Robot control device

Abstract

Robot operator device (1), comprising: an operating unit (2) which is operated by an operator during the direct teaching of a robot (100) and has at least a partially cylindrical outer surface; a communication unit that communicates operating information to the operating unit (2), a control device of the robot (100); and a fastening means (3) which detachably attaches the control unit (2) to an outer surface of the robot (100), wherein the operating unit (2) includes a turnstile (25) between the outer surface of the robot (100) and the operating unit (2), characterized in that the rotation locking device (25) is a non-slip part that increases friction between the outer surface and the operating unit (2) when the operating unit (2) is attached to the outer surface by the fastening device (3).

Description

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

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

[0003] In this robot, the touch panel monitor is mounted near the arm, to which an operator applies force during direct teaching, enabling direct teaching to be performed near the robot. If the touch panel monitor is difficult to see due to the arm's posture, the touch panel monitor can be removed from the arm and used.

[0004] Document DE 10 2018 219 920 A1 further discloses a robot actuation device that operates a robot having a plurality of joints. It comprises an actuation unit that transmits a signal corresponding to an operator's actuation to a control unit of the robot. The actuation unit is configured to be removably attached to a fastening element attached to an arm member of the robot that is located closer to a base than the joint closest to a tip of the plurality of joints.

[0005] The document DE 20 2017 107 400 U1 discloses a control device for a robot, comprising a fastening device for releasably fastening 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 document DE 10 2004 054 867 B4 discloses a haptically guided robot for medical applications equipped with sensory intelligence, having 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] Document 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 operable release device to enable manual control of displacements of the movable structure of the robot; and a manual guidance device provided with means for coupling it to the movable structure and / or the end effector of the robot. The manual guidance device has wireless communication means for establishing a wireless communication channel for communication with the portable terminal, wherein the communication means comprise a first transmit / receive module on the manual guidance device and a second transmit / receive module on the portable terminal.

[0008] Document EP 1 566 246 A1 discloses a robot with a display device that allows an operator to access information required for inspections or the like without having to use a printed manual or the display screen of a teaching device. The display device has a flexible display screen using organic light-emitting diodes, a control unit, and a connector. The connector of the display device is plugged into a connector provided at a suitable location on the robot arm, the display unit is lightly pressed onto the surface of the robot arm, and an adhesive part is glued and secured to the surface. Instructions are transmitted from the teach pendant 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 document JP S60-163 108 A discloses a robot in which the intervention time is reduced by manually operating a learning switch on the tip of the robot by allowing the learning switch to be operated simultaneously while the robot is being directly operated by a tool. The learning switch is provided with a learning start button that activates a controller and a learning box to prepare for the start of learning, another learning button to end learning, another learning button to activate the controller and the learning box to allow the operator to operate the robot directly and to allow the robot to save the operation, a play button that plays back the saved operation and confirms it, and a safety button to stop the robot in an emergency. The operator presses the buttons of the learning switch while operating a learning tool, for example, toto learn how to insert a shaft directly into a hole in a disc.

[0010] However, JP 2015 182 142 A does not disclose how the touch panel monitor is to be attached to the arm. An outer surface of the robot is formed from a curved surface to reduce operator injury when the robot comes into contact with the operator. Furthermore, the curvature varies between parts of the robot, making it difficult to securely and detachably attach the plate-shaped touch panel monitor.

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

[0012] A robot operating device according to one aspect of the present invention includes an operating unit that is operated by an operator during direct teaching of a robot and has at least a partial cylindrical outer surface, a communication unit that communicates operating information to the operating unit, a control device of the robot, and a mounting means that removably mounts the operating unit to an outer surface of the robot. The operating unit includes a rotation locking means between the outer surface of the robot and the operating 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, the rotation-locking means provided on the control unit can stabilize the control unit in both a longitudinal direction and a circumferential direction of the arm. This is particularly effective in the collaborative robot because an outer periphery of the arm of the collaborative robot desirably has a cylindrical shape to minimize contact force with the collaborative operator, and further, direct teaching is often performed in the collaborative robot.

[0014] During direct teaching, the operator must directly hold and guide the robot arm with one hand, while simultaneously continuously pressing a button on the control unit with a finger of the leading hand. Therefore, rigid stability is important when the operator presses the button on the control unit to apply a preloaded load.

[0015] Therefore, the operation unit can be stably mounted on the optional outer surface of the robot. Furthermore, the occurrence of backlash in the operation unit can be prevented even when force is applied to the operation unit during operation, thereby facilitating operation. Furthermore, according to the method in which rotation between the operation unit and the outer surface of the robot is locked by the rotation locking means, the operation unit can be stably mounted on the cylindrical outer surface of the robot having a different curvature, and a location with good operability can be selected.

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

[0017] In the aspect described above, the rotation locking means is a non-slip part that increases friction between the outer surface and the operation unit when the operation unit is fixed to the outer surface by the fixing means.

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

[0019] Further, in the above-described aspect, the operation unit may 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 may be provided on the support part.

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

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

[0022] In the aspect described above, the support part may 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] With this configuration, the one linear contact part and the two or more point contact parts provided on the operating unit are simultaneously brought into contact with the cylindrical outer surface of the robot. As a result, it is possible to stably attach the operating unit to the outer surface of the robot, and also to stably attach the operating unit to the cylindrical outer surface of the robot with different curvatures.

[0024] Further, in the above-described aspect, each of the point contact parts may be a spherical projection provided on a rear surface of the operation unit.

[0025] In this configuration, the spherical protrusions are easily brought into contact with the cylindrical outer surface of the robot, 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 body such as rubber.

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

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

[0028] In the above-described aspect, the linear contact part may further be a columnar projection provided on a rear surface of the operation unit.

[0029] In this configuration, it is possible to effect line contact between the protrusion and the cylindrical outer surface of the robot by providing the columnar protrusion on the rear surface of the operation unit in the longitudinal direction of the cylindrical outer surface of the robot.

[0030] Furthermore, in the above-described aspect, the support part may include two linear contact parts extending 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 the positions with a distance in the circumferential direction of the outer surface, thereby making it possible to effect line contact of the linear contact parts.

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

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

[0034] Further, in the above-described aspect, at least one of the linear contact parts may be a columnar projection provided on a rear surface of the operation unit.

[0035] In this configuration, it is possible to effect line contact between the protrusion and the outer surface of the robot by providing the columnar protrusion on the rear surface of the operation unit in the longitudinal direction of the cylindrical outer surface of the robot.

[0036] In the aspect described above, the fastening means may be a belt 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 attach the control unit in an easily detachable manner without providing a special fixing structure on the robot's arm.

[0038] Furthermore, in the aspect described above, the fastening means may be adjustable with respect to the winding circumference.

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

[0040] The present invention achieves the effect of stably and detachably fixing the operation unit to the optional location on the outer surface of the robot. Fig. 1 is a perspective view illustrating a robot operating device according to an embodiment of the present invention. Fig. 2 is a perspective view showing a state in which the robot operating device of Fig. 1 is attached to an arm. Fig. 3 is a perspective view showing a state in which the robot operating device of Fig. 1 is attached to a wrist. Fig. 4 is a diagram showing the robot operating device of Fig. 2, viewed from a longitudinal axis direction of the arm. Fig. Fig. 5 is a perspective view showing a rear surface of an operation unit of the robot operation device of Fig. 1 illustrates. Fig. 6 is a perspective view showing a modification of a control unit mounted on the control unit of Fig. 5 provided projection. Fig. 7 is a perspective view showing another modification of the control unit of Fig. 5 provided projection. Fig. Fig. 8 is a diagram showing a modification of the robot operating device of Fig. 4, viewed from the longitudinal axis direction of the arm. Fig. 9 is a perspective view showing a rear surface of an operation unit of the robot operation device of Fig. 8 illustrates. Fig. 10 is a perspective view showing a modification of a control unit mounted on the control unit of Fig. 9 is illustrated. Fig. 11 is a diagram showing another modification of the robot operating device of Fig. 4, viewed from the longitudinal axis direction of the arm.

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

[0042] As in Fig. 1, the robot operating device 1 according to the present embodiment includes a plate-shaped operating unit 2 and a fixing means 3 for fixing the operating unit 2 to an outer surface of a collaborative robot (robot) 100. The operating unit 2 includes a plurality of buttons 21 that are operated by an operator when directly teaching the collaborative robot 100, and a communication unit (not shown) that communicates operation information associated with the buttons 21 to the outside.

[0043] Examples of the buttons 21 of the operation unit 2 include a button for enabling direct teaching when pressed, a button for storing a coordinate of a teaching point, and a button for teaching the operation of a tool attached to a front end of the robot. The number of buttons 21 and the operation information assigned to the buttons 21 are optional. Furthermore, for example, the shapes or colors of the buttons 21 can be changed depending on the intended use of the buttons 21 to improve operator operability.

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

[0045] In the case of the wired communication system, a communication cable is previously inserted into an arm 110 of the robot 100. A portion of a dustproof and drip-proof cover of the arm 110 can be removed, and the communication cable can be pulled out for connection to the operation 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 operation unit 2 can be directly connected via the communication cable laid out outside the arm 110 of the robot 100.

[0046] The fastening device 3 is, for example, a flexible strap. As in Fig. 1, the fastening means 3 extends to both sides of the operating unit 2 and includes a fixing means 31, such as Velcro fasteners, at respective ends.

[0047] As in Fig. As illustrated in Figure 2, the operation unit 2 is disposed on an outer surface of the arm 110 of the collaborative robot 100, and the belt as the fastening means 3 is wrapped around the arm 110 and fixed by the hook-and-loop fasteners as the fixing means 31. Thus, the operation unit 2 can be detachably attached to an optional location on the arm 110.

[0048] Instead of the hook and loop fasteners, the fixing means 31 may be of a type in which a pin buckle provided at one end of the belt 3 can be inserted into and fixed to any of holes provided at intervals in a longitudinal direction at the other end of the belt 3, or of any other optional type. A winding amount of the belt 3 can be continuously adjusted by the hook and loop fasteners and gradually adjusted by the buckle.

[0049] In the operation device 1 of the collaborative robot according to the present embodiment, on a rear surface 2a of the operation unit 2, a contact part (support part) 22 is provided, which is Fig. 4 and Fig. 5 is illustrated. As shown in Fig. As illustrated in Fig. 5, the contact portion 22 includes, for example, four protrusions (point contact portions) 23 arranged at intervals in both a width direction and a length direction of the operation unit 2. Each of the protrusions 23 is formed in a semi-spherical shape with the same radius.

[0050] Specifically, these projections 23 are arranged in pairs on two straight lines A1 and A2 at a distance in a longitudinal direction of the two straight lines A1 and A2. The two straight lines A1 and A2 are arranged parallel at a distance in a width direction.

[0051] Further, the operation unit 2 includes a rubber (non-slip part or rotation locking means, not illustrated) covering a surface of the contact part 22.

[0052] Next, the operation of the operation device 1 of the collaborative robot having the above-described configuration according to the present embodiment will be described.

[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 is attached to the arm 110 of the collaborative robot 100, such as in Fig. 2 is illustrated.

[0054] At this time, the belt 3 provided on the operation unit 2 is wound around the arm 110 in a circumferential direction while the rear surface 2a of the operation unit 2 is in contact with the outer surface of the arm 110. Further, the hook-and-loop fasteners provided as the fixing means 31 at both ends of the belt 3 are engaged to fix the operation unit 2, while the four protrusions 23 provided on the rear surface 2a of the operation unit 2 are in close contact with the outer surface of the arm 110.

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

[0056] Since the four projections 23 are arranged in pairs on the straight lines A1 and A2 arranged parallel at a distance, the straight lines A1 and A2 are arranged parallel to a longitudinal axis of the arm 110, whereby the projections 23 can be brought into contact with the outer surface of the cylindrical arm 110 at the same time. In other words, it is possible to bring the four projections 23 into contact with the outer surface of the cylindrical arm 110 at the same time, as shown by a line with one alternating long and two short dashes in Fig. 4, even if a curvature of the arm 110 is different.

[0057] Like 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 force point of a pressing force, even when 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 play of the operating unit 2 in the circumferential direction of the arm 110. This applies to the longitudinal direction of the arm 110.

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

[0059] Furthermore, 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 operation unit 2 is increased to stabilize the operation unit 2 in both the longitudinal direction and the circumferential direction of the arm 110.

[0060] When the operator presses the button 21 provided on the operation unit 2 to enable direct teaching while the operation device 1 of the collaborative robot is attached to the arm 110 of the collaborative robot 100, a direct teaching start signal is transmitted through 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 pressing button 21 to enable direct teaching. Furthermore, when the operator presses button 21 for teaching at a desired location, a coordinate of the collaborative robot 100 at that time is recorded as a coordinate of a teaching point. When the operator presses button 21 to instruct an operation of a tool as required, a control signal of the tool is transmitted to the controller and stored therein. Direct teaching can be performed in the manner described above.

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

[0063] The mounting location of the operation unit 2 can be freely selected because no mounting structure is provided on the arm 110. This eliminates the need to mount the operation unit 2 at a location where the operation unit 2 is difficult to operate depending on a posture of the collaborative robot 100, and the operation unit 2 can be mounted at an optional location where the operation unit 2 is easy to operate during direct teaching. Furthermore, the mounting location can be changed, and the operation can be performed every time the operation unit 2 is inevitably fixed at the location where the operation unit 2 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 at the same time, even if the curvature of the outer surface of the arm 110 to which the operating unit 2 is attached is different. Even in a case where the belt 3 is wound around the arm 110 having a thick cylindrical shape, as shown in Fig. 2, or even in a case where the belt 3 is wound around a front end of a wrist 120 which is thinner than the arm 110, as in Fig. 3, the operating unit 2 can be stably fixed.

[0065] Further, in the present embodiment, since the four projections 23 are each formed in a spherical shape, it is 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 where the four protrusions 23 are brought into point contact with the outer surface of the collaborative robot 100, the shape of each of the protrusions 23 may not be spherical. Furthermore, instead of the two protrusions 23 arranged in one of the straight lines, a columnar protrusion (linear contact part) 24 extending in a direction along the straight line may be used, as shown in Fig. 6. Alternatively, the two projections 23 arranged on each of the two straight lines A1 and A2 may be replaced by the columnar projection 24, as shown in Fig. 7 is illustrated.

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

[0068] Furthermore, instead of the line contact by the columnar projection 24, the planar rear surface (the linear contact part) 2a of the plate-shaped operating unit 2 may be brought into line contact with the outer surface of the arm 110, as shown in Fig. 8 is illustrated.

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

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

[0071] Above, the case has been described where the four protrusions 23, arranged in pairs at a distance on the parallel lines, are brought into contact with the outer surface of the collaborative robot 100 at the four contact points simultaneously. Alternatively, three or more contact points may be provided as long as the contact points are arranged on the same line.

[0072] Furthermore, in the present embodiment, the case where the plurality of buttons 21 are arranged on the operation unit 2 has been described; however, operation buttons and other information may be displayed on a touch panel monitor. Furthermore, a display device other than a touch panel may be provided on the operation unit 2.

[0073] In addition to the case where the belt 3 is wrapped around the optional outer surface of the collaborative robot 100, the belt 3 may further be wrapped around the operator's own arm in use.

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

[0075] The above described the case where the rear surface 2a of the operation unit 2 or the protrusions 23 provided on the rear surface 2a of the operation unit 2 are brought into direct contact with the outer surface of the collaborative robot 100. Alternatively, the rear surface 2a of the operation unit 2 or the protrusions 23 provided on the rear surface 2a of the operation unit 2 may be brought into indirect contact with the outer surface of the collaborative robot 100 through the belt 3 or any other members.

[0076] Above, the robot operating device 1 to be attached to the outer surface of the collaborative robot 100 has been described; however, the attachment means is not limited to the collaborative robot 100, and the robot operating device 1 may 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 may be used.

[0078] Furthermore, rubber has been described as the anti-slip part; however, any other member may be used as long as the member can increase friction. The anti-slip part may be the one obtained by machining at least a portion of the surface of the contact part 22 to increase friction.

[0079] In this case, it is preferable to use the non-slip part that prevents rotation of the operation device 1 of the collaborative robot even when the operator presses any of the buttons 21 provided on the operation unit 2, namely the non-slip part that has a friction force greater than the slipping rotation force along the outer surface of the arm 110 in the longitudinal direction and the circumferential direction of the arm 110 applied when any of the buttons 21 is pressed.

[0080] Although in the present embodiment, the case where the rubber (the non-slip part) covering the surface of the support part including the four projections 23 is brought into point contact with the outer surface of the collaborative robot 100 has been described, the rubber may be brought into surface contact with the outer surface of the collaborative robot 100 as shown in Fig. 11 is illustrated.

[0081] In this case, the protrusions 23 whose surfaces have been machined to fit the outer surface of the arm 110 of the collaborative robot 100 may be used, or the protrusions 23 made of an elastic material and brought into surface contact with the arm 110 by being elastically deformed when the belt 3 is wound around the arm 110 may be used. A non-slip part 25 is provided on the rear surface 2a of the operation unit 2 and between the protrusions 23, and has increased friction by unevenly machining a surface thereof. List of reference symbols 1 robot operating device 2 Control unit 2a Rear surface (linear contact part) 3 fastening devices (belt) 22 Contact part (support part) 23 projection (point contact part) 24 projection (linear contact part) 25 Non-slip part (anti-rotation device) 100 Collaborative Robots (Robots) 110 Arm A1, A2 Straight

Claims

[1] Robot operating device (1), comprising: an operating unit (2) which is operated by an operator during direct teaching of a robot (100) and has at least partially a cylindrical outer surface; a communication unit that communicates operation information to the operation unit (2), a control device of the robot (100); and a fastening means (3) which detachably fastens the operating unit (2) to an outer surface of the robot (100), wherein the operating unit (2) contains a rotation locking means (25) between the outer surface of the robot (100) and the operating unit (2), characterized by that the rotation locking means (25) is a non-slip part which increases friction between the outer surface and the operating unit (2) when the operating unit (2) is fastened to the outer surface by the fastening means (3). [2] The robot operating device (1) according to claim 1, wherein the operating 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). [3] Robot operating device (1) according to claim 2, wherein the support part (22) includes four or more point contact parts (23). [4] Robot operating 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). [5] The robot operating 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 operating unit (2). [6] Robot operating device (1) according to claim 4, wherein the linear contact part (24) is a rear surface (2a) of the operating unit (2). [7] Robot operating device (1) according to claim 4, wherein the linear contact part (24) is a columnar projection (24) provided on a rear surface (2a) of the operating unit (2). [8] Robot operating 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). [9] Robot operating device (1) according to claim 8, wherein one of the linear contact parts (24) is a rear surface (2a) of the operating unit (2). [10] The robot operating device (1) according to claim 8 or 9, wherein at least one of the line contact parts (24) is a columnar projection (24) provided on a rear surface (2a) of the operating unit (2). [11] Robot operating device (1) according to claim 1, wherein the fastening means (3) is a belt (3) which is wound around an arm (110) of the robot (100) and fixed to the arm (110). [12] Robot operating device (1) according to claim 11, wherein the fastening means (3) is adjustable with respect to the winding circumference.

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