Robot operation device

Abstract

To provide a robot operation device having few physical buttons arranged and having high operability, when an external operation unit is used.SOLUTION: A robot operation device 1 comprises a portable terminal 2 having a touch panel display 21, and an external operation unit 4. The external operation unit 4 has a positive button 8 that instructs movement in a positive direction of a manual operating direction of a robot by manual operation and a negative button 9 that instructs movement in a negative direction of the manual operating direction. The portable terminal 2 determines the manual operating direction on the basis of input to the touch panel display 21 or to the external operation unit 4, and transmits to the robot a command of movement in the positive direction or in the negative direction of the determined manual operating direction, while the positive button 8 or the negative button 9 is pushed down.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot operation device using a mobile terminal having a touch panel display. [Background technology]

[0002] Known robot operation devices (also called teach pendants) used to teach industrial robots are of the button type, in which information is displayed on a non-touch panel display and the operation is performed by physical buttons. Also known robot operation devices are of the touch panel type (see Patent Document 1), which uses a general-purpose tablet terminal or a mobile terminal such as a smartphone that has a touch panel display. In recent years, the number of touch panel types has increased in response to demands for larger displays. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-167065 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional touch panel technologies including that of Patent Document 1 have not been able to solve problems such as the lack of tactile sensation when touching virtual buttons displayed on a touch panel display and slow response speed, resulting in poor operability. To improve operability, a technology is also known in which physical buttons are attached to a touch panel display as an external operation unit, but an increase in the number of physical buttons reduces portability and increases costs.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a robot operation device that has a small number of physical buttons and is highly easy to operate, even when an external operation unit is used. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the present invention is a robot operation device having a portable terminal with a touch panel display and an external operation unit, wherein the external operation unit has a positive button that instructs the robot to move in a positive direction of a manual operation direction by manual operation, and a negative button that instructs movement in a negative direction of the manual operation direction, and the portable terminal determines the manual operation direction based on an input to the touch panel display or the external operation unit, and transmits a movement command to the robot in the positive or negative direction of the determined manual operation direction while the positive button or the negative button is pressed.

[0007] The mobile terminal may display a manual operation screen on the touch panel display, and when an operation direction object displayed on the manual operation screen is touched, switch the manual operation direction based on the touched operation direction object, and highlight and display the operation direction object corresponding to the switched manual operation direction.

[0008] In addition, the mobile terminal may display a manual operation screen on the touch panel display, and when an operation orientation object displayed on the manual operation screen is touched, switch the manual operation direction based on the touched operation orientation object, and highlight and display the operation orientation object corresponding to the switched manual operation direction, and further transmit to the robot a movement command in the direction of the manual operation direction corresponding to the touched operation orientation object while the operation orientation object is being touched.

[0009] In addition, the external operation unit may further have an enable switch that enables operation of the robot and a selection button that switches the selection of the manual operation direction, and the mobile terminal may determine the manual operation direction based on the number of times the selection button is pressed when the selection button is pressed within a predetermined time after the enable switch is pressed. Effect of the Invention

[0010] According to the present invention, it is possible to provide a robot operation device which has a small number of physical buttons and is highly user-friendly even when an external operation unit is used. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a plan view showing an outline of a configuration of a robot operation device according to a first embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram showing an example of a manual operation screen on the mobile terminal of FIG. 1; [Diagram 3] A flowchart showing an example of a process flow in the robot operation device of FIG. 1. [Figure 4] A flowchart showing an example of a process flow of a robot operation device in a second embodiment. [Diagram 5] A flowchart showing an example of a process flow of a robot operation device in a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings, in which: A robot to be operated by a robot operation device according to the present invention is, for example, an industrial robot such as a vertical articulated robot.

[0013] First Embodiment 1 is a plan view showing an outline of the configuration of a robot operation device 1 according to a first embodiment of the present invention. The main part of the robot operation device 1 includes a mobile terminal 2 having a touch panel display 21, and an external operation unit 4. The robot operation device 1 is communicably connected to a robot (not shown) and is a device for operating the robot. The robot operation device 1 is also called a teach pendant, and is used for teaching a robot work content, for playing back the content that has been taught to the robot, and for manually operating the robot.

[0014] The robot is composed of a robot body and a robot control device. The robot body has a plurality of arms and joint shafts connecting the arms, and each joint shaft is provided with a drive motor. In the following, a vertical articulated robot with six joint shafts will be described, but the present invention is not particularly limited and can be applied to robots with five or fewer joint shafts or seven or more joint shafts. In addition, the robot body and the robot control device may be separate or integrated. In the case of being separate, the robot control device is connected to the robot body so as to be able to communicate with each other via a communication cable or wirelessly. The robot control device has a CPU (Central Processing Unit), memory, communication device, etc., and controls the operation of the robot body by controlling the rotation and stopping of the drive motor of the robot body based on a control program stored in advance in the memory, etc., or commands received from the robot operation device 1.

[0015] The mobile terminal 2 is a general-purpose tablet terminal (computer) having a CPU (Central Processing Unit), a memory, a touch panel display 21, a communication device, etc. The mobile terminal 2 may also have a microphone 22 that collects sound, a gyro sensor that detects the inclination of the mobile terminal 2, etc.

[0016] In the following, a tablet terminal will be described as an example of the mobile terminal 2, but the mobile terminal 2 may be a smartphone, a notebook PC (Personal Computer), a wearable device, or any other computer that has a touch panel display 21 and is portable by the operator. The mobile terminal 2 may be a terminal dedicated to robot operation, or may be a general-purpose terminal.

[0017] The robot operation device 1 has a holder section 3 that is externally attached to the outer periphery of the mobile terminal 2. The holder section 3 includes, for example, a first corner fixing section 31 that fixes the lower right corner, right side, and lower side of the mobile terminal 2, a second corner fixing section 32 that fixes the upper left corner of the mobile terminal 2, a third corner fixing section 33 that fixes the lower left corner of the mobile terminal 2, and a connecting section 34 that connects the external operation unit 4 and the first corner fixing section 31. The second corner fixing section 32 and the third corner fixing section 33 are connected by a string-like elastic body (not shown) on the back side of the mobile terminal 2, for example. The operator hangs the string-like elastic body on a protrusion (not shown) of the first corner fixing section 31 on the back side of the mobile terminal 2, whereby the mobile terminal 2 is fixed to the holder section 3 as shown in FIG. 1.

[0018] The external operation unit 4 incorporates an electronic board (not shown) and has a terminal (not shown) connectable to the mobile terminal 2, and is connected to the terminal of the mobile terminal 2 in the state shown in FIG. 1. This allows the mobile terminal 2 and the external operation unit 4 to be communicatively connected. The standard of the terminal is not particularly limited, and any terminal capable of at least transmitting information, such as USB Type-A, USB Type-C, micro USB, etc., may be used. Furthermore, if the terminal is capable of transmitting power, it is possible to charge the mobile terminal 2. Note that since the USB standard is difficult to communicate over long distances, it may be converted to a LAN (Local Area Network) standard to enable stable information transmission over long distances.

[0019] The external operation unit 4 is communicatively connected to the robot control device via a cable (not shown). This cable includes, for example, an IO cable and a LAN cable. This enables the mobile terminal 2 to transmit commands related to robot operation to the robot control device and receive information related to the robot operation from the robot control device. Note that the connection between the external operation unit 4 and the robot control device does not have to be a wired connection via a cable, and may be a wireless connection.

[0020] The external operation unit 4 has an emergency stop switch 5 that stops the robot in an emergency, an enable switch 6 that enables the operation of the robot, a selection button 7 that switches between the selection of the manual operation direction of the robot by manual operation, a positive button 8 that instructs movement in the positive direction of the manual operation direction, and a negative button 9 that instructs movement in the negative direction of the manual operation direction. These switches and buttons are different from virtual switches and buttons displayed on the touch panel display 21, and are physical switches and buttons as shown in FIG.

[0021] The emergency stop switch 5 is a stop switch for stopping the operation of the robot main body by the robot control device in the event of an emergency. When the operator presses the emergency stop switch 5, the operation of the robot is brought to an emergency halt. The enable switch 6 is an enabling switch that takes safety into consideration to prevent malfunction of the robot. The robot can be operated only when the operator presses the enable switch 6 and it is in the specified position. The enable switch 6 is, for example, a three-position switch, and the operator can stop the operation of the robot by pressing the enable switch 6 harder while operating the robot.

[0022] For example, the operator holds the robot operation device 1 in his / her left arm and presses the enable switch 6 with the palm or fingers of the left hand to enable robot operation. Then, while holding down the enable switch 6 with the left hand, the operator touches the touch panel display 21 with his / her right finger or a touch pen, or presses a switch or button on the external operation unit 4 with the right finger. How to use the switches and buttons on the external operation unit 4 will be described later with reference to Figs. 3 to 5.

[0023] Fig. 2 is a diagram showing an example of a manual operation screen 10 on the mobile terminal 2 of Fig. 1. The manual operation screen 10 is a screen used for manually operating a robot. In the example shown in Fig. 2, the entire screen displayed on the touch panel display 21 of the mobile terminal 2 is shown excluding menu displays for selecting various functions.

[0024] In manual operation, there are two modes (=manual operation modes): a Cartesian coordinate system mode (also called machine coordinate system mode) in which the tool tip (also called TCP (Tool Center Point)) of the robot is operated in a Cartesian coordinate system, and an axis-only operation mode in which each axis of the robot's joint (1st axis to 6th axis in this embodiment) is operated independently. In the Cartesian coordinate system mode, orthogonal coordinates of the X-axis, Y-axis, and Z-axis are defined with the tool tip of the robot as the center. In this mode, the robot moves linearly along the X-axis, Y-axis, and Z-axis according to the operator's instructions, or performs an operation of twisting the wrist with the tool tip fixed around the X-axis, Y-axis, and Z-axis as the rotation axis. In the axis-only operation mode, the robot performs an operation of rotating around the 1st axis to 6th axis as the rotation axis according to the operator's instructions.

[0025] 2, the manual operation screen 10 is composed of a Cartesian coordinate system operation section 11 and an axis operation section 12. The Cartesian coordinate system operation section 11 includes objects for manually operating the robot's operation in the Cartesian coordinate system mode. Moreover, the axis operation section 12 includes objects for manually operating the robot's operation in the axis-only operation mode. The objects refer to virtual screen components displayed on the touch panel display 21, and are different from the physical switches and buttons of the external operation unit 4.

[0026] The Cartesian coordinate system operation unit 11 and the axis operation unit 12 each include six operation direction objects 13 and twelve operation direction objects 14. The operation direction object 13 is associated with a specific operation direction (= manual operation direction) for manually operating the robot. The operation direction object 14 is associated with a direction (positive direction or negative direction) in the specific manual operation direction. The manual operation direction includes both a linear direction indicating the direction of a linear movement operation and a rotation direction indicating the direction of a rotation operation around a certain axis.

[0027] The Cartesian coordinate system operation unit 11 includes "X", "Y", "Z", "RX", "RY", and "RZ" as operation direction objects 13. The directions associated with "X" to "Z" are directions in which the tip of the tool of the robot is linearly operated in the Cartesian coordinate system mode, and are linear directions along the X-axis, Y-axis, and Z-axis, respectively. The directions associated with "RX" to "RZ" are directions in which the rotation of the wrist of the robot is operated in the Cartesian coordinate system mode, and are rotation directions of the rotation axes of the X-axis, Y-axis, and Z-axis, respectively. The axis operation unit 12 includes "J1", "J2", "J3", "J4", "J5", and "J6" as operation direction objects 13. The directions associated with "J1" to "J6" are directions in which the rotation of each axis of the joint of the robot is operated in the axis-only operation mode, and are rotation directions of the first axis to the sixth axis, respectively.

[0028] The operation direction object 14 is associated with "+" (= positive direction) or "-" (= negative direction) in the specific operation direction object 13, and is arranged around the specific operation direction object 13. In the example shown in FIG. 2, the operation direction object 14 of "+" is arranged on the right side of the operation direction object 13, and the operation direction object 14 of "-" is arranged on the left side. For example, the operation direction object 13a of "X" is paired with the operation direction object 14a of "+" arranged on the right side and the operation direction object 14b of "-" arranged on the left side. A linear direction along the X-axis is associated with these three objects 13a, 14a, and 14b.

[0029] On the manual operation screen 10, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the currently selected manual operation direction. This allows the operator to visually confirm the currently selected manual operation direction. Examples of a method for highlighting and displaying the operation direction object 13 include displaying the text of the operation direction object 13 in a different color from the others, making the text of the operation direction object 13 larger than the others, or surrounding only one text of the operation direction object 13 with a frame, and any method may be used as long as the operator can visually confirm the text. In the example shown in FIG. 2, "J1" of the operation direction object 13b is the currently selected manual operation direction, and the mobile terminal 2 displays only the text of "J1" surrounded by a thick frame.

[0030] Fig. 3 is a flowchart showing an example of a process flow in the robot operation device of Fig. 1. In the first embodiment, the portable terminal 2 determines a manual operation direction based on an input to the touch panel display 21, and transmits a movement command in the positive or negative direction of the determined manual operation direction to the robot while the positive button 8 or the negative button 9 is being pressed. Particularly, in the first embodiment, the portable terminal 2 determines a manual operation direction based on an input to an operation direction object 13 displayed on the touch panel display 21.

[0031] As shown in FIG. 3, the mobile terminal 2 displays the manual operation screen 10 on the touch panel display 21 (step S11) and checks whether the operation direction object 13 displayed on the manual operation screen 10 has been touched (step S12). If the operation direction object 13 has been touched (Yes in step S12), the mobile terminal 2 switches the manual operation direction based on the touched operation direction object 13 (step S13). Specifically, the mobile terminal 2 determines the direction associated with the touched operation direction object 13 as the manual operation direction. Furthermore, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the switched manual operation direction (step S14). If the operation direction object 13 has not been touched (No in step S12), the mobile terminal 2 proceeds to step S15.

[0032] Next, the portable terminal 2 checks whether the positive button 8 or the negative button 9 of the external operation unit 4 is pressed (step S15). If the positive button 8 or the negative button 9 is pressed (Yes in step S15), the portable terminal 2 transmits to the robot a movement command in the positive direction or the negative direction of the determined manual operation direction while the positive button 8 or the negative button 9 is pressed (step S16), and repeats the process from step S15. More specifically, the portable terminal 2 transmits to the robot a movement command in the positive direction of the manual operation direction while the positive button 8 is pressed, and transmits to the robot a movement command in the negative direction of the manual operation direction while the negative button 9 is pressed. If the positive button 8 or the negative button 9 is not pressed (No in step S15), the portable terminal 2 repeats the process from step S12.

[0033] If the manual operation direction has not been determined at the time of executing the processing of step S16, the mobile terminal 2 may display an error message on the manual operation screen 10 informing the operator that the manual operation direction has not been determined, and prompt the operator to select the manual operation direction.

[0034] Furthermore, at least when the portable terminal 2 executes the process of step S16, the operation of the robot needs to be enabled by the enable switch 6. In other words, if the operation of the robot is not enabled, the portable terminal 2 does not execute the process of step S16.

[0035] As described above, according to the first embodiment, in manual operation, the operator can operate the robot using the physical buttons, the positive button 8 and the negative button 9. Therefore, the operator feels the sensation of pressing the buttons, and the operator can tactilely know that the buttons are being pressed, and the reaction speed is faster. Furthermore, the physical buttons arranged on the external operation unit 4 need to be at least the positive button 8 and the negative button 9, excluding the emergency stop switch 5 and the enable switch 6, which are essential for safety reasons. As a result, the number of physical buttons is small, which reduces costs, and the positive button 8 and the negative button 9 can be made larger, improving operability during manual operation.

[0036] In addition to the process flow shown in FIG. 3, when the selection button 7 of the external operation unit 4 is pressed, the mobile terminal 2 switches the manual operation direction as in step S13, and highlights and displays the operation direction object 13 corresponding to the switched manual operation direction as in step S14. Specifically, the mobile terminal 2 switches the manual operation direction in the order of "X" → "Y" → "Z" → "RX" → "RY" → "RZ" → "J1" → "J2" → "J3" → "J4" → "J5" → "J6" according to the number of times the selection button 7 is pressed. For example, if the manual operation direction has not yet been determined, when the selection button 7 is pressed twice, the mobile terminal 2 determines the second "Y" as the manual operation direction. Also, for example, when the current manual operation direction is determined to be "Y", when the selection button 7 is pressed three times, the mobile terminal 2 determines the third "RY" from "Y" as the manual operation direction.

[0037] In the Cartesian coordinate system mode, the robot is moved linearly along the X-axis, Y-axis, and Z-axis, but it is also possible to move the robot along any two or three of the X-axis, Y-axis, and Z-axis. In this case, the operation direction objects 13 of "X" to "Z" are arranged on the manual operation screen 10 as objects that can be dragged and dropped. For example, when the operation direction object 13 of "X" is dragged and dropped on the operation direction object 13 of "Y", the mobile terminal 2 accepts that the direction on the XY plane is the manual operation direction. Then, in order to specify the direction on the XY plane, the mobile terminal 2 displays an object for determining the mixing ratio of the X-axis and the Y-axis on the manual operation screen 10. This object is, for example, a slider object that can slide left and right, and the leftmost position is 100% for the X-axis and 0% for the Y-axis, the center position is 50% for the X-axis and 50% for the Y-axis, and the rightmost position is 0% for the X-axis and 100% for the Y-axis, and the mixing ratio can be continuously adjusted.

[0038] <Second embodiment> 4 is a flowchart showing an example of a process flow of the robot operation device in the second embodiment. Note that, for the sake of brevity, the description of the members used in the second embodiment that are the same as those in the first embodiment will be omitted. In the second embodiment, the portable terminal 2 determines the manual operation direction based on an input to the touch panel display 21, and transmits a movement command in the positive or negative direction of the determined manual operation direction to the robot while the positive button 8 or the negative button 9 is being pressed. Particularly, in the second embodiment, the portable terminal 2 determines the manual operation direction based on an input to an operation direction object 14 displayed on the touch panel display 21.

[0039] As shown in FIG. 4, the mobile terminal 2 displays the manual operation screen 10 on the touch panel display 21 (step S21), and checks whether the operation direction object 14 displayed on the manual operation screen 10 has been touched (step S22). If the operation direction object 14 has been touched (Yes in step S22), the mobile terminal 2 switches the manual operation direction based on the touched operation direction object 14 (step S23). More specifically, the mobile terminal 2 determines the direction associated with the touched operation direction object 14 as the manual operation direction. Furthermore, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the switched manual operation direction (step S24). If the operation direction object 14 has not been touched (No in step S22), the mobile terminal 2 proceeds to step S27.

[0040] Next, the mobile terminal 2 checks whether the operation direction object 14 is in a touched state (step S25). If the operation direction object 14 is in a touched state (Yes in step S25), the mobile terminal 2 transmits to the robot a movement command in the direction of the manual operation direction corresponding to the touched operation direction object while the operation direction object 14 is being touched (step S26). Specifically, while the operation direction object 14 of "+" is being touched, the mobile terminal 2 transmits to the robot a movement command in the positive direction of the manual operation direction determined in step S23, and while the operation direction object 14 of "-" is being touched, the mobile terminal 2 transmits to the robot a movement command in the negative direction of the manual operation direction determined in step S23. If the operation direction object 14 is not in a touched state (No in step S25), the mobile terminal 2 proceeds to step S27.

[0041] Next, the portable terminal 2 checks whether the positive button 8 or the negative button 9 of the external operation unit 4 is in a pressed state (step S27). If the positive button 8 or the negative button 9 is in a pressed state (Yes in step S27), the portable terminal 2 transmits to the robot a movement command in the positive direction or the negative direction of the determined manual operation direction while the positive button 8 or the negative button 9 is being pressed (step S28), and repeats the process from step S27. Specifically, the portable terminal 2 transmits to the robot a movement command in the positive direction of the manual operation direction while the positive button 8 is being pressed, and transmits to the robot a movement command in the negative direction of the manual operation direction while the negative button 9 is being pressed. If the positive button 8 or the negative button 9 is not in a pressed state (No in step S27), the portable terminal 2 repeats the process from step S22.

[0042] If the manual operation direction has not been determined at the time of executing the processing of step S26 or S28, the mobile terminal 2 may display an error message on the manual operation screen 10 informing the operator that the manual operation direction has not been determined, and prompt the operator to select the manual operation direction.

[0043] Furthermore, when the portable terminal 2 executes at least the process of step S26 or S28, the operation of the robot needs to be enabled by the enable switch 6. In other words, if the operation of the robot is not enabled, the portable terminal 2 does not execute the process of step S26 or S28.

[0044] As described above, according to the second embodiment, in manual operation, the operator can operate the robot using the physical buttons, the positive button 8 and the negative button 9. This allows the operator to feel the sensation of pressing the buttons, so that the operator can tactilely know that the buttons are being pressed, and the reaction speed is increased. Furthermore, the physical buttons arranged on the external operation unit 4 only need to include at least the positive button 8 and the negative button 9, excluding the emergency stop switch 5 and the enable switch 6, which are essential for safety reasons. Therefore, the number of physical buttons is small, which reduces costs, and the positive button 8 and the negative button 9 can be made large, improving operability during manual operation. Furthermore, the operator can operate the robot using both the virtual operation direction object 14 and the physical positive button 8 and negative button 9. This allows the operator to roughly operate the robot using the operation direction object 14, and then to finely operate the robot using the positive button 8 and the negative button 9, further improving operability during manual operation.

[0045] As in the first embodiment, in addition to the process flow shown in FIG. 4, when the selection button 7 of the external operation unit 4 is pressed, the mobile terminal 2 switches the manual operation direction as in step S23, and highlights and displays the operation direction object 13 corresponding to the switched manual operation direction as in step S24.

[0046] Furthermore, the robot operation device 1 can adopt a configuration that selectively combines the processing of the mobile terminal 2 in the first embodiment and the second embodiment. That is, after displaying the manual operation screen 10, the mobile terminal 2 may execute the processing shown in Fig. 3 when the operation direction object 13 is touched, and execute the processing shown in Fig. 4 when the operation orientation object 14 is touched.

[0047] <Third embodiment> 5 is a flowchart showing an example of a process flow of the robot operation device in the third embodiment. In the third embodiment, as in the second embodiment, the description of the same members as those in the first embodiment will be omitted for simplicity. In the third embodiment, the mobile terminal 2 determines the manual operation direction based on an input to the external operation unit 4, and transmits a movement command in the positive or negative direction of the determined manual operation direction to the robot while the positive button 8 or the negative button 9 is being pressed. Particularly, in the third embodiment, the mobile terminal 2 determines the manual operation direction based on input to the enable switch 6 and the selection button 7 of the external operation unit 4.

[0048] 5, the mobile terminal 2 displays the manual operation screen 10 on the touch panel display 21 (step S31), and checks whether or not the operation of the robot has been enabled by the enable switch 6, i.e., whether or not the enable switch 6 has been pushed to a predetermined position (step S32). If the operation of the robot has been enabled by the enable switch 6 (Yes in step S32), the mobile terminal 2 proceeds to step S33, and if the operation of the robot has not been enabled by the enable switch 6 (No in step S32), it repeats the process from step S32.

[0049] Next, the mobile terminal 2 checks whether the selection button 7 is pressed within a predetermined time after the enable switch 6 is pressed (step S33). The predetermined time is, for example, about one second. If the selection button 7 is pressed within the predetermined time (Yes in step S33), the mobile terminal 2 determines the manual operation direction based on the number of times the selection button 7 is pressed (step S34), and highlights and displays the operation direction object 13 corresponding to the determined manual operation direction (step S35). If the selection button 7 is not pressed within the predetermined time (No in step S33), the mobile terminal 2 proceeds to step S36.

[0050] Here, step S34 will be described in detail. For example, the mobile terminal 2 switches the selection of the operation direction object 13 in the order of "X" → "Y" → "Z" → "RX" → "RY" → "RZ" → "J1" → "J2" → "J3" → "J4" → "J5" → "J6" according to the number of times the selection button 7 is pressed, and determines the manual operation direction. For example, when the selection button 7 is pressed three times, the mobile terminal 2 switches the selection to the third operation direction object 13 of "Z" and determines "Z" as the manual operation direction.

[0051] Also, for example, when the selection button 7 is pressed and held, that is, when the selection button 7 is pressed for a predetermined time or longer, the mobile terminal 2 switches the selection between the orthogonal coordinate system operation unit 11 and the axis operation unit 12. More specifically, when the selection button 7 is pressed and held, if the currently selected operation direction object 13 belongs to the orthogonal coordinate system operation unit 11, the mobile terminal 2 switches the selection to a specific operation direction object 13 (for example, the first "J1") included in the axis operation unit 12, and if the currently selected operation direction object 13 belongs to the axis operation unit 12, the mobile terminal 2 switches the selection to a specific operation direction object 13 (for example, the first "X") included in the orthogonal coordinate system operation unit 11. By using this long press function, the operator may be able to reduce the number of times the selection button 7 is pressed.

[0052] Next, the portable terminal 2 checks whether the positive button 8 or the negative button 9 of the external operation unit 4 is in a pressed state (step S36). If the positive button 8 or the negative button 9 is in a pressed state (Yes in step S36), the portable terminal 2 transmits to the robot a movement command in the positive direction or the negative direction of the manual operation direction determined in step S34 while the positive button 8 or the negative button 9 is being pressed (step S37), and repeats the process from step S36. More specifically, the portable terminal 2 transmits to the robot a movement command in the positive direction of the manual operation direction while the positive button 8 is being pressed, and transmits to the robot a movement command in the negative direction of the manual operation direction while the negative button 9 is being pressed. If the positive button 8 or the negative button 9 is not in a pressed state (No in step S36), the portable terminal 2 repeats the process from step S32.

[0053] If the manual operation direction has not been determined at the time of executing the processing of step S37, the mobile terminal 2 may display an error message on the manual operation screen 10 informing the operator that the manual operation direction has not been determined, and prompt the operator to select the manual operation direction.

[0054] Furthermore, at least when the portable terminal 2 executes the process of step S37, the operation of the robot needs to be enabled by the enable switch 6. In other words, if the operation of the robot is not enabled, the portable terminal 2 does not execute the process of step S37.

[0055] As described above, according to the third embodiment, in manual operation, the operator can operate the robot using the physical buttons, the positive button 8 and the negative button 9. This allows the operator to feel the sensation of pressing the buttons, so that the operator can tactilely know that the buttons are being pressed, and the reaction speed is increased. Furthermore, the physical buttons arranged on the external operation unit 4 are at least the selection button 7, the positive button 8, and the negative button 9, excluding the emergency stop switch 5 and the enable switch 6, which are essential for safety reasons. This reduces the number of physical buttons, reducing costs, and allows the positive button 8 and the negative button 9 to be made larger, improving operability during manual operation. Furthermore, the operator can select the manual operation direction using the operation of the enable switch 6, which is necessary to enable the operation of the robot, as a trigger, so that the operation when selecting the manual operation direction can be simplified.

[0056] In the third embodiment, it is desirable that the mobile terminal 2 initializes the manual operation direction, that is, sets the manual operation direction to an undetermined state, when displaying the manual operation screen 10 in step S31 or when confirming the enablement by the enable switch 6 in step S32. This prevents erroneous operation by determining the manual operation direction every time the enablement is performed by the enable switch 6 and preventing the previous manual operation direction from being used as is when the operator is changed or returns from a break.

[0057] The robot operation device 1 may adopt a configuration in which the processes of the mobile terminal 2 in the first to third embodiments are selectively combined. That is, after displaying the manual operation screen 10, the mobile terminal 2 may execute the process shown in Fig. 3 when the operation direction object 13 is touched, execute the process shown in Fig. 4 when the operation orientation object 14 is touched, and execute the process shown in Fig. 5 when the enablement by the enable switch 6 is confirmed.

[0058] In addition, the order of the processes of steps S31 and S32 may be reversed. That is, the mobile terminal 2 may display the manual operation screen 10 on the touch panel display 21 after confirming that the enable switch 6 has been enabled.

[0059] <Fourth embodiment> In the fourth embodiment, the mobile terminal 2 determines a manual operation direction based on input to the external operation unit 4 and the microphone 22 of the mobile terminal 2, and transmits a movement command to the robot in the positive or negative direction of the determined manual operation direction while the positive button 8 or the negative button 9 is pressed.

[0060] When the mobile terminal 2 detects voice input from the microphone 22 within a predetermined time (for example, about one second) after the enable switch 6 is pressed, it converts the voice data into text data by voice recognition processing, determines a manual operation direction based on the text data, and highlights and displays the operation direction object 13 corresponding to the determined manual operation direction. For example, when an operator presses the enable switch 6 to enable the operation of the robot and utters "J1" into the microphone 22, the mobile terminal 2 converts the voice data to text data "J1", determines "J1" as the manual operation direction, and highlights and displays the operation direction object 13 of "J1".

[0061] Furthermore, the mobile terminal 2 may be configured to execute the same process when it detects voice input from the microphone 22 within a predetermined time after the selection button 7 is pressed and held (= pressed for a predetermined time or longer).

[0062] Furthermore, after determining the manual operation direction, the portable terminal 2 may transmit to the robot a movement command in the positive or negative direction of the determined manual operation direction while a specific voice is being input from the microphone 22. For example, the portable terminal 2 may transmit to the robot a movement command in the positive direction of the determined manual operation direction while the operator continues to utter the vowel "a", and transmit to the robot a movement command in the negative direction of the determined manual operation direction while the operator continues to utter the vowel "b".

[0063] <Fifth embodiment> In the fifth embodiment, the portable terminal 2 determines a manual operation direction based on input to the external operation unit 4 and the gyro sensor of the portable terminal 2, and transmits a movement command to the robot in the positive or negative direction of the determined manual operation direction while the positive button 8 or the negative button 9 is pressed.

[0064] The mobile terminal 2 displays four arrow objects pointing in the up, down, left and right directions on the manual operation screen 10 (not shown). Each arrow object is labeled with one of the letters "X", "Y", "Z", "RX", "RY", "RZ", "J1", "J2", "J3", "J4", "J5" or "J6" and is associated with the operation direction of that letter. For example, an upward arrow object is associated with "X", a left arrow object with "Y", a right arrow object with "J1" and a downward arrow object with "J2". This association combination can be set on a separate setting screen.

[0065] When the gyro sensor of the portable terminal 2 detects a tilt of a predetermined angle (e.g., 45 degrees) or more in any direction, up, down, left, or right, the portable terminal 2 determines the operation direction associated with that direction as the manual operation direction, and displays the determined manual operation direction on the manual operation screen 10.

[0066] Furthermore, after determining the manual operation direction, the portable terminal 2 may transmit to the robot a movement command in the positive or negative direction of the determined manual operation direction while the gyro sensor continues to detect a tilt of a predetermined angle or more in a particular direction. For example, the portable terminal 2 may transmit to the robot a movement command in the positive direction of the determined manual operation direction while the gyro sensor continues to detect an upward tilt of a predetermined angle or more, and transmit to the robot a movement command in the negative direction of the determined manual operation direction while the gyro sensor continues to detect a downward tilt of a predetermined angle or more.

[0067] Although the preferred embodiment of the robot operation device according to the present invention has been described above with reference to the attached drawings, the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the technical ideas disclosed in this application, and it is understood that such examples also naturally fall within the technical scope of the present invention. [Explanation of symbols]

[0068] 1...Robot operation device 2. Mobile terminal 3...Holder part 4. External operation unit 5... Emergency stop switch 6………Enabling switch 7. Selection button 8...Positive button 9....Negative button 10……Manual operation screen 11: Cartesian coordinate system operation section 12……Axis operation section 13, 13a, 13b...Operation direction object 14, 14a, 14b... Operation-oriented objects 21...Touch panel display

Claims

1. A robot operation device having a mobile terminal having a touch panel display and an external operation unit, the external operation unit has a positive button for instructing a movement of the robot in a positive direction of a manual operation direction by manual operation, and a negative button for instructing a movement of the robot in a negative direction of the manual operation direction, A robot operation device characterized in that the mobile terminal determines the manual operation direction based on an input to the touch panel display or the external operation unit, and transmits a movement command to the robot in the positive or negative direction of the determined manual operation direction while the positive button or the negative button is pressed.

2. 2. The robot operation device according to claim 1, wherein the mobile terminal displays a manual operation screen on the touch panel display, and when an operation direction object displayed on the manual operation screen is touched, the mobile terminal switches the manual operation direction based on the touched operation direction object, and displays the operation direction object corresponding to the switched manual operation direction in an highlighted manner.

3. 2. The robot operation device according to claim 1, wherein the mobile terminal displays a manual operation screen on the touch panel display, and when an operation orientation object displayed on the manual operation screen is touched, switches the manual operation direction based on the touched operation orientation object, and highlights and displays the operation orientation object corresponding to the switched manual operation direction, and further transmits to the robot a movement command in the direction of the manual operation direction corresponding to the touched operation orientation object while the operation orientation object is being touched.

4. The external operation unit further includes an enable switch for enabling the operation of the robot and a selection button for switching the selection of the manual operation direction, 2. The robot operation device according to claim 1, wherein, when the selection button is pressed within a predetermined time after the enable switch is pressed, the portable terminal determines the manual operation direction based on the number of times the selection button is pressed.

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