SAFETY SWITCHING DEVICE ATTACHED TO A PORTABLE END DEVICE FOR OPERATING A MACHINE, AND OPERATING DEVICE OF A MACHINE EQUIPPED WITH A SAFETY SWITCHING DEVICE

Abstract

Safety switch device (21 to 27) attached to a portable terminal (6) for operating a machine (1, 2), wherein the safety switch device (21 to 27) comprises a fixing mechanism (47) designed to fix the portable terminal (6); a gripping section (34) held on the fixing mechanism (47) which is grasped by hand by an operator; an enabling switch (51, 56) arranged on the gripping section (34) for issuing a signal authorizing operation of the machine (1, 2);and an emergency stop button (52) for issuing a signal that stops the machine (1, 2), wherein the fixing mechanism (47) is designed to be fixed to several types of portable terminals (6) of different sizes, and the gripping section (34) is held on the fixing mechanism (47) in such a way that it is arranged in the central region of the shape of the rear surface of the portable terminal (6) in accordance with the center of gravity position of the portable terminal (6), characterized in that the gripping section (34) has a longitudinal direction and the enabling switch (51, 56) is designed to be arranged on an end surface of the gripping section (34) and projects in a direction parallel to the longitudinal direction.

Description

General State of the ArtThe present invention relates to a safety switch device attached to a portable terminal for operating a machine, and an operating device of a machine provided with a safety switch device. Machines such as robots or the like are controlled by a machine control device. In the related art, a technique is known in which an operation device that an operator can carry is connected to the control device of a machine to allow the operator to easily operate the machine (see, for example, Patent Application Laid-Open JP 2004-122 243 A and Patent Application Laid-Open JP 2001-038 661 A). The operating device of the machine is designed such that it can communicate with the control device of the machine via a communication line.In recent years, use of a portable terminal such as a tablet has been proposed as an operation device of a machine (for example, see Patent Application Laid-Open JP 2018-167 396 A and Patent Application Laid-Open JP 2017-202 550 A). A portable terminal such as a tablet includes a touch panel type display. The portable terminal may display information related to the machine. The operator can check the state of the machine and setting values for the operation of the machine, etc. In addition, by operating the images of buttons or the like displayed on the display, an operation of the machine can be performed or specific information can be input. This allows the operator to operate the machine and input information also at a location remote from the control device.Further portable terminals for operating a robot are known, for example, from DE 10 2015 206 578 B3, DE 10 2015 206 571 B3, US 2018 / 0 157 239 A1, US 2015 / 0 051 736 A1 and JP 2016-068 242 A.Summary of the InventionWhen the operation device is connected to the control device, the operator can operate the machine while observing the state of the machine while being at various places. For example, a robot can be driven manually by checking the position and the posture of the robot.As for providing the operation device with a portable terminal, a device for allowing the operator to grasp the operation device with one hand has been proposed. The operator can grasp the operating device with one hand and operate it with the other hand. However, when the operation of a machine continues while the operation device is held with one hand, there is a problem that the arm is heavily loaded and the operator is fatigued. The fatigue of the operator becomes considerable especially when the operator performs a long-lasting operation.When a portable terminal having a large screen is used, the weight of the portable terminal becomes high. In addition, on a device for gripping a portable terminal with the hand, a safety switch such as an emergency stop button for momentarily stopping the machine may be disposed. When a safety switch is attached, the weight of the operation device becomes high. When the weight of the operation device becomes high, there is a problem that the load for the operator increases.The object of the invention is therefore to specify a safety switch device which reduces a load on an operator during handling, in particular with one hand, and thus reduces or prevents fatigue of the operator when carrying out an activity. Furthermore, the invention is based on the object of specifying an operating device.According to the invention, the above object with respect to the safety switch device is achieved by the subject matter of claim 1. With regard to the operating device, the aforementioned object is achieved by the subject matter of claim 7.Specifically, the object is achieved by a safety switch device attached to a portable terminal for operating a machine. The safety switch device includes a fixing mechanism configured to fix the portable terminal, and a gripping portion held on the fixing mechanism and gripped by an operator with the hand. The safety switch device includes an permission switch disposed on the gripping portion for outputting a signal that permits operation of the machine, and an emergency stop button for outputting a signal that stops the machine. The fixing mechanism is designed to be fixed to a plurality of types of portable terminals having different sizes. The grip portion is held on the fixing mechanism so as to be located at the center of gravity position of the portable terminal corresponding to the center area of the shape of the back surface of the portable terminal. The gripping portion has a longitudinal direction. The permission switch is configured to be disposed on an end surface of the grip portion and to protrude in a direction parallel to the longitudinal direction.In an independent aspect, the invention relates to an operating device of a machine comprising the above-described safety switch device and a portable terminal fixed to the safety switch device.Simple Explanation of the DrawingsFIG. 1 is a schematic view of a robot device in an embodiment. FIG. 2 is a block diagram of the robot device in the embodiment. FIG. 3 is a front oblique view of a first operating device in the embodiment. FIG. 4 is a rear oblique view of the first operating device. FIG. 5 is a side view of the first operating device. FIG. 6 is a first sectional view of the first operating device. FIG. 7 is a second sectional view of the first operating device. FIG. 8 is a rear oblique view of a second operation device in the embodiment. FIG. 9 is an enlarged side view of the grip portion of a third operation device in the embodiment. FIG. 10 is a rear oblique view of a fourth operating device in the embodiment. FIG. 11 is a side view of a fifth operation device in the embodiment. FIG. 12 is a rear view of the fifth operating device. FIG. 13 is a front oblique view of a sixth operating device in the embodiment. FIG. 14 is a rear oblique view of the sixth operating device. FIG. 15 is a bottom oblique view of the sixth operating device. FIG. 16 is a rear oblique view of a seventh operating device. FIG. 17 is a sectional view of the seventh operating device.Detailed ExplanationReferring to FIGS. 1 to 17, a safety switch device and an operation device of a machine provided with a safety switch device according to an embodiment will be explained. In the present embodiment, a robot and a hand are exemplified for the machine operated by the operation device.FIG. 1 is a schematic view of a robot device in the present embodiment. FIG. 2 is a block diagram of the robot device in the present embodiment. Referring to FIGS. 1 and 2, the robot device 5 includes a hand 2 as a working tool and a robot 1 that moves the hand 2. The robot 1 of the present embodiment is an articulated robot having a plurality of joint portions.The robot 1 includes a base portion 14 fixed on a facility surface and a rotating base 13 held on the base portion 14. the rotating base 13 rotates with respect to the base portion 14. the robot 1 includes an upper arm 11 and a forearm 12. the forearm 12 is rotatably held on the rotating base 13 via a joint portion. The upper arm 11 is rotatably supported on the lower arm 12 via a hinge portion. The robot 1 includes a wrist 15 coupled to the end of the upper arm 11, and the wrist 15 is rotatably supported on the upper arm 11 via a joint portion. The wrist 15 includes a flange 16 configured to rotate. The hand 2 is fixed to the flange 16 of the wrist 15.The robot 1 of the present embodiment has six drive axes, but is not limited to this shape. For the robot, any robot that can change the position and the posture of the working tool can be used. As for the working tool, a working tool corresponding to the operation performed by the robot device may be employed. For example, when the robot makes spot welding, a spot welding gun may be used as the working tool.The robot device 5 includes a robot control device 4 that controls the robot 1 and the hand 2. The robot control device 4 functions as a control device of the machine. The robot control device 4 includes a computation processing device (a computer) having a CPU (central processing unit) as a processor. The robot 1 and the hand 2 are connected to the robot control device 4 via a cable 17.The robot device 5 includes a first operation device 81 connected to the robot control device 4 via a cable 53. The operation device of the present embodiment functions as a teaching operation panel for setting the position and posture of the robot 1 to create an operation program for the robot 1 and the hand 2.FIG. 3 is an oblique view of the first operating device in the present embodiment as viewed from the front side. FIG. 4 shows an oblique view of the first operating device as seen from the rear side. FIG. 5 shows a side view of the first operating device. Referring to FIGS. 2 to 5, the first operation device 1 includes a portable terminal 6 for operating the robot 1 and the hand 2, and a first safety switch device 21 configured to fix the portable terminal 6.The portable terminal 6 in the present embodiment is a tablet-type computing processing device (a computer). The portable terminal 6 in the present embodiment includes a control unit 73 including a CPU and a touch panel type display 72. As the touch panel type display 72, any type of display such as a resistive diaphragm type, a capacitive type, or a surface acoustic wave type may be used.The display 72 is configured to be capable of displaying information regarding the machine such as the state of the robot 1 and the hand 2, etc. In addition, the display 72 functions as an operation unit for making input by the operator. The display 72 is configured to display images of buttons or the like for operating the robot 1 and the hand 2. The portable terminal 6 is configured to be able to issue commands for operating the robot 1 and the hand 2 by pressing the images of the display 72 with a finger.The portable terminal in the present embodiment is a tablet type computer, but is not limited to this form. Any portable terminal device allowing operation of a machine may be employed. For example, the portable terminal may also be a smartphone or the like.The safety switch device 21 of the present embodiment is configured so that the operator can hold the operation device 81 with one hand. The safety switch device 21 includes a fixing mechanism 47 configured to fix the portable terminal 6. The safety switch device 21 has a gripping portion 34 held on the fixing mechanism 47, which is gripped by the user with the hand 78.In the present embodiment, the substantially vertical direction when the operator holds the operation device 81 is referred to as a vertical direction. Arrow 91 shows the vertical direction. The substantially horizontal direction when the operator holds the operation device 81 is referred to as a transverse direction. Arrow 92 shows the transverse direction.The fixing mechanism 47 of the present embodiment includes a first support member 31 having a first recess 32 that engages with an end of the portable terminal 6. The first recess 32 of the first safety switch device 21 has a shape that engages with the end on the upper surface of the portable terminal 6. The first recess 32 is in close contact with the end of the portable terminal 6, and the fixing mechanism 47 includes a second support member 41 having a second recess 42 that engages with the other end of the portable terminal 6. The second recess 42 of the first safety switch device 21 has a shape that engages with the end on the lower surface of the portable terminal 6. The second recess 42 is in close contact with the end of the portable terminal 6, and the fixing mechanism 47 of the first safety switch device 21 has a function of clamping the portable terminal 6 in the vertical direction by the first support member 31 and the second support member 41.FIG. 6 is a sectional view taken along line A-A in FIG. 5. FIG. 7 is a schematic sectional view taken along line B-B in FIG. 5. Referring to FIGS. 5 to 7, the second support member 41 of the present embodiment is formed to slide with respect to the first support member 31. The second support member 41 includes an engaging portion 43 having the recess 42 engaging with the portable terminal 6, and a sliding portion 44 formed to extend from the engaging portion 43. The engaging portion 43 of the present embodiment is configured such that the second recess 42 extends in the lateral direction shown by the arrow 93.The first support member 31 has an opening portion 39 formed to extend along the longitudinal direction of the first support member 31. The sliding portion 44 of the second support member 41 is inserted into the opening portion 39. Inside the opening portion 39, a rod-shaped portion 35 is disposed so as to extend from the first support member 31 along the opening portion 39. One end of the rod-shaped portion 35 is fixed to the first support member 31. The sliding portion 44 of the second support member 41 has an opening 44 athrough which the rod-shaped portion 35 passes. Around the rod-shaped portion 35, a spring 63 is disposed. The slide portion 44 moves along the rod-shaped portion 35 in the directions of the arrow 94. the spring 63 biases the slide portion 44 in the extending direction of the spring 63.When the operator mounts the first support member 31 and the second support member 41 to the portable terminal 6, he pulls the engaging portion 43 of the second support member 41 in the direction away from the first support member 31. By the compression of the spring 63, the engaging portion 43 is biased in the direction toward the first support member 31. The operator arranges the portable terminal 6 between the first recess 32 of the first support member 31 and the second recess 42 of the second support member 41. Then, the operator can clamp the portable terminal 6 by moving the engagement portion 43 toward the first support member 31 through the first recess 32 and the second recess 42 following the biasing force of the spring 63. The position of the second support member 41 with respect to the first support member 31 may be set depending on the size of the portable terminal 6.The fixing mechanism 47 of the safety switch device 21 includes a screw 62 as a fixing member that fixes the second support member 41 with respect to the first support member 31. The bolt 62 is inserted from the first support member 31 side. By tightening the screw 62, the screw 62 presses the sliding portion 44 of the second support member 41. after clamping the portable terminal 6 by the first recess 32 and the second recess 42, the second support member 41 can be fixed with respect to the first support member 31 by tightening the screw 62.By the fixing mechanism 47 of the present embodiment, the portable terminal 6 can be easily attached to and detached from the safety switch device 21. Therefore, for example, when a plurality of robots are disposed in a factory, the safety switch device of the present embodiment can be connected to the control device of each of the robots. In the operation of a robot 1 by the operation device 81, the portable terminal 6 can be used fixed to the safety switch device 21. When the robot 1 is not operated by the operation device 81, the portable terminal 6 can be detached from the safety switch device 21. In addition, the portable terminal may be detached from a safety switch device connected to a robot control device, and the portable terminal may be attached to a safety switch device connected to another robot control device. In this way, the operation of a plurality of robots can be performed by one portable terminal 6.In addition, in the fixing mechanism 47 of the present embodiment, the second support member 41 slides with respect to the first support member 31. by pulling out the second support member 41 with respect to the first support member 31, the second support member 41 can be fixed at any relative position with respect to the first support member 31. That is, the distance between the second recess 42 of the second support member 41 and the first recess 32 of the first support member 31 can be regulated. Therefore, by the fixing mechanism 47 of the present embodiment, a plurality of types of portable terminals having different sizes can be fixed. For example, by the fixing mechanism 47 of the present embodiment, a portable terminal having a first size can be fixed. In addition, a portable terminal having a second size larger than the first size can be fixed.The fixing mechanism 47 is not limited to a mechanism in which the second support member 41 slides with respect to the first support member 31, any mechanism capable of fixing multiple types of portable terminals having different sizes may be employed. For example, a mechanism that fixes the second support member to the outer circumferential surface of the first support member by screws or the like may also be employed.Referring to FIGS. 4 and 5, the safety switch device 21 of the present embodiment includes the gripping portion 34 gripped by the operator with the hand 78. The gripping portion 34 of the first safety switch device 21 is fixed to the first support member 31. The gripping portion 34 has a longitudinal direction shown by the arrow 93. The gripping portion 34 is disposed such that the longitudinal direction of the gripping portion 34 is parallel to the vertical direction shown by the arrow 91. The gripping portion 34 has a contact surface 34 awith which the surface of the hand 78 (the back side of the hand) comes into contact.The grip portion 34 is held on the fixing mechanism 47 so as to be located at the center of gravity position of the portable terminal 6 corresponding to the center area of the shape of the back surface of the portable terminal 6. Specifically, the gripping portion 34 of the present embodiment is disposed directly below the center-of-gravity position of the portable terminal 6. The shape of the back surface of the portable terminal 6 in the present embodiment is a rectangular shape. The gripping portion 34 is disposed approximately in the center of the lateral direction of the back surface of the portable terminal 6. In addition, the grip portion 34 is disposed approximately at the center of the vertical direction of the back surface of the portable terminal 6. In this way, the gripping portion 34 is disposed near the position of the center of gravity of the rectangular shape.It can be thought that the weight of the portable terminal 6 acts downward from the center-of-gravity position of the portable terminal 6 in the vertical direction. Since the gripping portion 34 is disposed directly below the center-of-gravity position of the portable terminal 6 in the present embodiment, the weight of the portable terminal with respect to the surface of the hand acts substantially in the vertical direction.In a safety switch device, the grip portion may be disposed at the peripheral portion of the shape of the back surface of the portable terminal. For example, the grip portion may be disposed at one end in the lateral direction of the portable terminal. In this case, the center-of-gravity position of the portable terminal is disposed laterally of the gripping portion. A force acts on the operator's hand in a direction passing around the portable terminal (a direction in which the center-of-gravity position of the portable terminal moves downward). That is, a force acts on the operator's hand in a twisting direction. Therefore, the arm is fatigued when the operator performs a long-lasting operation. Moreover, in the case of a heavy portable terminal, the operator's arm also fatigues in a short-lasting operation.In contrast, in the present embodiment, the operator may hold the operation device 81 such that the screen of the portable terminal 6 is parallel to the horizontal direction, for example. In this case, the operator's hand 78 is placed substantially directly below the center-of-gravity position of the portable terminal 6. A force can be prevented from acting on the operator's arm in a direction passing around the portable terminal. Therefore, fatigue of the operator's arm can be suppressed. In particular, when the operation device is used for a long period of time, operator fatigue can be suppressed. In addition, by using a portable terminal with a large weight, operator fatigue can be suppressed.By the fixing mechanism 47 of the present embodiment, a plurality of types of portable terminals having different sizes can be fixed. When a portable terminal having a size different from that of the portable terminal 6 of the present embodiment has been fixed by the first safety switch device 21, the gripping portion 34 may be slightly displaced from the position directly below the center-of-gravity position of the portable terminal and disposed in the vicinity of the position directly below the center-of-gravity position. However, even in such a case, the gripping portion can be prevented from being disposed at the peripheral portion of the portable terminal. That is, the grip portion is disposed corresponding to the center-of-gravity position of the portable terminal in the center region of the shape of the back surface of the portable terminal. Here, the positioning corresponding to the center-of-gravity position of the portable terminal indicates positioning at a position directly below the center-of-gravity position of the portable terminal or positioning in the vicinity of the position directly below the center-of-gravity position of the portable terminal. Even if the grip portion 34 is disposed in the vicinity of the position directly below the center-of-gravity position of the portable terminal, fatigue of the operator's arm can be suppressed more than in a safety switch device in which the grip portion is disposed at the peripheral portion of the shape of the rear surface of the portable terminal.Referring to FIGS. 4, 5 and 7, a cavity is formed inside the gripping portion 34. In the cavity, an electronic circuit board 55 described later is disposed. The cross-sectional shape of the gripping portion 34 cut orthogonally to the longitudinal direction shown by the arrow 93 in the present embodiment has a mountain shape. The contact surface 34a is formed by an arcuate surface which can be easily grasped by the hand 78. The contact surface 34a is formed so that its central portion protrudes outward and becomes lower from the central portion toward both sides.The cross-sectional shape of the grip portion 34 orthogonal to the longitudinal direction has a symmetrical shape. In Figure 7, a centerline 90 is shown passing through the center of the gripping portion 34 in the transverse direction shown by arrow 92. The center line 90 is a line passing through the center of the width direction of the gripping portion 34. The shape of the contact surface 34 aof the gripping portion 34 is made to be symmetrical with respect to the center line 90. The gripping portion 34 has a symmetrical cross-sectional shape with respect to the centerline 90. By employing such a shape, the operator can grasp the gripping portion 34 with the right hand and with the left hand. Then, the operator can operate the portable terminal 6 with the other hand than the one gripping the gripping portion 34. However, the cross-sectional shape of the grip portion may not have a symmetrical shape. For example, when it is determined that the gripping portion is gripped with the left hand, the gripping portion may be formed to correspond to the shape of the palm of the left hand.Referring to FIGS. 4 and 5, the safety switch device 21 of the present embodiment includes straps 61 a, 61 bas a holding member configured to press the operator's hand 78 toward the gripping portion 34. The straps 61a, 61b are formed of a deformable material such as artificial leather. The belts 61a, 61b are designed such that the operator's hand 78 is placed between the belts 61a, 61b and the gripping portion 34. The belts 61 a, 61 bextend along the longitudinal direction of the gripping portion 34. the belt 61 ais fixed at one end in the longitudinal direction of the gripping portion 34. The band 61 bis fixed to the other end in the longitudinal direction of the gripping portion 34. The tape 61 aand the tape 61 bare configured to be fixed to and detached from each other by a fastening means such as a sheet-like fastener or a button or the like.The operator can fix the back of the hand (the front of the hand) by the belts 61 a, 61 bafter gripping the gripping portion 34 with the hand 78. By the belts 61 a, 61 b, the hand 78 of the operator can be pressed towards the gripping portion 34. In addition, the operator's hand 78 can be prevented from moving in the direction away from the gripping portion 34. As a result, the operator can hold the operation device 81 with one hand and yet securely. In addition, the operator can securely hold the operation device 81 without firmly gripping the gripping portion 34.The holding element is not limited to bands, any elements can be used which have been formed in such a way that they prevent a movement of the operator's hand in the direction leading away from the gripping section. For example, instead of the belts, a cover member such as a cloth formed to cover the back of the hand may be used. Then, the cover member may be opened and closed by a fastener or the like. The operator can set the hand when the cover member is in the opened state, and fix the hand to the gripping portion by closing the fastener or the like.Referring to FIGS. 3 to 5, the first safety switch device 21 includes an emergency stop button 52 and an activation switch 51 as an operation switch for ensuring safety of the operator or the robot. The emergency stop button 52 is a button for outputting a signal that stops the engine immediately during operation of the engine. The activation switch 51 is an enable switch for outputting a signal that permits the operation of the engine. For example, the machine may be operated during the period in which the operator presses the activation switch 51. And, when the operator releases the hand from the activation switch 51, the machine automatically stops.The activation switch 51 is disposed on the back side of the safety switch device 21 (on the side opposite to the side on which the screen of the portable terminal 6 is disposed). When the operator has gripped the operation device 81, the activation switch 51 of the first safety switch device 21 is disposed on the upper end surface of the gripping portion 34. The activation switch 51 is configured to protrude in a direction parallel to the longitudinal direction of the grip portion 34. With this shape, the operator can press the activation switch 51 with the thumb as shown in FIG. 4 when gripping the gripping portion 34. Or, the operator may press the activation switch 51 with the index finger as well.By disposing the activation switch 51 on the end surface of the gripping portion 34, the operator can press the activation switch 51 with a finger of the hand holding the gripping portion 34 both when gripping the gripping portion 34 with the right hand and when gripping the gripping portion 34 with the left hand. In addition, the operator can press and release the activation switch 51 at any time during the state of holding the grip portion 34.The emergency stop button 52 of the present embodiment is disposed on the front side of the safety switch device 21 (on the side where the screen of the portable terminal 6 is disposed). The emergency stop button 52 in the present embodiment is disposed at the upper end of the first support member 31. With this shape, the operator can press the emergency stop button 51 with the hand other than the hand holding the portable terminal 6.The activation switch and the emergency stop button may be arranged at any positions of the safety switch device. For example, as described later, the activation switch may also be disposed on the side surface of the grip portion. The emergency stop switch may also be disposed on the surface of the front side of the second support member.Referring to FIGS. 2 to 5, the safety switch device 21 is connected to the robot control device 4 through a cable 53. The signal that the emergency stop button 52 or the activation switch 51 has been pressed is transmitted to the robot control device 4 via the cable 53. For example, when the emergency stop button 52 has been pressed, an emergency stop signal is transmitted to the robot control device 4. The robot control device 4 stops the operation of the robot 1 and the operation of the hand 2. In addition, the signal that the activation switch 51 is pressed is sent to the robot control device 4. When the robot control device 4 does not receive a signal that the activation switch 51 has been pressed, it brings the robot 1 and the hand 2 into the stopped state. During the time of pressing the activation switch 51, the robot control device 4 operates the robot 1 and the hand 2 according to the operation on the portable terminal 6.The portable terminal 6 of the present embodiment is connected to the safety switch device 21 via a cable 54. In the present embodiment, the safety switch device 21 is configured to be capable of communicating with the portable terminal 6 by USB (Universal Serial Bus) signals. In addition, the safety switch device 21 is configured to be capable of communicating with the robot control device 4 by Ethernet (registered trademark) signals. The safety switch device 21 includes the electronic circuit board 55 having electronic circuits for converting the Ethernet signals into USB signals and for converting the USB signals into Ethernet signals. The communication between the portable terminal and the safety switch device and the communication between the safety switch device and the robot control device may also be wireless.In addition, the safety switch device 21 of the present embodiment is supplied with power from the robot control device 4 via the cable 53. The safety switch device 21 has a function of supplying power to the portable terminal 6 via the cable 54. The electronic circuit board 55 has the function of voltage conversion. A battery inside the portable terminal 6 can be charged by the power supplied via the cable 54.The portable terminal 6 of the present embodiment has a function of a camera. A lens 71 for capturing images is disposed at the back of the portable terminal 6. In the first support member 31, an opening 33 is formed at a position corresponding to the lens 71. The operation device 81 of the present embodiment can capture images by the function of a camera provided in the portable terminal 6. Thus, an opening corresponding to the position of the lens may be formed in the fixing mechanism 47 so that images can be taken by the function of a camera provided in the portable terminal 6.FIG. 8 is a rear oblique view of a second operating device in the present embodiment. The second operation device 82 includes a second safety switch device 22, In the second safety switch device 22, the holding member for preventing the operator's hand from moving in a direction away from the gripping portion 34 is different from the first safety switch device 21. The holding member 64 is formed of a material that does not deform. For example, the holding member 64 is formed of a resin or the like.The holding member 64 is formed to extend downward from the end on the upper side of the gripping portion 34. The holding member 64 extends along the longitudinal direction of the gripping portion 34 shown by the arrow 93 Between the gripping portion 34 and the holding member 64, a space is formed into which the operator's hand can be inserted. The holding portion 64 has a shape that is distant from the gripping portion 34 and extends along the gripping portion 34. The operator can insert the hand between the gripping portion 34 and the holding portion 64. The holding portion 64 is in contact with the back of the operator's hand, whereby the operator's hand can be prevented from being removed from the gripping portion 34.The holding portion 64 can thus be formed of a material that does not deform. In the holding portion 64 shown in FIG. 8, only the upper end is fixed to the grip portion 34, but is not limited to this shape. The lower end of the holding portion may also be fixed to the gripping portion 34.FIG. 9 is an enlarged side view of a third operation device in the present embodiment. The third operating device 83 comprises a third safety switch device 23. the third safety switch device 23 differs in the structure of the gripping portion 34 from the first safety switch device 31.The gripping portion 34 of the third safety switch device 23 comprises a moving element 36 which is designed to be movable with respect to the main body of the gripping portion 34. The moving member 36 includes the contact surface 34 awith which the surface of the operator's hand comes into contact. The moving member 36 has support rods 36a extending toward the main body of the gripping portion 34. The main body of the grip portion 34 has holes 34b into which the support rods 36a are inserted. The holes 34b are formed so that the support rods 36a slide therein.The moving member 36 has a rod-shaped portion 36 bon which an external thread is formed. The main body of the grip portion 34 has an opening 34 cin which the rod-shaped portion 36 bis inserted. The rod-shaped portion 36b extends to the opening 34c of the main body of the grip portion 34. The rotary disk 38 is formed in the shape of a round disk. The operator can move the rod-shaped portion 36b by rotating the rotary disk 38 as shown by the arrow 96. As a result, the moving member 36 moves in a direction toward the belts 61a, 61b or moves in a direction away from the belts 61a, 61b.By employing a structure that moves the region of the gripping portion 34 including the contact surface 34 atoward the holding member, the size of the space into which the operator's hand is inserted can be regulated. The size of the space into which the operator's hand is inserted can be changed in accordance with the size of the operator's hand. Therefore, the operator can hold the operation device even more securely. In addition, operator fatigue can be suppressed.FIG. 10 is a rear oblique view of a fourth operating device in the present embodiment. The fourth operation device 84 includes a fourth safety switch device 24. in the safety circuits described above, the first support member 31 and the second support member 32 are formed to extend in the vertical direction shown by the arrow 91 when the operator holds the operation device. The fixing mechanism 47 of the fourth safety switch device 24 has a structure that clamps the portable terminal 6 in the lateral direction when the operator holds the fourth operation device 84.The first support member 31 and the second support member 41 of the fourth safety switch device 24 are formed to extend in the transverse direction shown by the arrow 92. The first support member 31 engages with one end in the lateral direction of the portable terminal 6. The second support member 41 engages with the other end in the lateral direction of the portable terminal 6. In contrast, the gripping portion 34 is arranged such that the longitudinal direction of the gripping portion 34 shown by the arrow 93 is parallel to the vertical direction of the operating device 84 shown by the arrow 91.Thus, the fixing mechanism 47 may also be configured such that the first support member 31 and the second support member 41 extend in the transverse direction. The first support member 31 and the second support member 41 may be further configured to perform clamping from any direction with respect to the portable terminal.FIG. 11 is a side view of a fifth operating device in the present embodiment. The fifth operation device 85 includes a fifth safety switch device 25. the fifth safety switch device 25 is different from the first safety switch device 21 in that the gripping portion 34 is configured to rotate with respect to the fixing mechanism 47. The fifth safety switch device 25 is configured such that the gripping portion 34 rotates with respect to the first support member 31 and the second support member 41.The fifth safety switch device 25 includes a fixed plate 66 fixed to the fixing mechanism 47, and a rotating plate 67 fixed to the gripping portion 34. In the present embodiment, the fixed plate 66 is fixed to the first support member 31. The rotating plate 67 is configured to rotate with respect to the fixed plate 66. The rotating plate 67 of the present embodiment is configured to rotate about a rotation axis passing through the center-of-gravity position of the portable terminal or a position near this center-of-gravity position and extending in a direction orthogonal to the back surface of the portable terminal 6. In addition, the safety switch device 25 is configured such that the rotating plate 67 can be fixed to the fixed plate 66 by a fastening member such as a screw or the like.FIG. 12 is a rear view of the fifth operating device. The gripping portion 34 of the fifth safety switch device 25 rotates with respect to the fixing mechanism 47 having the first support member 31, as shown by the arrow 65. When the position of the grip portion 34 has been fixed with respect to the fixing mechanism 47, the rotary plate 67 can be fixed to the fixed plate 66 by the fixing member.In the fifth safety switch device 25, the angle of the grip portion 34 with respect to the fixing mechanism 47 can be adjusted. That is, the portable terminal 6 can be rotated depending on the operation. The operator can adjust the angle of the portable terminal 6 so that he can easily see the display 72 of the portable terminal 6. For example, the orientation of the portable terminal 6 may be adjusted so that the longitudinal direction of the portable terminal 6 is along the vertical direction, or the orientation of the portable terminal 6 may be adjusted so that the longitudinal direction of the portable terminal 6 is along the transverse direction. Thus, the gripping portion 34 can be configured to be rotatable with respect to the fixing mechanism 47. For the cable 54 connecting the gripping portion 34 and the portable terminal 6, a long cable may be used. Or, it is also possible to exchange a cable having a length corresponding to the rotation angle when the rotation angle of the portable terminal 6 with respect to the gripping portion 34 is changed.FIG. 13 is an oblique view of a sixth operating device in the present embodiment, as seen from the front. FIG. 14 is an oblique view of the sixth operating device viewed from the rear side. FIG. 15 is a bottom perspective view of the sixth operating device. Referring to FIGS. 13 to 15, the sixth operation device 86 includes a sixth safety switch device that has been mounted on the portable terminal 6. The sixth safety switch device 26 is different from the first safety switch device 21 in a structure including a protection member 46 that protects the cable 54. In addition, the sixth safety switch device 26 differs from the first safety switch device 21 in terms of the position of an activation switch 56.Referring to FIG. 15, an opening 43 ais formed in the engaging portion 43 of the second support member 41. The cable 54 connecting the safety switch device 26 and the portable terminal 6 is passed through this opening 43 a. Referring to FIGS. 13 to 15, a connection opening of the gripping portion 34 for the cable 54 is disposed at the lower end surface of the gripping portion 34 when the operator holds the operation device 86. The terminal opening of the portable terminal 6 for the cable 54 is disposed at the lower end surface of the portable terminal 6. Therefore, the cable 54 is bent in a U-shape in a plan view when the cable 54 is connected to the safety switch device 26 and the portable terminal 6. The cable 54 is disposed in a state of protruding from the lower end surface of the portable terminal 6.The sixth safety switch device 26 includes the protection member 46 that protects the cable 54. The protection member 46 is fixed to the second support member 41. The protective member 46 of the present embodiment is plate-shaped. The protection member 46 includes a wall portion 46 adisposed at the front side of the cable 54 (at the side where the screen of the portable terminal 6 is located), and wall portions 46 bdisposed laterally of the cable 54. The protection member 46 is formed so as to surround the U-shaped portion of the cable 54 protruding from the end surface of the portable terminal 6. The height of the protection member 46 shown by the arrow 97 is set to be higher than the height of the cable 54 protruding from the end face of the portable terminal 6.Referring to FIGS. 3 and 4, in the first safety switch device 21 of the present embodiment, the cable 54 protrudes at the bottom of the portable terminal 6 when the operator holds the first operation device 81. When an operation is performed by handling the first operation device 81, the cable 54 may come into contact with the operator's body or another device or the like. As a result, a force may be applied to the cable 54 and the cable 54 may be damaged.Referring to FIGS. 13 to 15, in the sixth safety switch device 26 of the present embodiment, the protection member 46 is disposed around the cable 54 so that the protection member 46 comes into contact with the operator's body or another device or the like. Therefore, contact of the cable 54 with the body of the operator or another device or the like can be avoided, and damage to the cable 54 can be prevented.The protection member 46 of the present embodiment is fixed to the lower surface of the second support member 41, but is not limited to this shape. The protection member 46 can be disposed in the vicinity of the space in which the cable 54 connecting the portable terminal 6 and the safety switch device 26 is disposed. For example, the terminal opening of the portable terminal for the cable may be formed at an end surface in the lateral direction of the portable terminal. In this case, the protection member may be disposed via the support member extending from the fixing mechanism 47 toward the terminal opening for the cable 54. Or, the grip portion may not be disposed in the central area of the back surface of the portable terminal, but may be disposed at one end in the lateral direction of the portable terminal. Also in this case, the protection member may be disposed via the support member extending from the fixing mechanism 47 toward the terminal opening for the cable. Or, the protective member may be fixed to the first support member or fixed to both of the first support member and the second support member.Further, referring to FIG. 14, the sixth safety switch device 26 is configured to be gripped by the operator with the left hand. In the sixth safety switch device 26, the activation switch 56 is disposed as a permission switch on the side surface of the gripping portion 34. The activation switch 56 has such a shape as to extend along the longitudinal direction of the grip portion 34 as shown by the arrow 93. With this shape, the operator can press the activation switch 56 with the hand's index finger, middle finger, and ring finger while gripping the gripping portion 34. The operator can press the activation switch 56 at any time. Thus, the activation switch 56 can be disposed at a position where it can be pressed with any finger while the operator has gripped the gripping portion.FIG. 16 is a rear oblique view of a seventh operating device in the present embodiment. FIG. 17 is a sectional view taken along line C-C in FIG. 16. FIG. 16 is an oblique view when the operator has gripped the gripping portion 34 with the left hand. Referring to FIGS. 16 and 17, the seventh operation device 87 includes a seventh safety switch device 27. the seventh safety switch device 27 is different in structure of the fixing mechanism 47 from the first safety switch device 21.The first support member 32 and the gripping portion 34 have approximately the same width in the width direction shown by the arrow 92. In the seventh safety switch device 27, on the side surface of the first support member 31 of the fixing mechanism 47, there is formed a recess 40 for engaging with the fingers of the operator's hand 79. The concavity 40 is formed to extend along the extending direction of the first support member 31. The recess 40 is formed to be recessed from the side surface of the gripping portion 34. The indentation 40 is formed at a position where at least one finger among the index finger, the middle finger, the ring finger, and the little finger of the operator's hand engages. The concavity 40 of the present embodiment has a size for engaging the index finger, the middle finger, the ring finger, and the little finger.When the operator grasps the safety switch device 27, he can grasp the grasping portion 34 by disposing the index finger, the middle finger, the ring finger, and the little finger in the recess 40. The gripping portion 34 can be gripped by hanging the fingertips of the respective fingers in the recess. Therefore, the operator can securely grasp the grip portion 34. As a result, operator fatigue can be suppressed more than a safety switch device having no indentation 40.The seventh safety switch device 27 is configured to be graspable by the operator with any one of the right hand and the left hand. Therefore, in the seventh safety switch device 27, the concavity 40 is formed on both side surfaces of the side surface on the left side and the side surface on the right side of the first support member 31, but is not limited to this shape. When the safety switch device is configured to be gripped by one of the left hand or the right hand, the concavity may be formed on the side surface of the side where the index finger, the middle finger, the ring finger, and the little finger of the gripping hand are placed.In addition, the recess 40 is formed on the fixing mechanism 47 in the seventh safety switch device 27, but is not limited to this shape. When the gripping portion is formed high, the indentation may be formed in the gripping portion. Or, the indentation may be formed in the boundary area between the gripping portion and the fixing mechanism. In this case, the indentation is formed in both of the gripping portion and the fixing mechanism. In this way, the indentation can be formed in at least one of the gripping portion and the fixing mechanism.The fixing mechanism 47 of the present embodiment is configured to fix the portable terminal 6 by the first support member 31 and the second support member 41 sandwiching the portable terminal 6, but is not limited to this shape. The fixing mechanism may fix the portable terminal by any mechanism. For example, the fixing mechanism may also be configured to fix the portable terminal to the safety switch device by screws. Or, the fixing mechanism may include, for example, a substrate having a recess corresponding to the shape of the portable terminal. A depression having a square outline may be formed in the substrate to allow the portable terminal to be inserted into the depression.The machine operated by the operation device according to the present embodiment is a robot and a hand, but is not limited to this shape. The configuration of the present embodiment can be applied to the operation device of any machine. For example, the safety switch device and the operation apparatus of the present embodiment can be applied to a machine tool. The safety switch device and the operating device of the present embodiment are particularly ideal for a numerically controlled machine tool.By the forms of the present disclosure, a safety switch device that suppresses operator fatigue in performing an operation by the operator and an operation device provided with the safety switch device can be provided.

Claims

A safety switch device (21 to 27) attached to a portable terminal (6) for operating a machine (1, 2), the safety switch device (21 to 27) comprising: a fixing mechanism (47) configured to fix the portable terminal (6); a gripping portion (34) held on the fixing mechanism (47) and being gripped by an operator with the hand; a permission switch (51, 56) disposed on the gripping portion (34) for outputting a signal permissioning an operation of the machine (1, 2); and an emergency stop button (52) for outputting a signal that stops the machine (1, 2), wherein the fixing mechanism (47) is configured to be fixed to a plurality of types of portable terminals (6) having different sizes, and the grip portion (34) is held on the fixing mechanism (47) so as to be disposed in the center area of the shape of the back surface of the portable terminal (6) corresponding to the center-of-gravity position of the portable terminal (6), characterized in that the grip portion (34) has a longitudinal direction, and the permission switch (51, 56) is configured to be disposed on an end surface of the grip portion (34) and protrude in a direction parallel to the longitudinal direction.The safety switch device (21 to 27) according to claim 1, wherein the fixing mechanism (47) includes a first support member (31) having a first recess (32) engaging with one end of the portable terminal (6), a second support member (41) having a second recess (42) engaging with the other end of the portable terminal (6), and a fixing member (62) fixing the second support member (41) with respect to the first support member (31), the second support member (41) being configured to slide with respect to the first support member (31), wherein the fixing mechanism (47) fixes the portable terminal (6) by the first support member (31) and the second support member (41) clamping the portable terminal (6).The safety switch device (21 to 27) according to claim 1, wherein the grip portion (34) has a symmetrical cross-sectional shape with respect to the center line of the width direction of the grip portion (34) when cut along a direction orthogonal to the longitudinal direction.The safety switch device (21 to 27) according to any one of claims 1 to 3, comprising a protection member (46) fixed to the fixing mechanism, wherein the protection member (46) is configured to, when the safety switch device (21 to 27) is connected to the portable terminal (6) through a cable (54), be disposed around the cable (54) and become higher than the height of the cable (54) protruding from the portable terminal (6).The safety switch device (21 to 27) according to any one of claims 1 to 4, wherein a holding member (61a, 61b, 64) that prevents movement of the operator's hand in a direction away from the gripping portion (34) is provided, and the holding member (61a, 61b, 64) extends along the longitudinal direction such that the operator's hand is disposed between the holding member (61a, 61b, 64) and the gripping portion (34).The safety switch device (21 to 27) according to any one of claims 1 to 5, wherein at least one of the fixing mechanism (47) and the gripping portion (34) has a recess (40) formed on the side surface, and the recess (40) is formed at a position where at least one finger among the index finger, the middle finger, the ring finger, and the little finger engages when the operator has gripped the gripping portion (34).An operation device (81 to 87) for a machine (1, 2) comprising a safety switch device (21 to 27) according to claim 1; and a portable terminal (6) fixed to the safety switch device (21 to 27).

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