ROBOT MANIPULATION DEVICE AND ROBOT

Abstract

This robot manipulation device is designed to be attached to a robot and detects a force applied by an operator and can be operated by lead-through control in which a position and attitude thereof are changed according to the detected force. The robot manipulation device includes: a bracket for attaching a tool to a flange disposed at a front end of the robot; and first and second handles secured to the bracket and gripped by the operator, the first handle being arranged to extend in a direction intersecting a rotation axis, and the second handle being arranged to extend in a direction intersecting a plane including the rotation axis and parallel to a direction in which the first handle extends.

Description

{Technical field}

[0001] The present disclosure relates to a robot manipulation device and a robot. {State of the art}

[0002] As is known, there is a robot manipulation device with which an operator manipulates a robot by applying forces to operate the robot through lead-through (manual teaching) control (see, for example, Patent Literature 1).

[0003] This robot manipulation device includes two handles that the operator grasps with both hands, and the robot is operated with a force resulting from forces applied to the two handles.

[0004] A tool, such as a handpiece, is secured to a flange provided at the front end of the robot along a rotation axis of the flange. Two handles extend to both sides and enclose a central plane (a plane passing through a center of the two fingers of the handpiece in a direction orthogonal to an opening / closing direction of the fingers) of the tool. Accordingly, the operator standing in front of the tool can grasp the two handles with both hands. {List of known publications}{Patent literature}

[0005] {PTL 1] Unexamined Japanese Patent Application, Publication No. 2019-34412 {Summary of the invention}{Technical problem}

[0006] When the two handles protruding to the two sides and enclosing the central plane of the tool are arranged along the same plane, operability is sometimes poor. When the two handles are arranged along the same plane, the magnitude of the force applied to the handles to rotate the tool around the axis parallel to the plane and the magnitude of the force applied to the handles to translate the tool are sometimes the same, making precise manipulation impossible. Therefore, there is a need to improve the operability of a robot for precisely positioning a tool. {Solution to the problem}

[0007] One aspect of the present disclosure is a robot manipulation device for attachment to a robot, which detects a force applied by an operator and can be operated by lead-through control in which a position and an attitude thereof are changed according to the detected force, the robot manipulation device comprising: a bracket for attaching a tool to a flange arranged at a front end of the robot; and first and second handles secured to the bracket and gripped by the operator, the first handle being arranged to extend in a direction intersecting a rotation axis of the flange and the second handle being arranged to extend in a direction intersecting a plane including the rotation axis and parallel to a direction in which the first handle extends. {Brief description of the drawings} { Fig. 1] Fig. 1 is a side view showing a robot according to an embodiment of the present disclosure, wherein a laser processing head is attached to the robot. { Fig. 2] Fig. 2 is a front view showing the robot from Fig. 1 shows. { Fig. 3] Fig. 3 is a perspective view showing a robot manipulation device according to the embodiment of the present disclosure used in the robot of Fig. 1 is provided. { Fig. 4] Fig. Fig. 4 is an exploded perspective view for explaining an example of attachment of handles to a bracket of the robot manipulation device of Fig. 3. { Fig. 5] Fig. Fig. 5 is a perspective view showing a state in which the robot manipulation device of Fig. 3 attached to a flange and the laser processing head. { Fig. 6] Fig. 6 is a perspective view showing a state in which an operator grasps gripping portions of a second grip and a third grip of the robot manipulation device of Fig. 3 grabs with both hands, shows. { Fig. 7] Fig. 7 is a perspective view showing an example of a moving direction of the robot due to forces applied from the operator's two hands to the gripping portions of the robot manipulation device of Fig. 6 are created. { Fig. 8] Fig. Fig. 8 is a perspective view showing another example of the direction of movement of the robot due to forces applied from the operator's two hands to the gripping portions of the robot manipulation device of Fig. 6 are created. { Fig. 9] Fig. 9 is a perspective view showing another example of the direction of movement of the robot due to forces applied from the operator's two hands to the gripping portions of the robot manipulation device of Fig. 6 are created. { Fig. 10} Fig. 10 is a front view showing an example of the moving direction of the robot due to forces applied from the operator's two hands to gripping portions of the second grip and the third grip of the robot manipulation device of Fig. 6 are created. { Fig. 11] Fig. Fig. 11 is a perspective view showing another example of the moving direction of the robot due to forces applied from the two hands of the operator to the gripping portions of the second grip and the third grip of the robot manipulation device of Fig. 6 are created. { Fig. 12] Fig. Fig. 12 is a side view showing another example of the moving direction of the robot due to forces applied from the two hands of the operator to the gripping portions of the second grip and the third grip of the robot manipulation device of Fig. 6 are created. { Fig. 13] Fig. Fig. 13 is a side view showing another example of the direction of movement of the robot due to forces applied from the operator's two hands to the gripping portions of the second grip and the third grip of the robot manipulation device of Fig. 6 are created. { Fig. 14] Fig. 14 is a perspective view showing a state in which the operator grasps the gripping portions of a first grip and the second grip of the robot manipulation device of Fig. 3 grabs with both hands, shows. { Fig. 15] Fig. 15 is a side view showing an example of the moving direction of the robot due to forces applied from the operator's two hands to a gripping portion of the first grip and the gripping portion of the second grip of the robot manipulation device of Fig. 14 are created. { Fig. 16] Fig. 16 is a perspective view showing another example of the moving direction of the robot due to forces applied from the two hands of the operator to the grasping portion of the first grip and the grasping portion of the second grip of the robot manipulation device of Fig. 14 are created. { Fig. 17] Fig. 17 is a perspective view showing a state in which the robot manipulation device of Fig. 3 attached to the flange and a welding torch. {Description of embodiments}

[0008] A robot manipulation device 1 and a robot 100 according to an embodiment of the present disclosure will be described below with reference to the drawings.

[0009] The robot 100 according to this embodiment has a built-in sensor that detects forces applied by an operator. The robot 100 can be operated using a lead-through controller, which changes the position and attitude of the robot 100 according to the magnitude and direction of the forces detected by the sensor.

[0010] For example, in Fig. 1 and Fig. As shown in Figure 2, the robot 100 is a 6-axis vertically articulated robot. The robot 100 includes a base 110 to be installed on an installation surface, such as a floor; and a rotary drum 120 supported to be rotatable about a first axis A with respect to the base 110.

[0011] Furthermore, the robot 100 includes a first arm 130 supported by the rotary drum 120 to be rotatable about a second axis B, and a second arm 140 supported by the first arm 130 to be rotatable about a third axis C. Furthermore, the robot 100 includes a three-axis wrist unit 150 supported by a front end of the second arm 140.

[0012] The wrist unit 150 includes a flange 160 rotatable about a rotation axis (sixth axis) X at a front end thereof. The robot 100 according to this embodiment includes the robot manipulation device 1 secured to the flange 160.

[0013] As in Fig. 3, the robot manipulation device 1 according to this embodiment includes: a bracket 2 secured to the flange 160; and three handles (first to third handles) 3, 4, 5 secured to the bracket 2.

[0014] The bracket 2 is a member for securing, for example, an elongated tool (hereinafter referred to as a laser processing head 170 in this embodiment) to the flange 160. The bracket 2 includes: a flat plate-shaped first flat plate portion 6 to be secured to the flange 160; and a flat plate-shaped second flat plate portion 7 to which the laser processing head 170 is secured. The first flat plate portion 6 and the second flat plate portion 7 are rectangular. The bracket 2 has an L-shape in which one side of the first flat plate portion 6 and one side of the second flat plate portion 7 are integrally connected to each other, so that the two flat plate portions are arranged to form an angle of 90° with each other.

[0015] The first flat plate portion 6 includes a plurality of through holes 8, each for allowing the passage of screws, wherein the screws are screwed into screw holes (not shown) provided in the flange 160. Furthermore, the second flat plate portion 7 includes a plurality of through holes 9, each for allowing the passage of screws, wherein the screws are screwed into screw holes (not shown) provided in the laser processing head 170.

[0016] The bracket 2 can be secured to the flange 160 by screwing the screws passing through the through-holes 8 of the first flat plate portion 6, whose outer surface is in close contact with a surface of the flange 160, into the screw holes of the flange 160. Furthermore, the screws passing through the through-holes 9 of the second flat plate portion 7, whose outer surface is in close contact with a surface of the laser processing head 170, are screwed into the screw holes of the laser processing head 170. Accordingly, the bracket 2 can be secured to the laser processing head 170.

[0017] As in Fig. As shown in Figure 3, the three handles 3, 4, 5 each include: a gripping portion 31, 41, 51 gripped by the operator; and a spherical gripping portion (protrusion) 32, 42, 52 provided at one end in the length direction of the gripping portion 31, 41, 51. The gripping portion 31, 41, 51 preferably has a rod shape with a circular shape in cross section, but other arbitrary shapes may be employed. The thickness and length of the gripping portion 31, 41, 51 can be arbitrary; however, it is preferable that the gripping portion has, for example, an outer diameter dimension at which the thumb and index finger overlap each other when the operator grips the gripping portion with their left or right hand, and a length dimension equal to or greater than the width dimension of a fist of the operator.

[0018] The gripping portion 32, 42, 52 has an outer diameter dimension that is larger than the outer diameter dimension of the gripping portion part 31, 41, 51 and protrudes in a radial direction from an outer peripheral surface of the gripping portion part 31, 41, 51. By making the gripping portion 32, 42, 52 spherical, it is possible to apply a force to the gripping portion 32, 42, 52 in any direction, regardless of the direction in which the gripping portion part 31, 41, 51 is arranged and oriented. In particular, by forming the gripping portion 32, 42, 52 to have a larger size than the gripping portion part 31, 41, 51, it is also possible to easily apply a force for pulling the gripping portion part 31, 41, 51 in a longitudinal direction by gripping the gripping portion 32, 42, 52 or placing the fingers around it to the gripping portion part 31, 41, 51.

[0019] As in Fig. 3, the first handle 3 is secured to the center of an end face of the first flat plate portion 6 on the side opposite to the side thereof to which the second flat plate portion 7 is connected, and is arranged so that the gripping portion part 31 extends in a direction orthogonal to the end face.

[0020] The second handle 4 and the third handle 5 are secured to tapered surfaces (inclined surfaces) 43, 53 provided at two ends of an end surface of the second flat plate portion 7 on the side thereof opposite to the side to which the first flat plate portion 6 is connected. The second handle 4 and the third handle 5 are arranged so that each of the gripping portion parts 41, 51 extends in a direction orthogonal to each of the tapered surfaces 43, 53. Each of the tapered surfaces 43, 53 forms an angle of 45° with the end surface, and in a state where they are secured to the two tapered surfaces 43, 53, the second handle 4 and the third handle 5 are arranged to form an angle of 90° with each other.

[0021] The beveled surfaces 43, 53 can be formed at any angle. Furthermore, the beveled surfaces 43, 53 can be omitted.

[0022] As in Fig. 4, for example, each of the handles 3, 4, 5 has an externally threaded portion 10 in an end portion on the side opposite the respective gripping area 32, 42, 52. Each of the handles 3, 4, 5 is releasably secured to the bracket 2 by screwing the externally threaded portion 10 into a screw hole 11 formed in the end surface of the first flat plate portion 6 and the tapered surfaces 43, 53. If the tapered surfaces 43, 53 are not provided, the screw holes 11 may be tapered in the end surface of the second flat plate portion 7.

[0023] The laser processing head 170 is a device that radiates laser light guided therefrom from a light source onto a workpiece from an output end, and in which Fig. In the example shown in Figure 5, the laser processing head 170 is an elongated tool having a longitudinal axis L passing through the center of the downwardly facing output end arranged in the vertical direction.

[0024] Since the laser processing head 170 has an elongated shape as described above, the laser processing head 170 cannot pass through the inside of the wrist unit 150 and is supported by the bracket 2 at an eccentric position with respect to the rotation axis X of the flange 160.

[0025] In this embodiment, the laser processing head 170 is secured to the bracket 2 in a state where the longitudinal axis L thereof is arranged at a position offset substantially parallel to the rotational axis X of the flange 160. Here, "substantially parallel" includes not only a case where the longitudinal axis L is arranged exactly parallel, but also a case where there is a very small angle with the rotational axis X, for example, a case where there is an angle in the range of ±15°.

[0026] When the laser processing head 170 is secured to the second flat plate portion 7 of the holder 2, which is secured to the flange 160 by the first flat plate portion 6, the rotation axis X and the longitudinal axis L of the laser processing head 170 are arranged in substantially the same plane (hereinafter referred to as the tool plane P). Here, "substantially the same plane" includes not only a case where the two axes are exactly in the same plane, but also a case where the two axes are approximately in the same plane, even if the rotation axis X and the longitudinal axis L of the laser processing head 170 form a very small angle therebetween.

[0027] As in Fig. 5, the first handle 3 secured to the first flat plate portion 6 of the holder 2 is arranged along the tool plane (plane) P. Here, “the first handle 3... is arranged along the tool plane P” also includes a case where the first handle 3 is arranged along a plane substantially parallel to the tool plane P, in addition to a case where a longitudinal axis Q of the first handle 3 is arranged exactly in the tool plane P. Furthermore, as shown in Fig. 5 the second handle 4 and the third handle 5, which are secured to the second flat plate portion 7, are each arranged at an angle of 45° to the tool plane P. By arranging the second handle 4 and the third handle 5 at the same angle, it is possible to cancel left- and right-directed components of forces acting on the second handle 4 and the third handle 5.

[0028] Next, the operation of the thus configured robot manipulation device 1 and the robot 100 according to this embodiment will be described.

[0029] To perform teaching using the robot manipulation device 1 according to this embodiment, while controlling the robot 100 by lead-through control, an operator grips the second handle 4 with his left hand and grips the third handle 5 with his right hand, as shown in Fig. 6. Then, the operator presses, for example, a lead-through button (not shown) provided near the third handle 5. This activates the lead-through control.

[0030] Accordingly, the sensor built into robot 100 detects the forces applied by the operator to the second handle 4 and the third handle 5, and the robot 100 is moved to a position and attitude according to the detected forces. Then, at a desired position, for example, by the operator pressing a teaching button (not shown) provided near the second handle 4, the angles of the respective axes of the robot 100 at the time the button is pressed are stored. By repeating these movements, an operation program of the robot 100 can be taught.

[0031] In this case, with this embodiment, by simultaneously applying forces of the same magnitude to the second handle 4 and the third handle 5 in the same direction, the laser processing head 170 can be displaced in any direction in which the forces are applied. For example, as shown in Fig. 7 and Fig. 8 by applying forces F a1 and F a2 , F b1 and F b2 to the spherical gripping areas 42, 52 of the second handle 4 and the third handle 5 in the same direction of the laser processing head 170 in a direction F a , F b in which the forces are applied.

[0032] In the figures, the thin arrows indicate the positions and directions to which the operator applies forces, and the thick arrows indicate the direction of movement of the laser processing head 170. Fig. 7 and Fig. 8 show a direction orthogonal to the tool plane P and a direction along the tool plane P; however, the laser processing head 170 can be similarly translated in another direction orthogonal to the tool plane P and another direction along the tool plane P.

[0033] In addition, for example, as shown in Fig. 9 the laser processing head 170 can be moved even if the operator exerts forces F by gripping the gripping area parts 41, 51 c1 , F c2 as long as the direction is in one direction F c orthogonal to the rotation axis X and along the tool plane P. In addition, as shown in Fig. 10 the laser processing head 170 can be moved even if the operator exerts forces F by gripping the gripping area parts 41, 51 d1 , F d2as long as the direction is in one direction F d runs along the rotation axis X. Furthermore, when the laser processing head 170 is displaced, the laser processing head 170 can be displaced by applying forces by gripping not only the gripping portions 41, 51, but also the gripping portion 31 of the first handle 3. This can prevent rotation.

[0034] In this case, the left and right components of the forces acting from the left and right hands on the respective handles 4, 5 are automatically canceled out, making it easier to move the laser processing head 170 straight along the rotation axis X. Fig. 10 shows an exemplary case of moving the laser processing head 170 downward along the rotation axis X; however, the case of moving the laser processing head 170 upward is similar.

[0035] In addition, for example, as shown in Fig. 11 the laser processing head 170 by varying the directions of the forces F e1 , F e2 , which are applied to the two handles 4, 5, in a direction F e rotated about an axis orthogonal to the rotation axis X of the flange 160. The case of rotating the laser processing head 170 about the rotation axis X of the flange 160 is also similar.

[0036] Furthermore, in this case, in a state where the bracket 2 is attached to the flange 160 facing downward, the second handle 4 and the third handle 5 are arranged to extend obliquely downward in directions where the two handles diverge. Thus, the operator can grip the second handle 4 with his left hand and the third handle 5 with his right hand in a natural state with both arms relaxed and both elbows hanging down.

[0037] Specifically, when gripping the second handle 4 and the third handle 5, the two hands can be positioned so that the little fingers are on a diagonally lower side, allowing the operator to grip the two handles naturally without straining their arms. Consequently, operability can be improved by increasing the range of motion of the operator's two arms when moving the laser processing head 170.

[0038] As in Fig. 12, it is for rotating the laser processing head 170 in a direction F f To move in a direction orthogonal to the tool plane P, by gripping the second handle 4 and the third handle 5, it is necessary to generate a moment to tilt the rotation axis X of the flange 160. The second handle 4 and the third handle 5 are arranged in the same plane orthogonal to the tool plane P, as in Fig. 5. Accordingly, according to the illustration in Fig. 12 required when both hands grasp the second handle 4 and the third handle 5, forces F f1 , F f2 to the gripping area parts 41, 51 of the respective handle 4, 5 at different positions in the length direction of the gripping area parts 41, 51 in different directions or at different heights. In this case, it is necessary to apply the forces F f1 , F f2 which are applied with the respective fingers and palms of both hands, and thus the operability is reduced.

[0039] In particular, there are cases where an irradiation position (processing location) R for the laser light from the laser processing head 170 is far away from the flange 160. When forces F g1 , F g2 be applied when the laser processing head 170 is rotated around such a processing point R as in Fig. 13, it is difficult to distinguish these forces from the forces applied when the laser processing head 170 is displaced, as shown in Fig. 9. Accordingly, it is difficult to precisely position the laser processing head 170.

[0040] In such a case, as described in Fig. 14 and Fig. 15, the operator can transition to gripping the first handle 3 by removing his right hand from the third handle 5 or by removing his left hand from the second handle 4. The first handle 3 and the second handle 4 are not arranged in the same plane, and the first handle 3 and the third handle 5 are also not arranged in the same plane. Accordingly, it is possible to vary the forces applied to the two handles 3, 4 or the two handles 3, 5 when the laser processing head 170 is also rotated about an axis orthogonal to the tool plane P.

[0041] In addition, the first handle 3 and the second handle 4 are arranged opposite each other and enclose the rotation axis X therebetween, and the first handle 3 and the third handle 5 are also arranged opposite each other and enclose the rotation axis X therebetween. Accordingly, when the laser processing head 170 is rotated around a processing point R, which is also far away from the flange 160, it is possible to generate forces F h1 , F h2 , which are significantly different from the movement of the laser processing head 170, to the two handles 3, 4 or the two handles 3, 5, as in Fig. 15. This makes it possible to precisely position the laser processing head 170.

[0042] As described above, in this embodiment, the first handle 3 is arranged along the tool plane P orthogonal to the rotation axis X of the flange 160, and the second handle 4 is arranged in the direction intersecting the tool plane P at an angle. Consequently, the first handle 3 and the second handle 4 are not arranged in the same plane; thus, forces and moments in all directions can be transmitted by the forces F h1 , F h2 , which are applied to the first handle 3 and the second handle 4.

[0043] In addition, as shown in Fig. 16 also possible, a displacement in a direction F orthogonal to the tool plane P i by applying forces F i1 , F i2 to the gripping area part 31 with respect to the first handle 3 and the gripping area 42 with respect to the second handle 4.

[0044] Note that in this embodiment, the bracket 2 having an L-shaped structure in which the first flat plate portion 6 and the second flat plate portion 7 are connected was described as an example. Alternatively, a bracket having any shape, such as a cuboid, a columnar block, or the like, may be employed.

[0045] Furthermore, in this embodiment, the bracket 2 having an L-shaped structure in which the first flat plate portion 6 and the second flat plate portion 7 are arranged at an angle of 90° to each other was described as an example; however, it is not limited thereto. Specifically, the first flat plate portion 6 and the second flat plate portion 7 may be arranged at an angle other than 90°.

[0046] Furthermore, the second handle 4 and the third handle 5 are arranged at an angle of 45° to the tool plane P; however, the angle can be any desired angle. For example, the two handles 4, 5 can extend in directions orthogonal to the tool plane P.

[0047] Furthermore, a case where the first handle 3 extends in the direction orthogonal to the rotation axis X of the flange 160 was described as an example; however, alternatively, the first handle 3 may be inclined downward in a direction away from the rotation axis X, like the second handle 4 and the third handle 5. Accordingly, even when the first handle 3 is gripped, it is possible to improve operability by increasing the ranges of motion of the operator's two arms when moving the laser processing head 170.

[0048] Furthermore, the second handle 4 and the third handle 5 are arranged along a plane that is orthogonal to the tool plane P and parallel to the rotation axis X of the flange 160; however, this is not limited. For example, the two handles may be arranged along a plane that is orthogonal to the tool plane P and oblique to the rotation axis X of the flange 160.

[0049] Moreover, in this embodiment, a case where the gripping portions 32, 42, 52 are spherical was described as an example; however, alternatively, gripping portions having any shape projecting radially outward from outer surfaces of the gripping portion parts 31, 41, 51 may be employed.

[0050] Furthermore, in this embodiment, a configuration in which the laser processing head 170 is secured to the bracket 2 in a state where the longitudinal axis L is arranged at a position offset substantially parallel to the rotation axis X of the flange 160 has been described as an example. Alternatively, a configuration in which the laser processing head 170 is secured to the bracket 2 in a state where the longitudinal axis L is arranged on the same line as the rotation axis X may be adopted. Accordingly, the two handles 3, 4, the two handles 4, 5, or the two handles 3, 5 are arranged at positions sandwiching the rotation axis X therebetween; thus, it is possible to perform a rotational movement more efficiently.

[0051] Furthermore, in this embodiment, a case where the tool is the laser processing head 170 has been described as an example. Alternatively, the robot manipulation device 1 as shown in Fig. 17 may be applied in a case where a welding torch 180 is used as the tool.

[0052] The welding torch 180 includes: a tubular torch body 181 bent in one direction; a substantially columnar neck holder 182 connected to a base end of the torch body 181; and a guide tube 183 connected to a base end of the neck holder 182. The guide tube 183, the neck holder 182, and the torch body 181 include internal holes (not shown) through which a welding wire 190 passes. The welding torch 180 welds a workpiece by allowing the welding wire 190 passing through the internal holes to protrude from a front end of the torch body 181 and creating a welding arc between the workpiece and the welding wire 190.

[0053] The welding torch 180 also has an elongated shape, as described above, thus the welding torch 180 cannot pass through the interior of the wrist unit 150 and is supported by the bracket 2 at an eccentric position with respect to the rotational axis X of the flange 160. Furthermore, the torch body 181 is bent along the tool plane P, which includes the rotational axis X of the flange 160, from the position where the torch body 181 is secured to the bracket 2, and is arranged so that the welding wire 190 protrudes at a position where the welding wire 190 intersects the rotational axis X of the flange 160. The intersection point between the rotational axis X of the flange 160 and the welding wire 190 generally serves as a machining point for performing welding.

[0054] Furthermore, in this embodiment, the robot 100 having a built-in sensor was described as an example. Alternatively, a sensor may be mounted between the flange 160 of the robot 100 and the bracket 2.

[0055] Furthermore, in this embodiment, an example in which lead-through control is activated by pressing the lead-through button was described. Alternatively, a configuration in which lead-through control is activated by a teach pendant of the robot 100 may be adopted. Furthermore, a configuration in which no lead-through button is provided and lead-through control is always active may be adopted.

[0056] Furthermore, in this embodiment, an example in which the screw holes 11 are formed has been described, wherein the screw holes 11 are formed in the end surface of the first flat plate portion 6 and the tapered surfaces 43, 53. Alternatively, a plurality of screw holes 11 may be provided in the end surfaces of the first flat plate portion 6 and the second flat plate portion 7. Accordingly, it is possible to change the positions where the respective handles 3, 4, 5 are attached.

[0057] Furthermore, in this embodiment, handles 3, 4, 5 of different lengths can be used. For example, since the second handle 4 and the third handle 5 have different lengths, the distance to an operating point changes; thus, when the operator grips the gripping portions 42, 52 to perform a rotational movement, the rotation can be performed more easily in a specific left or right direction. Furthermore, by changing the lengths of the two handles 4, 5, it is possible to change the specific left or right direction in which a rotation is easily performed.

[0058] As above, the individual embodiments of the present disclosure have been described in detail; however, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, changes, partial omissions, etc. can be made to the embodiments within the range that does not deviate from the scope of the invention or within the range that does not deviate from the concept and spirit of the present invention derived from the contents described in the claims and their equivalents. For example, in the embodiments described above, the order of the respective operations and the order of the respective processes are exemplified and are not limited thereto.

[0059] With respect to the above-described embodiments and modifications, the following notes are further disclosed. (Note 1)

[0060] A robot manipulation device for attachment to a robot, which detects a force applied by an operator and can be operated by lead-through control in which a position and an attitude thereof are changed according to the detected force, the robot manipulation device comprising: a holder for attaching a tool to a flange arranged at a front end of the robot; and a first and a second handle secured to the bracket and gripped by the operator, wherein the first handle is arranged to extend in a direction intersecting a rotational axis of the flange, and the second handle is arranged to extend in a direction intersecting a plane including the axis of rotation and parallel to a direction in which the first handle extends. (Note 2)

[0061] The robot manipulation device according to note 1, wherein the tool is mounted on the support at an eccentric position with respect to the rotation axis. (Note 3)

[0062] The robot manipulation device according to note 1 or 2, wherein the second handle is arranged on an opposite side to the first handle, thereby sandwiching the rotation axis therebetween. (Note 4)

[0063] The robot manipulation device according to any one of notes 1 to 3, wherein: the holder comprises a first flat plate portion secured to the flange and a second flat plate portion extending in a direction orthogonal to the first flat plate portion from an end edge of the first flat plate portion and to which the tool is attached; the first handle is secured to an end surface of the first flat plate portion on a side opposite the second flat plate portion; and the second handle is secured to an end surface of the second flat plate portion. (Note 5)

[0064] The robot manipulation device according to Note 4, wherein the second handle is secured to an inclined surface provided in an end surface of the second flat plate portion on a side opposite to the first flat plate portion. (Note 6)

[0065] The robot manipulation device according to any one of notes 1 to 5, wherein the first grip and / or the second grip comprises a rod-like gripping portion that the operator grips with his hand, and a projection that is provided at a front end of the gripping portion and that projects from a surface of the gripping portion. (Note 7)

[0066] The robot manipulation device according to any one of notes 1 to 6, wherein the first handle is arranged to extend obliquely downward in a direction away from the rotation axis in a state where the bracket is attached to the flange in a downward arrangement. (Note 8)

[0067] The robot manipulation device according to any one of notes 1 to 7, further comprising a third handle secured to the bracket and gripped by the operator with his hand, wherein the third handle is arranged to extend in a direction intersecting the plane on a side opposite the second handle, thereby enclosing the plane therebetween. (Note 9)

[0068] The robot manipulation device according to Note 8, wherein, in a state where the bracket is attached to the flange in a downward orientation, the second handle and the third handle are arranged so that the second handle and the third handle extend obliquely downward in directions where the second handle and the third handle diverge. (Note 10)

[0069] The robot manipulation device according to note 4 or 5, further comprising a third handle which is secured to the bracket and which the operator grips with his hand, the third handle being secured to another tapered surface provided in an end surface of the second flat plate portion on a side opposite to the first flat plate portion. (Note 11)

[0070] The robot manipulation device according to any one of notes 8 to 10, wherein the third grip comprises a rod-like gripping portion that the operator grips with his hand, and a projection that projects at a front end of the gripping portion in an axial direction further than the gripping portion in a direction intersecting the axial direction. (Note 12)

[0071] The robot manipulation device according to note 6 or 11, wherein the projection is spherical. (Note 13)

[0072] A robot comprising a robot manipulation device according to any one of notes 1 to 12. {Reference symbol list} 1 robot manipulation device 2 bracket 3 first grip 4 second handle 5 third handle 6 first flat plate section 7 second flat plate section 31, 41, 51 Gripping area part 32, 42, 52 Gripping area (projection) 43, 53 beveled surface (sloping surface) 100 robots 160 flange 170 Laser processing head (tool) P Tool level (level) X axis of rotation QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-34412

[0005]

Claims

[1] A robot manipulation device for attachment to a robot, which detects a force applied by an operator and can be operated by lead-through control in which a position and an attitude thereof are changed according to the detected force, the robot manipulation device comprising: a holder for attaching a tool to a flange arranged at a front end of the robot; and a first and a second handle secured to the bracket and gripped by the operator, wherein the first handle is arranged to extend in a direction intersecting a rotational axis of the flange, and the second handle is arranged to extend in a direction intersecting a plane including the axis of rotation and parallel to a direction in which the first handle extends. [2] The robot manipulation device according to claim 1, wherein the tool is mounted on the bracket at an eccentric position with respect to the rotation axis. [3] The robot manipulation device according to claim 1 or 2, wherein the second handle is disposed on a side opposite to the first handle, thereby sandwiching the rotation axis therebetween. [4] Robot manipulation device according to one of claims 1 to 3, wherein: the holder comprises a first flat plate portion secured to the flange and a second flat plate portion extending in a direction orthogonal to the first flat plate portion from an end edge of the first flat plate portion and to which the tool is attached; the first handle is secured to an end surface of the first flat plate portion on a side opposite the second flat plate portion; and the second handle is secured to an end surface of the second flat plate portion. [5] The robot manipulation device according to claim 4, wherein the second handle is secured to an inclined surface provided in an end surface of the second flat plate portion on a side opposite to the first flat plate portion. [6] The robot manipulation device according to any one of claims 1 to 5, wherein the first handle and / or the second handle comprise a rod-like gripping portion which the operator grips with his hand, and a projection which is provided at a front end of the gripping portion and which projects from a surface of the gripping portion. [7] The robot manipulation device according to any one of claims 1 to 6, wherein the first handle is arranged to extend obliquely downward in a direction away from the rotation axis in a state where the bracket is attached to the flange in a downward arrangement. [8] A robot manipulation device according to any one of claims 1 to 7, further comprising a third handle secured to the bracket and gripped by the operator's hand, the third handle being arranged to extend in a direction intersecting the plane on a side opposite to the second handle, thereby sandwiching the plane therebetween. [9] The robot manipulation device according to claim 8, wherein, in a state where the bracket is attached to the flange in a downwardly facing configuration, the second handle and the third handle are arranged so that the second handle and the third handle extend obliquely downward in directions in which the second handle and the third handle diverge. [10] A robot manipulation device according to claim 4 or 5, further comprising a third handle secured to the bracket and gripped by the operator's hand, the third handle being secured to another tapered surface provided in an end surface of the second flat plate portion on a side opposite to the first flat plate portion. [11] The robot manipulation device according to any one of claims 8 to 10, wherein the third grip comprises a rod-like gripping portion which the operator grips with his hand, and a projection projecting at a front end of the gripping portion in an axial direction further than the gripping portion in a direction intersecting the axial direction. [12] A robot manipulation device according to claim 6 or 11, wherein the projection is spherical. [13] A robot comprising the robot manipulation device according to any one of claims 1 to 12.

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