teaching process while operating the robot with both hands.

[0017] In the aspect described above, the rotation lock is a non-slip part that increases friction between the outer surface and the operating unit when the operating unit is attached to the outer surface by the fastening device.

[0018] According to the invention, the non-slip part on the control unit is brought into contact with the cylindrical outer surface of the robot. In other words, the non-slip part is brought into contact with the cylindrical outer surface of the robot's arm or the like to increase friction between the robot's outer surface and the control unit. This allows the control unit to be stabilized in both the longitudinal and circumferential directions of the arm.

[0019] Furthermore, in the aspect described above, the control unit can include a support part that comes into contact with the outer surface of the robot at three or more contact points simultaneously, and the non-slip part can be provided on the support part.

[0020] Furthermore, the support part can have four or more point contact parts in the aspect described above.

[0021] In this configuration, the four or more point contact parts provided on the control unit are simultaneously brought into contact with the cylindrical outer surface of the robot. As a result, it is possible to securely attach the control unit to the outer surface of the robot, even if the cylindrical outer surface of the robot has a different curvature.

[0022] In the aspect described above, the support part can further include a linear contact part extending along one of two parallel straight lines and two or more point contact parts arranged on the other straight line.

[0023] In this configuration, the single linear contact element and the two or more point contact elements provided on the control unit are simultaneously brought into contact with the cylindrical outer surface of the robot. As a result, it is possible to securely attach the control unit to the outer surface of the robot, even to cylindrical surfaces with varying curvatures.

[0024] In the aspect described above, each of the point contact parts can also be a spherical projection provided on a rear surface of the operating unit.

[0025] In this configuration, the spherical protrusions easily contact the robot's cylindrical outer surface, which has a different curvature, allowing for stable mounting of the control unit. The spherical protrusions can be made of a hard metal, a resin, or an elastic material such as rubber.

[0026] Furthermore, in the aspect described above, the linear contact part can be a rear surface of the operating unit.

[0027] In this configuration, it is possible to create line contact between the control unit and the cylindrical outer surface of the robot by bringing only the rear surface of the plate-shaped control unit into contact with the cylindrical outer surface of the robot.

[0028] In the aspect described above, the linear contact part can also be a column-shaped projection provided on a rear surface of the operating unit.

[0029] In this configuration, it is possible to create line contact between the projection and the cylindrical outer surface of the robot by providing the column-shaped projection on the rear surface of the control unit in the longitudinal direction of the cylindrical outer surface of the robot.

[0030] Furthermore, in the aspect described above, the support part can contain two linear contact parts that extend along the respective two straight lines.

[0031] In this configuration, the two linear contact parts are arranged in the longitudinal direction of the cylindrical outer surface of the robot at points with a distance in the circumferential direction of the outer surface, which makes it possible to effect line contact of the linear contact parts.

[0032] Furthermore, in the aspect described above, one of the linear contact parts can be a rear surface of the control unit.

[0033] In this configuration, it is possible to create line contact between the control unit and the outer surface of the robot by bringing the rear surface of the control unit into contact with the cylindrical outer surface of the robot as one of the linear contact parts.

[0034] Furthermore, in the aspect described above, at least one of the linear contact parts can be a column-shaped projection provided on a rear surface of the operating unit.

[0035] In this configuration, it is possible to create line contact between the projection and the outer surface of the robot by providing the column-shaped projection on the rear surface of the control unit in the longitudinal direction of the cylindrical outer surface of the robot.

[0036] In the aspect described above, the fastening device can be a strap that is wrapped around an arm of the robot and fixed to the arm.

[0037] With this configuration, it is possible to wrap the strap provided on the control unit around the arm and to attach the control unit in an easily removable manner, without providing a special mounting structure on the robot's arm.

[0038] Furthermore, in the aspect described above, the fastening device can be adjustable with regard to the winding circumference.

[0039] With this configuration, it is possible to adjust the wrapping circumference of the strap and to attach the control unit detachably to an optional location on the arm that has a different circumference.

[0040] The present invention achieves the effect of attaching the control unit stably and detachably to the optional location on the outer surface of the robot. Fig. Figure 1 is a perspective view illustrating a robot control device according to an embodiment of the present invention. Fig. Figure 2 is a perspective view showing a state in which the robot's operating device is... Fig. 1 is attached to an arm, as illustrated. Fig. Figure 3 is a perspective view showing a state in which the robot's operating device is... Fig. 1 is attached to a wrist, as illustrated. Fig. Figure 4 is a diagram showing the robot operator's device. Fig. 2, as seen from a longitudinal axis direction of the arm. Fig. Figure 5 is a perspective view showing a rear surface of an operating unit of the robot's operating device. Fig. 1 illustrates. Fig. Figure 6 is a perspective view that shows a modification of one on the control unit of Fig. 5 planned lead illustrated. Fig. Figure 7 is a perspective view, which is a different modification of the one on the control unit of Fig. 5 planned lead illustrated. Fig. Figure 8 is a diagram showing a modification of the robot control device of Fig. 4, as seen from the longitudinal axis direction of the arm. Fig. Figure 9 is a perspective view showing a rear surface of an operating unit of the robot's operating device. Fig. 8 illustrates. Fig. Figure 10 is a perspective view that shows a modification of one on the control unit of Fig. 9 planned lead illustrated. Fig. 11 is a diagram showing another modification of the robot operator's device. Fig. 4, as seen from the longitudinal axis direction of the arm.

[0041] A robot control device 1 according to an embodiment of the present invention is described below with reference to the drawings.

[0042] As in Fig. As illustrated in Figure 1, the robot control device 1 according to the present embodiment comprises a plate-shaped control unit 2 and a fastening means 3 for attaching the control unit 2 to an outer surface of a collaborative robot (robot) 100. The control unit 2 includes several buttons 21, which are operated by an operator during the direct teaching of the collaborative robot 100, and a communication unit (not shown) that communicates operating information associated with the buttons 21 to the outside.

[0043] Examples of the buttons 21 of the control unit 2 include a button for enabling direct learning upon pressing, a button for saving the coordinates of a learning point, and a button for teaching the operation of a tool attached to the front end of the robot. The number of buttons 21 and the operating information assigned to them are optional. Furthermore, the shapes or colors of the buttons 21 can be changed, for example, depending on their intended use, to improve usability for the operator.

[0044] The communication unit can communicate operating information through a wireless communication system or a wired communication system.

[0045] In the case of the wired communication system, a communication cable is first inserted into arm 110 of the robot 100. Part of a dustproof and drip-proof cover of arm 110 can be removed, and the communication cable can be pulled out for connection to the control unit 2. The dustproof and drip-proof cover can be removed, revealing a relay terminal that can be connected to a relay terminal pulled out of the communication unit. Alternatively, a control device and the control unit 2 can be directly connected via the communication cable routed outside arm 110 of the robot 100.

[0046] Fastening element 3 is, for example, a flexible strap. As in Fig. As illustrated in Figure 1, the fastening means 3 extends to both sides of the operating unit 2 and includes a fixing means 31, such as hook and loop fasteners at each end.

[0047] As in Fig. As illustrated in Figure 2, the control unit 2 is arranged on an outer surface of the arm 110 of the collaborative robot 100, and the strap, acting as the fastening means 3, is wrapped around the arm 110 and secured by the hook-and-loop fasteners, acting as the fixing means 31. This allows the control unit 2 to be detachably attached at an optional location on the arm 110.

[0048] Instead of the hook-and-loop fasteners, the fastening device 31 can be of a type in which a buckle provided at one end of the belt 3 can be inserted into and secured in any of the holes provided at intervals in a longitudinal direction at the other end of the belt 3, or of any other optional type. The winding circumference of the belt 3 can be continuously adjusted by the hook-and-loop fasteners and incrementally adjusted by the buckle.

[0049] In the operating device 1 of the collaborative robot according to the present embodiment, a contact part (support part) 22 is located on a rear surface 2a of the operating unit 2, which is Fig. 4 and Fig. As illustrated in 5, it is provided. Fig. As illustrated in Figure 5, the contact part 22, for example, contains four projections (point contact parts) 23, which are arranged at intervals in both a width and a length direction of the operating unit 2. Each of the projections 23 is formed in a hemispherical shape with the same radius.

[0050] In particular, these projections 23 are arranged in pairs on two straight lines A1 and A2, spaced apart along one longitudinal direction of the two lines A1 and A2. The two lines A1 and A2 are arranged parallel to each other, spaced apart along one lateral direction.

[0051] Furthermore, the operating unit 2 includes a rubber (non-slip part or a rotation locking device, not illustrated) that covers a surface of the contact part 22.

[0052] The operation of the control device 1 of the collaborative robot with the configuration described above, according to the present embodiment, is described below.

[0053] To perform the direct teaching of the collaborative robot 100 using the operating device 1 of the collaborative robot according to the present embodiment, the Fig. 1 Illustrated operating device 1 of the collaborative robot attached to the arm 110 of the collaborative robot 100, as for example in Fig. 2 is illustrated.

[0054] At this point, the strap 3 provided on the control unit 2 is wrapped circumferentially around the arm 110, while the rear surface 2a of the control unit 2 is in contact with the outer surface of the arm 110. Furthermore, the hook-and-loop fasteners provided as the fixing means 31 at both ends of the strap 3 are engaged to secure the control unit 2, while the four projections 23 provided on the rear surface 2a of the control unit 2 are simultaneously in close contact with the outer surface of the arm 110.

[0055] The attachment of the sufficiently wide fixing means 31 allows the control unit 2 to be fastened even if the thickness of the arm 110 to which the control unit 2 is attached changes.

[0056] Since the four projections 23 are arranged in pairs on the parallel lines A1 and A2, which are spaced apart, the lines A1 and A2 are parallel to a longitudinal axis of the arm 110, which allows the projections 23 to be brought into contact with the outer surface of the cylindrical arm 110 simultaneously. In other words, it is possible to bring the four projections 23 into contact with the outer surface of the cylindrical arm 110 simultaneously, as by a line with one long and two short strokes in Fig. 4 illustrates that even if the curvature of the arm is different from 110.

[0057] As if through an arrow in Fig. As illustrated in Figure 4, the operating unit 2 is supported by the two projections 23 on both sides of a point of force of a pressing force, even if pressure is applied to the operating unit 2 at an optional location between the projections 23. This allows stable operation of the operating unit 2 without any play in the circumferential direction of the arm 110. This also applies to the longitudinal direction of the arm 110.

[0058] In the present embodiment, each of the projections 23 is furthermore formed in a spherical shape. Therefore, a contact point of each of the projections 23 is adapted to all outer surfaces of the arm 110, which have different curvatures, whereby each of the projections 23 can be brought into point contact with the outer surface of the arm 110 in a normal direction. As a result, the operating unit 2 can be supported more stably and more stable operation can be carried out.

[0059] Since the surfaces of the projections 23 of the contact part 22 are covered with the rubber as the non-slip part, friction between the outer surface of the robot 100 and the operating unit 2 is further increased in order to stabilize the operating unit 2 in both the longitudinal and circumferential directions of the arm 110.

[0060] When the operator presses button 21 on the control unit 2 to enable direct teaching, while the control device 1 of the collaborative robot is attached to the arm 110 of the collaborative robot 100, a start signal for direct teaching is transmitted by the communication unit to the control device, and the direct teaching is then started.

[0061] The operator applies force to the arm 110 of the collaborative robot 100 with both hands to move the collaborative robot 100, while simultaneously pressing button 21 to enable direct teaching. When the operator presses button 21 to teach the robot to a desired location, a coordinate of the collaborative robot 100 at that time is recorded as a teaching point coordinate. When the operator presses button 21 to instruct the operation of a tool, as required, a control signal from the tool is transmitted to and stored in the control device. Direct teaching can be performed in the manner described above.

[0062] In this case, the control device 1 of the collaborative robot, according to the present embodiment, is applicable regardless of the curvature of the arm 110 to which the control device 1 of the collaborative robot is attached. Therefore, the control device 1 of the collaborative robot can be attached at a location that is most convenient for the operator to apply force to the arm 110 while pressing button 21 to enable direct teaching. Even when the control device 1 of the collaborative robot is attached at this optional location, the control unit 2 can still be stably fixed to the arm 110 and easily operated.

[0063] The mounting location of the control unit 2 is freely selectable because no mounting structure is provided on the arm 110. This eliminates the need to position the control unit 2 in a location where it is difficult to operate depending on the position of the collaborative robot 100. Instead, the control unit 2 can be positioned at an optional location where it is easily accessible during direct teaching. Furthermore, the mounting location can be changed, and operation can be performed whenever the control unit 2 is unavoidably fixed in a location where it is difficult to operate.

[0064] Furthermore, in the present embodiment, the four projections 23 can be brought into contact with the outer surface of the arm 110 simultaneously, even if the curvature of the outer surface of the arm 110, to which the control unit 2 is attached, differs. Even in a case where the strap 3 is around the arm 110, which has a thick cylindrical shape, as in Fig. 2 is illustrated, is wrapped, or even in a case where the strap 3 is wrapped around a front end of a wrist 120 that is thinner than the arm 110, as in Fig. As illustrated in Figure 3, the control unit 2 can therefore be stably fixed.

[0065] Since in the present embodiment the four projections 23 are each formed in a spherical shape, it is also possible to adapt the contact points of the projections 23 not only to the outer surface of the cylindrical shape, but also to the outer surface of the spherical surface shape and to bring the projections 23 into point contact with the outer surface at the same time.

[0066] Although the present embodiment describes the case in which the four projections 23 are brought into point contact with the outer surface of the collaborative robot 100, the shape of each of the projections 23 may not be spherical. Furthermore, instead of the two projections 23 arranged in one of the straight lines, a column-shaped projection (linear contact part) 24 extending in one direction along the straight line can be used, as shown in Fig. Figure 6 illustrates this. Alternatively, the two projections 23, which are arranged on each of the two straight lines A1 and A2, can also be replaced by the column-shaped projection 24, as shown in Figure 6. Fig. Figure 7 illustrates this.

[0067] Even if the spherical projections 23 are replaced by the columnar projection 24, as in Fig. 6 and Fig. As shown in 7, a relationship like the one in Fig. Figure 4 illustrates that the assembly is manufactured, and the operating unit 2 can advantageously be fixed in a stable manner.

[0068] Instead of line contact via the column-shaped projection 24, the planar rear surface (the linear contact part) 2a of the plate-shaped operating unit 2 can also be brought into line contact with the outer surface of the arm 110, as shown in Fig. Figure 8 illustrates this.

[0069] In other words, the column-shaped projection 24 in Fig. 6 can be removed to create a line contact at a point on the rear surface 2a, illustrated by a line with one alternating long and two short strokes, as shown in Fig. 9 is illustrated, or one of the columnar projections 24 in Fig. 7 can be removed to create a line contact at a point on the rear surface 2a, illustrated by a line with one alternating long and two short strokes, as shown in Fig. 10 is illustrated.

[0070] As in Fig. As illustrated in Figure 8, in this case the surface of the arm 110 can also be brought into line contact with the rear surface 2a of the control unit 2 and the control unit 2 can be stably fixed, even if the curvature of the arm 110 to which the control unit 2 is attached is different.

[0071] The above describes the case in which the four projections 23, arranged in pairs at a distance along parallel lines, are brought into contact with the outer surface of the collaborative robot 100 simultaneously at the four contact points. Alternatively, three or more contact points can be provided, as long as the contact points are arranged in the same line.

[0072] Furthermore, in the present embodiment, the case has been described in which the multiple buttons 21 are arranged on the control unit 2; however, the control buttons and other information can be displayed on a touch panel monitor. Alternatively, a display device that is not a touch panel can be provided on the control unit 2.

[0073] In addition to the case where the strap 3 is wrapped around the optional outer surface of the collaborative robot 100, the strap 3 can also be wrapped around the operator's own arm during use.

[0074] Although the rectangular, plate-shaped control unit 2 has been described above, the control unit 2 can have a disc shape or any other optional shape. Furthermore, the control unit 2 itself can have a bendable shape, and the bendable control unit 2 can be bent based on the curvature of the surface of the collaborative robot 100 to effect surface contact between the rear surface 2a of the control unit 2 and the outer surface of the collaborative robot 100.

[0075] The above describes the case in which the rear surface 2a of the control unit 2 or the projections 23 provided on the rear surface 2a of the control unit 2 are brought into direct contact with the outer surface of the collaborative robot 100. Alternatively, the rear surface 2a of the control unit 2 or the projections 23 provided on the rear surface 2a of the control unit 2 can be brought into indirect contact with the outer surface of the collaborative robot 100 by means of the belt 3 or any other links.

[0076] The robot control device 1, which is to be attached to the outer surface of the collaborative robot 100, has been described above; however, the fastening means is not limited to the collaborative robot 100, and the robot control device 1 can be used for a robot of another type.

[0077] In the present embodiment, the non-slip part covering the contact part 22 has been described. Alternatively, the non-slip part to be attached to the contact part 22 can be used.

[0078] Furthermore, the rubber has been described as the non-slip part; however, a different component can be used as long as it can increase friction. The non-slip part can be the one obtained by machining at least part of the surface of the contact part 22 to increase friction.

[0079] In this case, preferably the non-slip part is used which prevents rotation of the control device 1 of the collaborative robot, even when the operator presses any of the buttons 21 provided on the control unit 2, namely the non-slip part which has a frictional force that is greater than the sliding rotational force along the outer surface of the arm 110 in the longitudinal direction and the circumferential direction of the arm 110 which is applied when any of the buttons 21 is pressed.

[0080] Although the present embodiment describes the case in which the rubber (the non-slip part) covering the surface of the support part containing the four projections 23 is brought into point contact with the outer surface of the collaborative robot 100, the rubber can also be brought into area contact with the outer surface of the collaborative robot 100, as shown in Fig. 11 is illustrated.

[0081] In this case, the projections 23, whose surfaces have been machined to fit the outer surface of the arm 110 of the collaborative robot 100, can be used, or the projections 23, which are made of an elastic material and are brought into surface contact with the arm 110 by elastic deformation when the belt 3 is wrapped around the arm 110, can be used. A non-slip part 25 is provided on the rear surface 2a of the control unit 2 and between the projections 23 and has increased friction due to an uneven machining of one of its surfaces. Reference symbol list 1 robot control device 2 Control unit 2a Rear surface (linear contact part) 3 Fastening devices (strap) 22 Contact part (support part) 23 lead (point contact part) 24 mm projection (linear contact part) 25 Non-slip part (turnscrew) 100 Collaborative Robots (Robots) 110 Arm A1, A2 Straight

Claims

Robot control device (1) comprising: an control unit (2) which is operated by an operator during the direct teaching of a robot (100); and a fastening means (3) which detachably attaches the control unit (2) to an outer surface of the robot (100), wherein the control unit (2) includes a rotation locking means (25) between the outer surface of the robot (100) and the control unit (2), characterized in that the rotation locking means (25) is a non-slip part which increases friction between the outer surface and the control unit (2) when the control unit (2) is attached to the outer surface by the fastening means (3). Robot control device (1) according to claim 1, wherein the control unit (2) includes a support part (22) which comes into contact with the outer surface of the robot (100) at three or more contact points simultaneously, and the non-slip part (25) is provided on the support part (22). Robot control device (1) according to claim 2, wherein the support part (22) contains four or more point contact parts (23). Robot control device (1) according to claim 2, wherein the support part (22) includes a linear contact part (24) extending along one of two parallel straight lines (A1, A2) and two or more point contact parts (23) arranged on the other straight line (A1, A2). Robot control device (1) according to claim 3 or 4, wherein each of the point contact parts (23) is a spherical projection (23) provided on a rear surface (2a) of the control unit (2). Robot control device (1) according to claim 4, wherein the linear contact part (24) is a rear surface (2a) of the control unit (2). Robot control device (1) according to claim 4, wherein the linear contact part (24) is a column-shaped projection (24) provided on a rear surface (2a) of the control unit (2). Robot control device (1) according to claim 2, wherein the support part (22) includes two linear contact parts (24) extending along the respective two straight lines (A1, A2). Robot control device (1) according to claim 8, wherein one of the linear contact parts (24) is a rear surface (2a) of the control unit (2). Robot control device (1) according to claim 8 or 9, wherein at least one of the line contact parts (24) is a column-shaped projection (24) provided on a rear surface (2a) of the control unit (2). Robot control device (1) according to claim 1, wherein the fastening means (3) is a strap (3) which is wrapped around an arm (110) of the robot (100) and fixed to the arm (110). Robot control device (1) according to claim 11, wherein the fastening means (3) is adjustable with respect to the winding circumference.

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