Operation terminal for robot and safety switch

Abstract

To reduce burdens on a user in operating an operation terminal for a robot.SOLUTION: An operation terminal 15B for a robot is provided with an enable switch 49B configured to have an operation dial 81 that can turn with a shaft line CL1 extending in a thickness direction of the operation terminal 15B as a center and a sensor unit 82 that can detect that a turning position of the operation dial 81 is set to a second position that is an intermediate position in a turning range of the operation dial 81. When the turning position of the operation dial 81 is set to the second position, the robot is permitted to operate. When the turning position is set to a first position or a third position, the robot is not permitted to operate. A finger placement part 92 on which fingers F1 and F2 operating the operation dial 81 can be placed, when a user holds the operation dial 81 while turning the operation dial to the second position, is provided around the operation dial 81.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present invention relates to a robot operation terminal and a safety switch used for operating an industrial robot. [Background technology]

[0002] Some operating terminals, such as teaching pendants used to operate industrial robots, are equipped with enable switches to improve safety during manual operation. An enable switch is a safety switch for enabling or disabling manual operation of a robot, and in recent years, a switch of this type has been proposed in which manual operation of a robot is enabled when the operator is pressed slightly (i.e., pressed to an intermediate position), but disabled when pressed deeply (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-24848 A Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in order to maintain the enabled state of the manual operation, it is necessary to hold the operator in an intermediate position, and it is necessary to constantly apply a certain amount of force so that the force of the fingers operating the operator does not become too weak or too strong. In reality, even if one is conscious of the force to be applied, the force will fluctuate to a certain extent. Thus, some users may operate the device by paying attention to the shape of their hand (fingers) and maintaining their hand in a specific shape. However, applying force for a long period of time or maintaining the hand in the same shape can be a heavy burden for the user. There is concern that this will be a factor in reducing the efficiency of work using an operation terminal.

[0005] The present invention has been made in consideration of the above-mentioned problems, and a main object of the present invention is to reduce the burden on a user when operating a robot operation terminal. [Means for solving the problem]

[0006] First means: A robot operation terminal used to operate an industrial robot, A safety switch including a rotary safety operation unit and a detection unit capable of detecting that the rotation position of the safety operation unit is a predetermined rotation position that is an intermediate position within a rotation range of the safety operation unit, When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A finger rest is provided around the safety operation unit on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated state to the specified rotation position.

[0007] In the robot operation terminal shown in the first means, by placing the finger operating the safety operation unit on the finger rest provided around the safety operation unit, the finger can be brought into contact with both the safety operation unit and the finger rest. With this configuration, the finger rest functions as an aid in maintaining the position and shape of the finger operating the safety operation unit constant, and it is possible to reduce the dependency on the force of the finger when fixing the safety operation unit at a predetermined rotational position. For example, the finger position in the axial direction is less likely to vary by placing the fingertip or the like against the finger rest (stopper function), and the finger position in the trajectory direction is less likely to vary because friction generated by placing the fingertip or the like against the finger rest acts as resistance (resistance generating function). In this way, the burden on the user is reduced, making it easier to maintain a state in which the operation of the industrial robot is permitted.

[0008] Second means: A safety switch applied to a robot operation terminal used to operate an industrial robot, A rotary type safety operation unit and a detection unit capable of detecting that the rotation position of the safety operation unit is a predetermined rotation position that is an intermediate position within a rotation range of the safety operation unit; having When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A finger rest is provided around the safety operation unit on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated state to the specified rotation position.

[0009] According to the safety switch of the second aspect, the burden on the user is reduced, making it easier to maintain a state in which the operation of the industrial robot is permitted. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing a robot system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the robot system. [Diagram 3] (a) is a front view of the operation terminal, and (b) is a rear view of the operation terminal. [Figure 4] (a) Schematic diagram showing the structure of an enable switch, and (b) Schematic diagram showing the relationship between the resistance generated when the enable switch is operated and the stroke. [Diagram 5] 6 is a flowchart showing an operation monitoring process executed by a CPU of the operation terminal. [Figure 6] 11 is a timing chart illustrating an example of a flow of switching between permission and non-permission. [Figure 7] 10 is a flowchart showing a setting change process executed by a CPU of the operation terminal. [Figure 8] FIG. 11 is a schematic diagram illustrating an example of the contents displayed when a setting is changed. [Figure 9] FIG. 11 is a schematic diagram showing how a threshold value of a reference range is changed. [Figure 10]11 is a flowchart showing an automatic change process executed by a CPU of the operation terminal. [Figure 11] FIG. 11 is a block diagram showing the electrical configuration of a robot system according to a second embodiment. [Figure 12] 11 is a schematic diagram for explaining a problem that occurs when a plurality of force sensors are used in combination. [Figure 13] 13 is a flowchart showing a setting change process. [Figure 14] FIG. 4 is a schematic diagram showing a reference range set for each force sensor. [Figure 15] FIG. [Figure 16] FIG. 13 is a rear view of the operation terminal according to the third embodiment. [Figure 17] A partial cross-sectional view taken along line AA in Figure 16. [Figure 18] FIG. 4 is a partial cross-sectional view showing the internal structure of the enable switch. [Figure 19] Schematic diagram showing the flow of permission / prohibition switching. [Figure 20] Schematic diagram showing each position. [Figure 21] 13A is a perspective view of an operation terminal according to a fourth embodiment, FIG. 13B is a partial cross-sectional view of an enable switch, and FIG. 13C is a schematic diagram showing each position. [Figure 22] FIG. [Diagram 23] FIG. [Figure 24] FIG. [Diagram 25] 25(a) is a rear view of the operation terminal according to the fifth embodiment, and FIG. 25(b) is a partial cross-sectional view taken along line BB in FIG. 25(a). [Figure 26] 5A and 5B are schematic diagrams showing the relationship between the finger insertion position and the light receiving state. [Figure 27] Schematic diagram showing the flow of permission / prohibition switching. [Figure 28] FIG. 13 is a schematic diagram showing an enable switch according to the sixth embodiment. [Figure 29] FIG. [Diagram 30] FIG. [Diagram 31] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <First embodiment> Hereinafter, a first embodiment embodied in a robot system for use in a factory or the like will be described with reference to the drawings.

[0012] 1, a robot system 10 includes a vertical articulated industrial robot, robot 11. Although not shown in the figure, the robot 11 is installed in an area surrounded by a safety fence, and is engaged in various tasks such as transporting and assembling workpieces in this area.

[0013] The main body portion (robot main body 12) of the robot 11 comprises a base portion 22 fixed to a pedestal or the like, a shoulder portion 23 supported by the base portion 22, a lower arm portion 24 supported by the shoulder portion 23, a first upper arm portion 25 supported by the lower arm portion 24, a second upper arm portion 26 supported by the first upper arm portion 25, a wrist portion 27 supported by the second upper arm portion 26, and a flange portion 28 supported by the wrist portion 27.

[0014] The base portion 22 and the shoulder portion 23 are formed with a first joint portion that connects the base portion 22 and the shoulder portion 23, and the shoulder portion 23 is rotatable in the horizontal direction around the connecting axis (first axis AX1) of the first joint portion. The shoulder portion 23 and the lower arm portion 24 are formed with a second joint portion that connects the shoulder portion 23 and the lower arm portion 24, and the lower arm portion 24 is rotatable in the vertical direction around the connecting axis (second axis AX2) of the second joint portion. The lower arm portion 24 and the first upper arm portion 25 are formed with a third joint portion that connects the lower arm portion 24 and the first upper arm portion 25, and the first upper arm portion 25 is rotatable in the vertical direction around the connecting axis (third axis AX3) of the third joint portion. The first upper arm portion 25 and the second upper arm portion 26 are formed with a fourth joint portion that connects the first upper arm portion 25 and the second upper arm portion 26, and the second upper arm portion 26 is rotatable in a twisting direction around the connecting axis (fourth axis AX4) of the fourth joint portion. The second upper arm portion 26 and the wrist portion 27 are formed with a fifth joint portion that connects the second upper arm portion 26 and the wrist portion 27, and the wrist portion 27 is rotatable in a vertical direction around the connecting axis (fifth axis AX5) of the fifth joint portion. The wrist portion 27 and the flange portion 28 are formed with a sixth joint portion that connects the wrist portion 27 and the flange portion 28, and the flange portion 28 is rotatable in a twisting direction around the connecting axis (sixth axis AX6) of the sixth joint portion.

[0015] The shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, and flange portion 28 are arranged in a series to form arm 21 in the robot body 12, and an end effector 13 (e.g., a hand) is attached to flange portion 28, which forms the tip of arm 21.

[0016] In the arm 21, a servo motor 31 (see FIG. 2) for driving the joints, a rotary encoder for detecting the rotation angle of each joint (axis), and a torque sensor for detecting the rotation torque of each joint (axis) are provided for each joint. The servo motors 31, rotary encoder, torque sensor, etc. are connected to the robot control device 14, and the drive control section of the robot control device 14 controls the drive of each servo motor 31 based on position data etc. acquired from the rotary encoder, i.e., encoder values ​​etc. indicating the rotation angle (rotation position).

[0017] A teaching pendant (hereinafter referred to as operation terminal 15) which is a higher-level controller is connected to the robot control device 14 via a cable, and data communication is performed between the robot control device 14 and the operation terminal 15 via a communication interface. When the robot control device 14 receives an operation command from the operation terminal 15, it controls the drive of the robot body 12 and the end effector 13 based on the operation command.

[0018] An application for creating a control program that defines the work content and work order of the robot 11, specifically, a setting support application that supports the user in setting (including so-called teaching) the movements of the robot 11, is installed on the operation terminal 15. The user creates the control program by directly inputting drive control codes into the operation terminal 15 or manually operating the robot 11.

[0019] Here, a supplementary explanation of the operation terminal 15 will be given with reference to Figures 2 and 3. Figure 3(a) is a front view of the operation terminal 15, and Figure 3(b) is a rear view of the operation terminal 15.

[0020] The operation terminal 15 comprises a touch panel type display 41 on which various GUIs related to the control of the robot 11 are displayed, a control board 61 (see FIG. 2) provided on the rear side of the display 41, and a substantially rectangular housing 42 (holder) that houses the display 41 and the control board 61 in a stacked state, and the display surface (operation surface) of the display 41 is exposed through an opening formed in a front part 42a of the housing 42. Various operation parts such as switches and buttons are arranged on the front part 42a of the housing 42 so as to surround this opening (exposed part of the display 41).

[0021] For example, a mode change switch 45 is provided at the upper left of the display 41. The mode change switch 45 is a switch for switching the control mode (operation mode) of the robot 11 between a manual mode (MANUAL) and an automatic mode (AUTO). The manual mode is a mode in which the robot 11 is operated manually by operating each posture change button 46 provided on the right side of the display 41, and is a mode used during setup and teaching. For example, during teaching (when creating the above-mentioned control program), the control mode is set to the manual mode, and the robot 11 enters the safety fence, and the posture change button 46 is operated to manually change the posture of the robot 11, and then a teaching point can be set by operating the position capture button 47 arranged next to the posture change button 46. After creating the control program, the robot 11 can be automatically operated according to the created control program by leaving the safety fence and changing the control mode to the automatic mode.

[0022] An emergency stop switch 48 used for emergency stopping the robot 11 is provided above the group of buttons such as the attitude change button 46 and the position capture button 47. The mode change switch 45, the attitude change button 46, the position capture button 47, and the emergency stop switch 48 are connected to a control board 61, and operation information is input to a CPU 62 (see FIG. 2) of the control board 61.

[0023] The left and right ends of the housing 42 are provided with gripping parts 43 to be gripped by the user and hand straps 44 for preventing the operation terminal 15 from dropping. Each gripping part 43 has a bulging part 51 that bulges out from the back part 42b of the housing 42. The bulging parts 51 extend vertically along the edge of the back part 42b, and when gripping the gripping part 43, the user can easily stabilize the position of the operation terminal 15 by hooking their fingers on the parts of the bulging parts 51 that face the center of the operation terminal 15 (side wall parts 52).

[0024] An enable switch 49 is provided protrudingly on a portion (side wall portion 52) of the grip portion 43 (left grip portion 43 in this embodiment) facing the center of the rear portion 42b. The enable switch 49 is a safety switch for enabling or disabling manual operation of the robot 11 in a situation where the control mode is the manual mode. Specifically, in a state where the enable switch 49 is turned ON (ON state) in a situation where the emergency stop switch 48 is not operated, an authorization command for permitting manual operation of the robot 11 is output from the operation terminal 15 to the robot control device 14, and the manual operation of the robot 11 is enabled (permitted). On the other hand, in a state where the enable switch 49 is turned OFF (OFF state), an prohibition command for prohibiting manual operation of the robot 11 is output from the operation terminal 15 to the robot control device 14, and the manual operation of the robot 11 is disabled (not permitted). In other words, in the manual mode, the robot 11 can be operated on the condition that the enable switch 49 is held in the ON state.

[0025] When a user enters the safety fence to perform work, the operating range of the robot 11 may overlap with the user's work range. When manually operating the robot 11 under such circumstances, the robot 11 can be stopped by, for example, removing one's hand from the enable switch 49.

[0026] Here, a conventional contact-type enabling switch is configured to be in the ON state when a fixed contact and a movable contact come into contact (connect), and due to its structure, the force required to maintain the contact between the contacts is dependent on the user. Therefore, in order to keep the enabling switch in the ON state, a certain amount of force (pressing force) must be continuously applied. This causes fatigue in the fingers and hands, and is a factor that increases the burden on the user. In addition, although it is necessary to control the force of the fingertip, permission is cancelled if the force applied becomes too weak or too strong, so such adjustment is difficult in practice. For this reason, measures are often taken such as stiffening the shape of the hand (finger posture) to suppress the variation in force. Maintaining the finger posture also places a burden on the user.

[0027] In particular, in view of the fact that the work time required to create the control program tends to be long, the burden on the user becomes too large to ignore. This is feared to make it difficult to concentrate on the operations that should be performed, and to cause a decrease in work efficiency. In consideration of these circumstances, one of the features of the enable switch 49 shown in this embodiment is that it is designed to reduce the burden on the user who uses the operation terminal 15. Below, a supplementary explanation of the structure of the enable switch 49 will be given first with reference to FIG. 4.

[0028] As shown in FIG. 4(a1) and the like, the enable switch 49 includes an operator 57 that is pressed by a user. The operator 57 is disposed in an opening 53 formed in a side wall 52 of the bulging portion 51, and is held in a state in which it can be displaced between a protruding position where it protrudes from the opening 53 and a retracted position where it is less protruding than the protruding position. The operator 57 is biased to the protruding position by a biasing member 58 (spring member), and when pushing the operator 57 to the retracted position, it is necessary to press the operator 57 against the biasing force of the biasing member 58. When the operator 57 is pushed into the retracted position, it hits a stopper portion 54 provided on the bulging portion 51 side, and further pushing is not possible. And, by being pushed into the retracted position, further compression of the biasing member 58 is avoided.

[0029] The biasing member 58 is sandwiched between the operator 57 and the stopper portion 54 (more specifically, the recessed portion), and a force sensor 59 is disposed between the recessed portion and the biasing member 58 as a detection portion for detecting the pressing force applied to the operator 57 by the user. The force sensor 59 is connected to a control board 61, and a measurement value by the force sensor 59 is grasped by a CPU 62 of the control board 61.

[0030] 4(b), the resistance generated when operating the operating element 57 increases with an increase in the amount of operation of the operating element 57, i.e., the amount of compression of the biasing member 58. In other words, the force (pressing force) required to press the operating element 57 increases with an increase in the amount of operation. After the operating element 57 reaches a position where it abuts against the stopper portion 54 (the retracted position), the pressing force is transmitted directly to the stopper portion 54, and the pressing force detected by the force sensor 59 is prevented from increasing any further.

[0031] In this embodiment, a pressure range (hereinafter referred to as a reference range) for determining that the enable switch 49 is in an ON state (permitted) is stored in a reference area of ​​the RAM 64. In the following description, the position of the operator 57 (the state of the enable switch 49) is divided into three positions based on the relationship with the reference range. That is, the position where the measured pressure is smaller than the reference range is called a first position PS1, the position where the measured pressure is within the reference range is called a second position PS2, and the position where the measured pressure is larger than the reference range is called a third position PS3. As shown in FIG. 4(b), the amount of operation of the operator 57 and the pressure are proportional to each other, and the second position PS2 can be said to be a position between the first position PS1 and the third position PS3.

[0032] 5, a process for switching permission / prohibition (operation monitoring process) executed by the CPU 62 of the operation terminal 15 will be described below. The operation monitoring process is a process executed by the CPU 62 as part of regular processing when the control mode is the manual mode and the emergency stop switch 48 is not in an ON state.

[0033] In the operation monitoring process, first, in step S101, it is determined whether or not the operation of the robot 11 is permitted. That is, it is determined whether or not an authorization command has been output to the robot control device 14. If the operation of the robot 11 is permitted, the process proceeds to step S102, where the pressing force generated by the user's pressing operation is measured using the force sensor 59. In the following step S103, the measured value of the pressing force is compared with the above-mentioned reference range stored in the reference area of ​​the RAM 64.

[0034] If the measured value of the pressing force is within the reference range, an affirmative determination is made in step S104, and this operation monitoring process is terminated. This allows the operation to continue to be permitted. On the other hand, if the measured value of the pressing force is outside the reference range, the process proceeds to step S105. In step S105, it is determined whether or not the measured value exceeds the upper limit of the reference range. In other words, it is determined whether or not the operator 57 has been pressed further and moved from the second position PS2 to the third position PS3.

[0035] If the determination in step S105 is negative, that is, if the operator 57 is released from the hand and returns to the first position PS1 from the second position PS2, permission is cancelled in step S106, that is, after starting to output a prohibition command to the robot control device 14, this operation monitoring process is terminated. As a result, the robot 11 is maintained in a stationary state until movement is permitted again.

[0036] If the determination in step S105 is positive, i.e., if the operator 57 is pressed further and moves from the second position PS2 to the third position PS3, permission restriction processing is executed in step S107. This restriction prevents the operation of the robot 11 from being permitted as a result of the operator 57 passing through the second position PS2 in the process of returning from the third position PS3 to the first position PS1. Thereafter, permission is cancelled in step S106, and the operation monitoring processing is terminated. Thus, in this embodiment, even if the measurement value falls outside the reference range during permission, the subsequent permission / non-permission switching manner differs depending on whether it fell to the smaller side or the larger side.

[0037] Returning to the explanation of step S101, if the movement of the robot 11 is not permitted, a negative determination is made in step S101 and the process proceeds to step S108. In step S108, the pressing force is measured using the force sensor 59, and in the following step S109, the measured value of the pressing force is compared with a reference range. The processes in steps S108 and S109 are the same as those in steps S102 and S103 described above.

[0038] In the next step S110, it is determined whether or not permission is restricted. If permission is not restricted, the process proceeds to step S111. If the measured value is outside the reference range, a negative determination is made in step S111, and the operation monitoring process ends. If the measured value is within the reference range, that is, if the operator 57 has moved from the first position PS1 to the second position PS2, a positive determination is made in step S111, and the process proceeds to step S112. In step S112, the operation of the robot 11 is permitted. Specifically, the output of a permission command to the robot control device 14 is started on the condition that the emergency stop switch 48 is not in the ON state. After that, the operation monitoring process ends.

[0039] If the determination in step S110 is positive, that is, if the permission is being restricted, the process proceeds to step S113, where it is determined whether or not the restriction release condition is satisfied. Specifically, it is determined whether or not the measurement value is smaller than the reference range, that is, whether or not the operator 57 has returned to the first position PS1. If the restriction release condition is not satisfied, a negative determination is made in step S113, and this operation monitoring process is terminated. On the other hand, if the restriction release condition is satisfied, a positive determination is made in step S113, and the process proceeds to step S114, where the restriction release process is executed, and then this operation monitoring process is terminated. By executing the restriction release process, the operation of the robot 11 is permitted thereafter when the measurement value falls within the reference range. Specifically, when the measurement value falls within the reference range, the output of a permission command to the robot control device 14 is started on the condition that the emergency stop switch 48 is not in the ON state. The restriction release condition shown in this embodiment may be a measurement value=0N (no pressing force).

[0040] Here, the flow of switching between permission and non-permission in the manual mode will be illustrated with reference to the timing chart of Fig. 6. Although not shown, in the example of Fig. 6, the emergency stop switch 48 is maintained in the OFF state.

[0041] At the timing ta1 immediately after the start of the pressing operation of the enable switch 49 (operator 57), the pressing force increases and reaches the lower limit (lower threshold) of the reference range. That is, the operator 57 moves from the first position PS1 to the second position PS2. Based on this, the operation of the robot 11 is switched from "not permitted" to "permitted". Thereafter, the operator 57 is held so that the pressing force is within the reference range, and when the operation of the robot 11 ends, the user releases the operator 57, and the operator 57 returns from the second position PS2 to the first position PS1 by the biasing force of the biasing member 58. At this time, the pressing force decreases, and at the timing ta2 when the pressing force becomes smaller than the lower limit (lower threshold) of the reference range, the operation of the robot 11 is switched from "permitted" to "not permitted".

[0042] At the timing ta3, the pressing operation of the enable switch 49 (operator 57) is started again, and the pressing force increases and reaches the lower limit of the reference range. Based on this, the operation of the robot 11 is switched from "not permitted" to "permitted". In a situation where the operator 57 is held so that the pressing force is within the reference range, the user grips the operator 57 tightly, causing the pressing force to rise sharply. At the timing ta4 when the pressing force exceeds the upper limit (upper threshold) of the reference range, the operation of the robot 11 is switched from "permitted" to "not permitted". At the timing ta5 immediately thereafter, the operator 57 hits the stopper portion 54, and further pressing is not possible. For this reason, the pressing force measured by the force sensor 59 reaches its ceiling and remains at the measurement upper limit.

[0043] At the timing ta6, the user releases the operator 57, and the operator 57 returns from the third position PS3 to the first position PS1 due to the biasing force of the biasing member 58. At this time, although the pressing force temporarily falls within the reference range by passing through the second position PS2, the movement of the robot 11 is maintained as "not permitted" due to the permission restriction described above.

[0044] Incidentally, since the permission restriction is lifted as the pressure falls below the lower limit of the reference range, at the timing ta7 after the operator 57 returns to the first position PS1, the pressure increases again and reaches the lower limit (lower threshold) of the reference range, and based on this, the operation of the robot 11 is switched from "not permitted" to "permitted."

[0045] Here, the enable switch 49 shown in this embodiment does not have the contact structure of the conventional enable switch, and even when the operator 57 is held in the second position PS2 corresponding to "permitted", no force is required to maintain contact between the fixed contact and the movable contact. For this reason, it is possible to lower the lower limit (lower threshold) of the reference range. In other words, it is possible to lower the pressing force required of the user to "permit" the movement of the robot 11. On the other hand, in a situation where the user wants to "not permit" the movement of the robot 11, the change from "not permitted" to "permitted" by simply touching the operator 57 lightly is a factor that causes tension for the user. Although such an event can be avoided by keeping the finger off the operator 57, the movement of the finger that tries to forcefully remove the finger from the operator 57 can be a burden for the user. It is assumed that a user with particularly strong strength may prefer a slightly higher lower limit (lower threshold) of the reference range than a user with weak strength. In this way, it is assumed that the appropriate value for the lower limit (lower threshold) of the reference range differs depending on the user.

[0046] Also, there is a possibility that the appropriate value for the upper limit of the reference range (upper threshold) will differ depending on the user. Specifically, in the case of a user with weak strength, even if the user suddenly presses the operation member 57 hard, if the upper limit of the reference range (upper threshold) is not reached, an event will occur in which the safety function will not be properly implemented, whereas in the case of a user with strong strength, if the permission is immediately cancelled by pressing the operation member 57 a little harder, and the user is forced to redo the pressing operation, there is a concern that the burden on the user will increase and the work efficiency will decrease.

[0047] In this embodiment, taking such circumstances into consideration, one of the features is that the upper and lower limits (thresholds) of the reference range can be changed based on a user's operation. Below, a process for changing the reference range (process for changing settings) executed by the CPU 62 of the operation terminal 15 will be described with reference to the flowchart of Fig. 7. The process for changing settings is a process executed by the CPU 62 as part of regular processing.

[0048] In the setting change process, first, in step S201, it is determined whether or not the movement of the robot 11 is permitted. If the determination in step S201 is affirmative, the setting change process is terminated. That is, in order to prevent the reference range from being changed unexpectedly while the robot 11 is moving, the setting change process is restricted so that it cannot be changed while the movement is permitted.

[0049] If the operation is not permitted, a negative judgment is made in step S201 and the process proceeds to step S202. In step S202, it is judged whether or not the setting is being changed. If the setting is not being changed, a negative judgment is made in step S202 and the process proceeds to step S203. In step S203, it is judged whether or not a setting change start operation has been performed. If the start operation has not been performed, a negative judgment is made in step S203 and the setting change process is terminated. If the start operation has been performed, a positive judgment is made in step S203 and the process proceeds to step S204, where the setting change start process is executed and then the setting change process is terminated. In the setting change start process, the operation of the attitude change button 46 and the like is disabled (disabled), and a setting change window (hereinafter referred to as a customization window CS) is displayed on the display 41 (see FIG. 8(a)). In the customization window CS, it is clearly indicated that the setting is being changed, and a message prompting the user to operate the enable switch 49, the remaining time until the setting is changed, the range of the pressing force that can be input (hereinafter referred to as the specified range), and a gauge indicating the current pressing force are displayed. In addition, in the setting change start process, a timer counter is operated to specify the measurement timing for measuring the pressing force that is the base for the setting change. In this embodiment, the base pressing force is measured 10 seconds after the start of the process.

[0050] Returning to the explanation of step S202, if the setting is being changed, an affirmative judgment is made in step S202 and the process proceeds to step S205. In step S205, the timer counter is referenced to judge whether or not it is time to measure. If it is judged that it is not time to measure, the process proceeds to step S206, where the force sensor 59 is used to measure the base pressure. In the following step S207, it is judged whether the pressure measured in step S206 is within the above-mentioned specified range. If it is judged that it is within the specified range, the process proceeds to step S208, where the upper and lower threshold values ​​of the reference range are calculated from the measured pressure (measurement value).

[0051] Specifically, the upper limit threshold is calculated by adding a constant α stored in the ROM 63 to the measured value, and the lower limit threshold is calculated by subtracting a constant β stored in the ROM 63 from the measured value (see FIG. 9). Note that in this embodiment, the constant α is greater than the constant β, and the upper limit is more likely to tolerate variation (upward deviation) in the pressing force.

[0052] After the upper and lower limits (thresholds) of the reference range are calculated in step S207, the reference range is changed in step S209. Specifically, a reference area for storing each threshold of the reference range to be referenced is provided in the RAM 64 of the control board 61, and each threshold after the change is stored in this reference area. Note that when the operation terminal 15 is started, default values ​​stored in the ROM 63 are copied to the reference area, and in step S209, these default values ​​are changed to the newly calculated thresholds.

[0053] In the next step S210, a registration process of the changed reference range is executed. The operation terminal 15 shown in this embodiment is configured to be usable by inputting a user ID (identification information). In the registration process in step S210, the changed threshold value is registered in the data bank of the RAM 64 while being linked to the current user ID. Thereafter, in step S211, a setting change end process is executed, and then this setting change process is ended. In the setting change end process, the customization window CS is made non-displayed, and the operation restrictions on the above-mentioned attitude change button 46 and the like are lifted.

[0054] Returning to the explanation of step S207, if the measured pressure is outside the specified range, a negative determination is made in step S207 and the process proceeds to step S212. In step S212, the user is notified that the pressure measured this time is outside the specified range. Specifically, a message to the effect that it is outside the specified range is displayed in the customization window CS being displayed on the display 41 (see FIG. 8(b)). Thereafter, in step S213, a re-measurement process is executed, and then the setting change process is terminated. In the re-measurement process, the timer counter is restarted and the remaining time until re-measurement is displayed in the customization window CS.

[0055] Here, although the above-mentioned setting change function is expected to reduce the burden on the user, having to redo the setting changes every time the operation terminal 15 is used is expected to give the user an impression of being bothersome, and to be a factor in preventing the function from being utilized. In this regard, the operation terminal 15 shown in this embodiment is configured to automatically reflect past setting change information by reading past setting change information (registration information) when the user logs into the operation terminal 15. Hereinafter, the configuration related to this automatic change function, specifically, the automatic change process executed by the CPU 62 as part of the periodic process, will be described with reference to the flowchart in FIG. 10.

[0056] In the automatic change process, first, in step S301, it is determined whether or not a login operation has been performed on the operation terminal 15. If a negative determination is made in step S301, the automatic change process ends as is. If a positive determination is made in step S301, the process proceeds to step S302. In step S302, it is determined whether or not a registered user ID has been input. In other words, it is determined whether a login has been made with a registered user ID or with an unregistered guest ID.

[0057] If the user ID is already registered, the process proceeds to step S303, where the previously registered threshold value of the reference range is read from the library in the RAM 64 and copied to the reference area in the RAM 64. Thereafter, in step S304, a change notification process is executed, and then the automatic change process is terminated. In the notification process in step S304, a message is displayed on the display 41 indicating that the reference range has been changed.

[0058] Returning to the explanation of step S302, if the login is with an unregistered guest ID, the setting change guidance start process is executed in step S305, and then the automatic change process is terminated. In the setting change guidance start process, an explanation of the reference range change function in the operation terminal 15 is started, and after the explanation is terminated, the process corresponding to steps S205 to S213 of the setting change process (see FIG. 7) is executed based on the user's setting change start operation.

[0059] After the guidance in step S305 is completed, the process corresponding to steps S205 to S213 may be executed regardless of whether the user performs an operation to start changing settings. Also, instead of executing the process corresponding to steps S205 to S213 at login, the process corresponding to steps S205 to S213 may be executed at the first switching to manual mode.

[0060] According to the first embodiment described above in detail, the following excellent effects can be expected.

[0061] According to the configuration shown in this embodiment, when the pressing force measured by the force sensor 59 is within a reference range, the movement (manual operation) of the robot 11 is permitted, and when the measured pressing force (operating force) is smaller or larger than the reference range, the movement (manual operation) of the robot 11 is not permitted. With this configuration, for example, when the user is manually operating the robot 11 and the operator 57 is pressed hard by suddenly clenching his / her hand, the movement of the robot 11 is not permitted. This is preferable in terms of improving the safety of the robot system 10.

[0062] Here, in the case of a conventional safety switch having a contact structure (fixed contact and movable contact), a force is required to maintain contact between the contacts, and the force required to stabilize the contact state may be large. In this regard, according to the configuration in which permission / prohibition is switched according to the measured pressing force as shown in the present embodiment, the above-mentioned contact structure is not required, and the force to maintain contact between the contacts is also not required. Therefore, a smaller pressing force than conventional can be tolerated in permitting the operation of the robot 11, and the pressing force required of the user (lower limit of the reference range) can be reduced. This is preferable in terms of reducing the burden on the user when maintaining the state in which the operation of the robot 11 is permitted.

[0063] To maintain a state in which the robot 11 is permitted to move, the pressure applied to the operator 57 needs to be kept within a reference range, and the amount of pressure that is easy to maintain constant may differ from user to user. In other words, if there is a large deviation between the set reference range and the pressure that is easy for the user to maintain constant, the burden on the user may increase. In this regard, as shown in this embodiment, a configuration in which the reference range that serves as the basis for permission can be changed by the user is effective in reducing the burden on the user.

[0064] It is preferable to set the lower limit of the reference range low in order to reduce the burden on the user's fingers. On the other hand, assuming the following case, it is considered that there may be cases where it is preferable to set the lower limit of the reference range a little higher. That is, when it is desired to prohibit the movement of the robot 11 while holding the operation terminal 15, it is not preferable for the robot 11 to move by unintentionally touching the operation element 57. Paying attention to prevent such an event from occurring can be a burden for the user. Therefore, in order to reduce the possibility of such unintended movement, it is effective to set the lower limit of the reference range a little higher. In view of these circumstances, there is technical significance in making the lower limit of the reference range a changeable object.

[0065] It is preferable in terms of improving safety to configure the system so that the operation of the robot 11 is not permitted (permission is cancelled) if the operator suddenly presses the control 57 too hard. Here, in terms of improving safety, it is preferable to set the upper limit of the reference range low to a certain extent, but if the upper limit is too low, there is a concern that even a slight increase in pressure will result in the operation being not permitted, which may lead to reduced work efficiency. In this case, the effect of reducing the burden on the user will not be fully achieved. For these reasons, there is technical significance in making the upper limit of the reference range subject to change.

[0066] It is not desirable to change the reference range every time the operation terminal 15 is used in order to improve work efficiency. Therefore, as shown in the present embodiment, by adopting a configuration that allows the results of past changes to be reflected, it is possible to reduce the user's efforts and contribute to improving work efficiency. This is desirable in terms of reducing the burden on the user and improving work efficiency.

[0067] <Second embodiment> In this embodiment, the configuration related to detection of pressing force is different from that of the first embodiment. Below, the characteristic configuration of this embodiment will be described with reference to Figures 11 to 14, focusing on the differences from the first embodiment. Note that the description of the configuration common to the first embodiment will be omitted as appropriate.

[0068] As shown in FIG. 11, in this embodiment, a first force sensor 59a and a second force sensor 59b are provided as the force sensor 59 for detecting the pressing force. The first force sensor 59a and the second force sensor 59b are in a parallel relationship and are individually connected to the control board 61. The CPU 62 of the control board 61 grasps the measurement value by the first force sensor 59a and the measurement value by the second force sensor 59b, and compares each measurement value with a reference range individually. By thus duplicating the configuration related to the detection of the pressing force, it is possible to suppress erroneous determination due to noise or a failure of either of the force sensors 59a and 59b, and to reduce the chance of the operation of the robot 11 being erroneously permitted. This is preferable in terms of improving the reliability of the operation terminal 15.

[0069] However, when two force sensors 59a, 59b are used in combination, although reliability can be expected to improve, the following inconveniences may occur. Specifically, the actual reference range may become smaller than the reference range being set, and the allowable fluctuation range (variation) of the pressing force when maintaining the operation of the robot 11 in a permitted state may become smaller. The reason for this will be further explained below with reference to Fig. 12. Fig. 12 illustrates an example in which a difference occurs between the measurement value of the first force sensor 59a and the measurement value of the second force sensor 59b due to individual differences or the like.

[0070] In pattern PN1, the measured values ​​of the first force sensor 59a and the second force sensor 59b are both close to the upper limit of the reference range, but are both within the reference range, and the movement of the robot 11 is "permitted". In pattern PN3, the measured values ​​of the first force sensor 59a and the second force sensor 59b are both above the upper limit of the reference range, and the movement of the robot 11 is "not permitted". In these two patterns PN1 and PN3, there is no effect of using the two force sensors 59a and 59b in combination. In contrast, in pattern PN2, the measured value of the second force sensor 59b is within the reference range, while the measured value of the first force sensor 59a exceeds the upper limit of the reference range. In this case, although the movement of the robot 11 is "not permitted", it can contribute to improving reliability, an event occurs in which the upper limit of the actual reference range is lower than the upper limit of the set reference range.

[0071] Next, in pattern PN4, the measured values ​​of the first force sensor 59a and the measured values ​​of the second force sensor 59b are both close to the lower limit of the reference range, but are both within the reference range, and the movement of the robot 11 is "permitted". In pattern PN6, the measured values ​​of the first force sensor 59a and the measured values ​​of the second force sensor 59b are both below the lower limit of the reference range, and the movement of the robot 11 is "not permitted". In these two patterns PN4 and PN6, there is no effect of using the two force sensors 59a and 59b in combination. In contrast, in pattern PN5, the measured value of the first force sensor 59a is within the reference range, while the measured value of the second force sensor 59b is below the lower limit of the reference range. In this case, although the movement of the robot 11 is "not permitted", it can contribute to improving reliability, an event occurs in which the actual lower limit of the reference range is lower than the lower limit of the set reference range.

[0072] In other words, the substantial reference range may be narrowed on both the upper limit side and the lower limit side, so that the resistance to the variation in the pressing force is low. In anticipation of such a reduction in the substantial reference range, it is possible to take measures such as widening the reference range itself to be set in advance, but it is not preferable to widen the reference range carelessly because it may increase the hurdle for moving to the third position PS3 at the timing when the position should be moved to the third position PS3, or may cause the position to move to the second position PS2 unexpectedly at the timing when the position should be kept at the first position PS1. In this embodiment, taking such circumstances into consideration, one of the features is that a reference range (hereinafter referred to as the first reference range) for comparing with the measured value of the first force sensor 59a and a reference range (hereinafter referred to as the second reference range) for comparing with the measured value of the second force sensor 59b are separately provided. These first and second reference ranges are changed when the setting is changed as described above. Here, the setting change process in this embodiment will be described with reference to the flowchart of FIG. 13 and the schematic diagram of FIG. 14. Note that the respective processes of steps S401 to S405 and S413 to S415 of the setting change processing in this embodiment are similar to the respective processes of steps S201 to S205 and S211 to S213 of the setting change processing in the first embodiment, and therefore description thereof will be omitted.

[0073] If it is determined in step S405 that it is time to measure the pressing force, the process proceeds to step S406, where the pressing force is measured using the first force sensor 59a, and the pressing force is measured using the second force sensor 59b. If the measured pressing forces are within the above-mentioned specified range, the process proceeds to step S408, where the upper and lower limit thresholds (first threshold) of the first reference range are calculated from the pressing force (measurement value) measured by the first force sensor 59a. Specifically, as shown in the left part of Fig. 14, the upper limit threshold is calculated by adding a constant α stored in ROM 63 to the measurement value, and the lower limit threshold is calculated by subtracting a constant β stored in ROM 63 from the measurement value.

[0074] After calculating the upper and lower thresholds (first thresholds) of the first reference range in step S408, the first reference range is changed in step S409. Specifically, a first reference area for storing the first reference range to be referenced is provided in the RAM 64 of the control board 61, and each threshold (first threshold) after the change is stored in this first reference area.

[0075] In the next step S410, thresholds (second thresholds) that are the upper and lower limits of the second reference range are calculated from the pressing force (measurement value) measured by the second force sensor 59b. Specifically, as shown in the right part of Fig. 14, the upper threshold is calculated by adding a constant α stored in ROM 63 to the measurement value, and the lower threshold is calculated by subtracting a constant β stored in ROM 63 from the measurement value. In this embodiment, the constants α and β used in the calculation process of step S408 are the same as the constants α and β used in the calculation process of step S410.

[0076] After calculating the upper and lower limit thresholds (second thresholds) of the second reference range in step S410, the second reference range is changed in step S411. Specifically, a second reference area for storing the second reference range to be referenced is provided in the RAM 64 of the control board 61, and each threshold (second threshold) after the change is stored in this second reference area.

[0077] Thereafter, in step S412, a process for registering the changed first and second reference ranges is executed, and in step S413, a process for ending the setting change is executed, after which the setting change process is ended.

[0078] <Variation 1> The specific configuration for changing (customizing) the reference range can be changed as follows: That is, as shown in Fig. 15(a), the range of the measurement value by the force sensor 59 may be divided into a plurality of ranges in advance, and the upper and lower threshold values ​​of the reference range may be stored in the ROM 63 in association with each range, and the threshold value to be read from the ROM 63 may be determined depending on which range the actual measurement value belongs to. <Variation 2> In the first and second embodiments, the user is prompted to press the operating element 57 when changing the setting of the reference range, and the reference range is determined from the pressing force (measurement value) measured at the time of the pressing operation, but the present invention is not limited to this. For example, a plurality of reference ranges (e.g., "low", "medium", and "high") may be prepared as selection candidates, and the user may select one reference range from the selection candidates. Also, for example, the reference range (threshold value) may be directly input (changed) by operating an input key (e.g., a numeric key, etc.).

[0079] As shown in Fig. 15(b), it is preferable to provide a changeable range for each of the upper and lower thresholds. Specifying a settable range is preferable in order to prevent the upper threshold from being set too high, making it practically difficult to transition to the third position PS3, or the lower threshold from being set too low, causing frequent transitions to the second position PS2 against the user's will.

[0080] <Variation 3> In the above first and second embodiments, the upper and lower limit thresholds of the reference range are changed (customized), but the present invention is not limited to this. Only the upper limit threshold or only the lower limit threshold may be changed.

[0081] <Modification 4> In the first and second embodiments, the base pressing force is measured after a preset time has elapsed when the settings are changed, but this may be modified to provide a setting button on the operation terminal 15, and the base pressing force may be measured by pressing the setting button while pressing the operation element 57 when the settings are changed. However, if the setting button is pressed while pressing the operation element 57, there is a possibility that the pressing force of the operation element 57 will fluctuate when the setting button is pressed. In view of these circumstances, there is technical significance in a configuration in which the measurement execution condition is established without simultaneous operation of an operation element other than the operation element 57.

[0082] <Variation 5> In the first embodiment, the constant α is added to the base pressing force (measured value) to calculate the upper limit threshold, and the constant β is subtracted to calculate the lower limit threshold. The constants α and β used to calculate the threshold do not necessarily have to be constant α>constant β, and it is also possible to make constant α=constant β or constant α<constant β. Furthermore, the calculation method is not limited to addition / subtraction. For example, the upper and lower limit thresholds of the reference range may be calculated by multiplying the base pressing force (measured value) and a correction coefficient.

[0083] <Variation 6> In the first and second embodiments, the operation element 57 as the "safety operation unit" is configured to be displaced in the pressing direction by the user's pressing operation, but this does not deny a type of safety operation unit that does not displace in the pressing direction, such as a touch panel. Note that the specific configuration for detecting the pressing force (for example, a piezoelectric type, a strain gauge type, or a capacitance type) is arbitrary.

[0084] <Variation 7> The position of the operating member 57 as the "safety operation portion" may be changed as desired as long as it is located in a position where it can be pressed by the hand holding the grip portion 43. However, in order to generate a pressing force naturally, it is preferable to arrange the operating member in a portion that is pinched by the fingers and configure it so that the direction in which it is pinched by the fingers is the pressing direction.

[0085] <Variation 8> A variable damper capable of changing the resistance (elasticity or viscosity) when the operator 57 is pressed may be mounted. In other words, the operating feel (hardness or weight) when the operator 57 is pressed may be configured to be changeable (see, for example, FIG. 15(c)). Even when the same reference range (threshold) is set, if the operating stroke at which the threshold is reached can be varied by setting the variable damper, the relationship between the operating stroke and the magnitude of the resistance can be optimized according to the user's preference. For example, even when the lower limit of the reference range is lowered, it is possible to set the operating stroke of the operator 57 required to generate the pressing force that reaches the lower limit to be large. Note that if the variable damper is configured using a magnetorheological fluid whose resistance changes depending on the amount of current, the resistance can be varied and quickly changed by current control.

[0086] <Third embodiment> In the operation terminal 15 shown in the first embodiment, the enable switch 49 is configured to switch the operation of the robot 11 between permitted and unpermitted in response to a pressing operation. As shown in FIG. 16, the enable switch 49B mounted on the operation terminal 15B shown in this embodiment is a rotary type, and is configured to switch the operation of the robot 11 between permitted and unpermitted by rotating an operation dial 81, which is a "safety operation unit." The configuration of the enable switch 49B and related thereto in this embodiment will be described below with reference to FIGS. 16 to 20. Note that the description of the configuration common to the first embodiment will be omitted as appropriate.

[0087] 16, the enable switch 49B is disposed in an upper corner of the back surface 42bB of the operation terminal 15B (housing 42B), and a hand strap 44B is provided below the enable switch 49B so as to span the left and right ends of the operation terminal 15B. When the operation terminal 15B is supported and held by a hand H placed on the back surface 42bB of the operation terminal 15B, the hand H is pinched between the hand strap 44B and the back surface 42bB, thereby preventing the operation terminal 15B from becoming unstable or falling off the hand H.

[0088] 17, an opening 91 penetrating through the thickness direction of the housing 42B is formed in the rear surface portion 42bB, and the operation dial 81 is disposed so as to protrude from this opening 91. Both the side wall portion 81a of the operation dial 81 (cylindrical portion) and the opening 91 are circular with the center being an axis line CL1 extending in the thickness direction of the operation terminal 15B, and the operation dial 81 is attached to the housing 42B (mounting base 95) in a state capable of rotating around the axis line CL1.

[0089] The mounting base 95 is provided with a stopper portion 97 that prevents the operation dial 81 from rotating in a first direction (clockwise direction) when the operation terminal 15B is viewed from the back side, and a biasing member that biases the operation dial 81 in the first direction. The operation dial 81 is configured to remain in a rotation position where it abuts against the stopper portion 97 due to the biasing force of the biasing member when no rotation operation is performed.

[0090] When changing the rotation position of the operation dial 81, it is necessary to rotate the operation dial 81 in the second direction (counterclockwise direction) against the biasing force of the biasing member while pinching the side wall portion 81a of the operation dial 81 with the fingers, and when the operation dial 81 is released, the biasing force of the biasing member returns the operation dial 81 to the position before the rotation operation (the position where it abuts against the stopper portion 97). In this embodiment, the rotation range of the operation dial 81 is set to a predetermined range (specifically, 180°), and even if it is rotated to the maximum in the second direction, it will not return to the original rotation position. Note that FIG. 18 shows a state (standby state or initial state) in which the operation dial 81 abuts against the stopper portion 97 due to the biasing force of the biasing member.

[0091] The operation dial 81 is hollow, and accommodates a sensor unit 82, which is an optical sensor, and a reflector 87 inside. The reflector 87 is cylindrical and centered on an axis line CL1, and is fixed to the operation dial 81. In other words, when the operation dial 81 is rotated, the rotation position of the reflector 87 changes so as to follow the operation dial 81. The operation dial 81 has a light-blocking property, and prevents light from entering the operation dial 81 from the outside.

[0092] As shown in Fig. 18, a slit 89 is formed in a part of the reflector 87, penetrating from inside to outside. Since this slit 89 does not reflect light, it can be said that the reflector 87 has a reflective portion 88 that reflects light and a slit 89 that does not reflect light lined up in the rotation direction. The operation dial 81 is made of a colored opaque synthetic resin, and its inner surface is particularly treated to absorb light. Therefore, reflection of light irradiated onto the operation dial 81 through the slit 89 is suppressed.

[0093] The sensor unit 82 is disposed on the axis CL1, and includes a light-emitting unit 83 that irradiates light toward a reflector 87, and a light-receiving unit 84 that is irradiated with light reflected by a reflecting unit 88 of the reflector 87. When light from the light-emitting unit 83 is reflected by the reflecting unit 88 of the reflector 87 and irradiated to the light-receiving unit 84, the light-receiving state of the light-receiving unit 84 becomes HIGH level. On the other hand, when light from the light-emitting unit 83 is irradiated to the operation dial 81 through a slit 89 of the reflector 87, the amount of light is greatly reduced, and the light-receiving state of the light-receiving unit 84 becomes LOW level. In other words, the light-receiving state of the light-receiving unit 84 differs depending on the rotation position of the operation dial 81.

[0094] Here, a supplementary explanation will be given of the rotation position (angle) of the operation dial 81 and the light receiving state with reference to Fig. 19. In the following explanation, the angle when the operation dial 81 is rotated in the second direction (counterclockwise direction) around the axis line CL1 is referred to as "angle X".

[0095] When 0°≦angle X<35°, the reflector 88 is located on the optical path of the light from the light emitter 83, and the light receiving state of the light receiver 84 is at HIGH level. When 35°≦angle X≦55°, the slit 89 (the inner surface of the operation dial 81) is located on the optical path of the light from the light emitter 83, and the light receiving state of the light receiver 84 is at LOW level. When 55°<angle X≦180°, the reflector 88 is located on the optical path of the light from the light emitter 83, and the light receiving state of the light receiver 84 is at HIGH level. In the following description, for convenience, the rotation position of the operation dial 81 when 0°≦angle X<35° is called a first position PS1, the rotation position of the operation dial 81 when 35°≦angle X≦55° is called a second position PS2, and the rotation position of the operation dial 81 when 55°<angle X≦180° is called a third position PS3.

[0096] The first position PS1 is a position where the movement of the robot 11 is "not permitted," the second position PS2 is a position where the movement of the robot 11 is "permitted," and the third position PS3 is a position where the movement of the robot 11 is "not permitted." In other words, in this embodiment, when the robot 11 is to be operated in the manual mode, it is necessary to keep the operation dial 81 in the second position PS2 (see FIG. 19(a)).

[0097] Incidentally, like the operator 57 shown in the first embodiment, the operation dial 81 shown in this embodiment also passes through the second position PS2 when returning from the third position PS3 to the first position PS1. For example, after the movement of the robot 11 is not permitted at the third position PS3, the operation dial 81 is returned to the first position PS1 (specifically, the initial state) by the biasing force of the biasing member when the hand is released from the operation dial 81. At this time, switching from "not permitted" to "permitted" is restricted at least until the operation dial 81 returns to the first position PS1, and the movement of the robot 11 is not "permitted" even if the operation dial 81 becomes the second position PS2 during the return (see FIG. 19(b)).

[0098] In this embodiment, when the operation dial 81 is held in the second position PS2 to maintain the "permission" of the robot 11, it is necessary to resist the biasing force of the biasing member with the two fingers F1 and F2 holding the operation dial 81. It is assumed that the user has to continue resisting the biasing force while maintaining the shape of the fingers in the air, which is a burden on the user and makes it difficult to use the operation terminal 15 for a long time. In addition, if the posture of the hand (fingers) varies due to finger fatigue, it may be difficult to keep the operation dial 81 in the second position PS2. In this embodiment, one of the features is that a device is provided to reduce the burden on the user in consideration of such circumstances. The device will be described below with reference to Figs. 16, 17, and 20.

[0099] As shown in Fig. 16, a finger rest 92 for placing fingers F1, F2 gripping the operation dial 81 is formed around the operation dial 81 on the rear surface 42bB of the housing 42B. The finger rest 92 is annular about the axis CL1, and is formed so as to surround the side wall 81a of the operation dial 81 from the outside when the operation terminal 15B is viewed from the rear surface 42bB. The finger rest 92 faces the axis CL1 direction and is flat with no irregularities formed all around. Also, as shown in Fig. 17, the finger rest 92 is offset so as to be higher than the surrounding portion on the rear surface 42bB.

[0100] As illustrated in FIG. 17, by bringing the fingertips of the fingers F1 and F2 pinching the side wall portion 81a of the operation dial 81 into contact with the finger rest portion 92, the fingers F1 and F2 pinching the side wall portion 81a are prevented from being suspended in the air. This makes it easier to maintain the posture of the fingers F1 and F2. In addition, by bringing the fingers F1 and F2 into contact with the finger rest portion 92, friction is generated between the fingers F1 and F2 and the finger rest portion 92. This friction makes it easier to resist the biasing force of the biasing member, and reduces the burden on the user's fingers. In particular, in this embodiment, since the side wall portion 81a and the finger rest portion 92 are in an L-shaped positional relationship, the contact points between the fingers F1 and F2 and the finger rest portion 92 and the contact points between the fingers F1 and F2 and the side wall portion 81a can be brought as close as possible. Bringing the two contact points close to each other is preferable in terms of reducing the burden on the fingers.

[0101] As already described, the operation terminal 15B shown in this embodiment is configured so that the user supports the operation terminal 15B by placing his / her hand on the back surface 42bB. In other words, when the operation terminal 15B is supported, the weight of the operation terminal 15B is also applied to the fingers F1 and F2 of the hand H supporting the operation terminal 15B. This weight can increase the friction between the fingers F1 and F2 and the finger rest 92, so that it is possible to suppress a change in the rotation angle of the operation dial 81 due to the fingers slipping or the like. In particular, the finger rest 92 is higher than the surrounding parts of the back surface 42bB, so that the weight of the operation terminal 15B is easily applied to the fingers F1 and F2.

[0102] Here, if the user suddenly releases the hand H from the operation dial 81 while the operation dial 81 is held at the second position PS2, the operation dial 81 returns to the first position PS1 due to the biasing force of the biasing member. Therefore, the operation of the robot 11 is quickly switched from "permitted" to "not permitted". On the other hand, if the hand H is not released from the operation dial 81 in an instant, the following two patterns are assumed. First, as the first pattern, a pattern is assumed in which the operation dial 81 is rotated in the first direction or the second direction by itself to the first position PS1 or the third position PS3. In this pattern, as shown in FIG. 20(b)→FIG. 20(a) and FIG. 20(b)→FIG. 20(c), the fingers F1 and F2 holding the side wall portion 81a of the operation dial 81 can slide on the finger rest portion 92 while being in contact with the finger rest portion 92, so that the movement to the first position PS1 or the third position PS3 is not impeded. Next, as a second pattern, a gripping motion of the hand H operating the operation dial 81 is assumed. In such a pattern, when the fingers F1, F2 pinching the side wall portion 81a are released from the finger rest portion 92 due to the fingers bending due to the gripping motion, the friction generated between the fingers F1, F2 and the finger rest portion 92 disappears. In addition, the difference in the bending of the fingers F1, F2 makes it easy for the rotation position of the operation dial 81 to shift. This can create an opportunity for the operation dial 81 to move to the first position PS1 or the third position PS3.

[0103] According to the third embodiment described above in detail, the following excellent effects can be expected.

[0104] In the operation terminal 15B shown in this embodiment, by placing a finger operating the operation dial 81, which is a "safety operation unit," on a finger rest 92 provided around the operation dial 81, the finger can be brought into contact with both the operation dial 81 (specifically, the side wall 81a) and the finger rest 92. With this configuration, the finger rest 92 functions as an aid in maintaining a constant position and shape of the finger operating the operation dial 81, and it is possible to reduce dependency on the force of the finger when fixing the operation dial 81 at the second position PS2. For example, the finger position in the axis line CL1 direction is less likely to vary by placing the fingertip or the like against the finger rest 92 (stopper function), and the finger position in the trajectory direction is less likely to vary because friction caused by placing the fingertip or the like against the finger rest 92 becomes resistance (resistance generating function). In this way, the burden on the user (fingers) is reduced, making it easier to maintain a state in which the operation of the robot 11 is permitted.

[0105] According to the enable switch 49B shown in this embodiment, for example, the pad of the finger can be brought into contact with the side wall portion 81a of the operation dial 81 and the tip of the finger can be brought into contact with the finger placement portion 92, or the pad of the finger can be brought into contact with the side wall portion 81a and the side of the finger can be brought into contact with the finger placement portion 92. In this way, if the contact portions with the side wall portion 81a and the finger placement portion 92 can be concentrated on the fingertip side, the load on the fingers when the operation dial 81 is maintained at the second position PS2 can be further suitably reduced.

[0106] The finger rest 92 is flat, so that when the user tries to move his / her hand suddenly (in the rotation direction), the finger operating the operation dial 81 will slide over the finger rest 92, preventing the finger rest 92 from interfering with the rotation of the operation dial 81. This is preferable in terms of reducing the time lag when the movement of the robot 11 is not permitted.

[0107] <Fourth embodiment> In the third embodiment, the enable switch 49B is disposed on the rear side of the operation terminal 15B, but in this embodiment, the arrangement of the enable switch is changed from that of the third embodiment, and the position and shape of the finger rest are also changed accordingly. Hereinafter, the enable switch 49C and the finger rest 92C in this embodiment will be described with reference to Fig. 21, focusing on the differences from the third embodiment. Note that the description of the same configuration as the third embodiment will be omitted as appropriate.

[0108] 21(a), in the operation terminal 15C of this embodiment, similarly to the operation terminal 15 shown in the first embodiment, gripping parts 43C to be gripped by a user are provided at the left and right ends of the operation terminal 15C. When holding the operation terminal 15C, the gripping part 43C (at least the left gripping part 43C) is gripped, instead of placing one hand on the back of the operation terminal 15B as shown in the second embodiment.

[0109] The enable switch 49C in this embodiment is disposed so that a part of the operation dial 81C protrudes from the left side surface (side surface 42cC) of the housing 42C. In other words, the enable switch 49C is disposed at a position where it can be operated by the hand holding the grip portion 43C.

[0110] The operation dial 81C is similar to the third embodiment in that it can rotate about an axis CL2 extending in the thickness direction of the operation terminal 15C, but differs from the third embodiment in that a side wall portion 81aC operated by a finger on the operation dial 81C does not protrude over the entire area in the rotation direction, but rather protrudes only a part in the rotation direction. The rotation position of the operation dial 81C can be changed by sliding a finger (e.g., finger F2) up and down while placing the finger on the side wall portion 81aC of the operation dial 81C.

[0111] In addition, the operation dial 81C is also rotatably supported by a mounting base 95C on the housing 42 side (see Figure 21 (b)), and its rotation in the clockwise direction when viewed from the front of the operation terminal 15C is prevented by a stopper portion provided on the mounting base 95C, and it is biased in the clockwise direction when viewed from the front of the operation terminal 15C by a biasing member.

[0112] 21(b), the sensor unit 82C shown in this embodiment is configured such that a light emitting unit 83C and a light receiving unit 84C are arranged side by side in the direction of the axis CL2 (front-rear direction), and the light emitting unit 83C and the light receiving unit 84C face each other across the operation dial 81C. Specifically, the light emitting unit 83C and the light receiving unit 84C are arranged so as to face each other.

[0113] When the light from the light-emitting unit 83C is blocked by the operation dial 81C and does not reach the light-receiving unit 84C, the light-receiving state of the light-receiving unit 84C becomes LOW level. Here, as shown in FIG. 21(c), a slit 81cC through which light passes is formed in a part of the operation dial 81C. When the slit 81cC is positioned on the optical path from the light-emitting unit 83C by rotating the operation dial 81C, the light from the light-emitting unit 83C reaches the light-receiving unit 84C through the slit 81cC, and the light-receiving state of the light-receiving unit 84C becomes HIGH level. In the following description, the angle when the operation dial 81 is rotated counterclockwise when viewed from the front of the operation terminal 15C is referred to as "angle X".

[0114] As shown in FIG. 21(c1), when 0°≦angle X<35°, the flesh of the operation dial 81C is located on the optical path of the light from the light-emitting unit 83C, so the light-receiving state of the light-receiving unit 84C is at a LOW level, and the movement of the robot 11 is "not permitted" (first position PS1). As shown in FIG. 21(c2), when 35°≦angle X≦55°, the slit 81cC of the operation dial 81C is located on the optical path of the light from the light-emitting unit 83C, so the light-receiving state of the light-receiving unit 84 is at a HIGH level, and the movement of the robot 11 is "permitted" (second position PS2). As shown in FIG. 21(c3), when 55°<angle X≦180°, the flesh of the operation dial 81C is located on the optical path of the light from the light-emitting unit 83C, so the light-receiving state of the light-receiving unit 84 is at a LOW level, and the movement of the robot 11 is "not permitted" (third position PS3). That is, in this embodiment, when the robot 11 is operated in the manual mode, the operation dial 81C needs to be maintained in the second position PS2.

[0115] Here, as shown in FIG. 21(b), a finger rest 92C is formed on the side surface 42cC of the housing 42, on which a finger (e.g., finger F2) operating the operation dial 81C is placed. The finger rest 92C is provided at a position on the front side of the operation dial 81C in the thickness direction (axis line CL2 direction) of the operation terminal 15C. This makes it easy to place the finger of the hand holding the grip 43C on the finger rest 92C when the finger is placed on the side wall 81aC of the operation dial 81C. In particular, the finger rest 92C bulges out so as to be higher than the peripheral portion of the side surface 42cC, thereby reducing the gap with the side wall 81aC of the operation dial 81C. This prevents localized load from being generated on the part of the finger that contacts the operation dial 81C.

[0116] <Variation 1> In the third and fourth embodiments described above, the sensor unit 82 is formed by one pair of the light-emitting unit 83 and the light-receiving unit 84, but the sensor unit may be formed by multiple pairs of the light-emitting unit and the light-receiving unit, and the configuration related to detecting the rotational position may be multiplexed (duplicated).

[0117] For example, in the enable switch 49D shown in Fig. 22, a sensor unit 82D is constructed by a first optical sensor 82aD consisting of a first light-emitting unit 83 and a first light-receiving unit 84, and a second optical sensor 82bD consisting of a second light-emitting unit 85 and a second light-receiving unit 86. The first optical sensor 82aC and the second optical sensor 82bC are arranged back-to-back (opposite directions) to each other, and the direction of light irradiation by the first optical sensor 82aC (first light-emitting unit 83) and the direction of light irradiation by the second optical sensor 82bC (second light-emitting unit 85) are shifted by 180° in the rotation direction about the axis CL1. In addition, two slits 89D are formed in the reflector 87D, and the arrangement of the two slits 89D is also shifted by 180° in the rotation direction about the axis CL1.

[0118] For this reason, when the operation dial 81 is in the first position PS1 as shown in Fig. 22(a), the light receiving state of the first light receiving unit 84 and the light receiving state of the second light receiving unit 86 are both at a LOW level. When the operation dial 81 is in the second position PS2 as shown in Fig. 22(b), the light receiving state of the first light receiving unit 84 and the light receiving state of the second light receiving unit 86 are both at a HIGH level. When the operation dial 81 is in the third position PS3 as shown in Fig. 22(c), the light receiving state of the first light receiving unit 84 and the light receiving state of the second light receiving unit 86 are both at a LOW level. In other words, the light receiving state of the first light receiving unit 84 and the light receiving state of the second light receiving unit 86 basically coincide with each other.

[0119] The CPU 62 of the operation terminal 15 acquires information indicating the light receiving state of the first light receiving unit 84 and information indicating the light receiving state of the second light receiving unit 86, and when the light receiving state of the first light receiving unit 84 is at a HIGH level and the light receiving state of the second light receiving unit 86 is at a HIGH level, i.e., when the light receiving states of both light receiving units 84, 86 match at a HIGH level, the CPU 62 "permits" the movement of the robot 11. On the other hand, when either the light receiving state of the first light receiving unit 84 or the light receiving state of the second light receiving unit 86 is at a LOW level, the CPU 62 "disallows" the movement of the robot 11.

[0120] <Variation 2> In the third and fourth embodiments, the operation dial 81 is configured to be switched from the first position PS1 to the second position PS2 to the third position PS3 by rotating the operation dial 81 in the first direction (second direction). Depending on the user, the burden when holding the operation dial 81 in the second position PS2 may differ depending on the direction of rotation of the operation dial 81. In this modified example, a device is provided that takes such circumstances into consideration. Specifically, as shown in FIG. 23, the enable switch 49E is configured to be switched from the first position PS1 (see FIG. 23(a)) to the second position PS2 (see FIG. 23(d)) to the third position PS3 (see FIG. 23(e)) not only when the operation dial 81 is rotated in the second direction but also when the operation dial 81 is rotated in the first direction. That is, the second position PS2 and the third position PS3 are set in both the first and second directions. In order to embody such a technical idea, in the enable switch 49E shown in this modification, the stopper portion 97 shown in the third embodiment is omitted, and the biasing member is changed to one that generates a biasing force (restoring force) in the second direction when the operation dial 81 is rotated in the first direction from the standby state, and generates a biasing force (restoring force) in the first direction when the operation dial 81 is rotated in the second direction from the standby state. In addition, a slit 89E corresponding to the rotation operation in the first direction and a slit 89E corresponding to the rotation operation in the second direction are formed in the reflector 87E.

[0121] Incidentally, the rotation range of the operation dial 81E is set to be 180° in both the first direction and the second direction. That is, the number of slits 89E passing through the front of the sensor unit 82 by rotation in the first direction and by rotation in the second direction is one.

[0122] The rotary type enable switch 49E that can be rotated in both directions as shown in this modified example may be disposed in the center of the width of the operation terminal 15B (housing 42B) as shown in Fig. 24(a). Such a disposition makes it easier to access the enable switch 49E with either the left or right hand, and more effectively utilizes the effect of allowing rotation in both directions.

[0123] In this modification, the slit 89E is formed so that the rotation angle from the first position PS1 to the second position PS2 is the same in the first direction and the second direction, but is not limited to this. The slit 89E may be formed so that the rotation angle from the first position PS1 to the second position PS2 is different in the first direction and the second direction.

[0124] <Variation 3> As shown in Fig. 21, the enable switch 49C shown in the fourth embodiment can be held in the second position PS2 by placing the fingers of the hand gripping the grip portion 43C on the side wall portion 81aC of the operation dial 81C. Here, if the hand gripping the grip portion 43C is suddenly gripped, the operation dial 81C may be pressed so as to be pushed inward. Therefore, by making the operation dial 81C retractable and detecting the movement of the operation dial 81C when it is pressed in, and setting the operation of the robot 11 to "not permitted", it is possible to further improve safety.

[0125] 24(b1) and (b2), a mounting base 95F to which the operation dial 81C is attached so as to be rotatable may be made movable, a biasing member may be provided to bias the operation dial 81C in a protruding direction, and the amount of protrusion of the operation dial 81C may be changed by the operation dial 81C being pushed in against the biasing force of the biasing member. Here, with regard to the slit 81cC formed in the operation dial 81C, if the slit 81cC is configured to be located on the optical path between the light-emitting unit 83C and the light-receiving unit 84C when the operation dial 81C is located at the protruding position, and to be separated from the optical path when the operation dial 81C is pushed in, and the light from the light-emitting unit 83C is blocked by the flesh of the operation dial 81C, the movement to the pushed-in position may be detected by the sensor unit 82, and no additional sensor for detecting the push-in may be required.

[0126] <Modification 4> In the third and fourth embodiments, the rotation position of the operation dial 81 is detected using the sensor unit 82, which is an optical sensor, but the specific configuration for detecting the rotation position is arbitrary. For example, other sensors such as a magnetic sensor may be used.

[0127] <Variation 5> In the fourth embodiment, the operation dial 81C of the enable switch 49C is disposed in a position where it can be operated by the fingers of the hand holding the grip portion 43C, but this may be changed and the operation dial 81C may be disposed in a position where it is covered by the hand (e.g., the palm) holding the grip portion 43C. If the operation dial 81C can be held in the second position PS2 by placing the palm of the hand against the operation dial 81C, this can contribute to reducing the burden on the fingers.

[0128] <Variation 6> In the above-described fourth embodiment, a finger rest portion 92C was formed on the side portion 42cC of the housing 42 at a position on the front side of the operation dial 81C, but instead or in addition to this, a finger rest portion may be formed on the side portion 42cC at a position on the rear side of the operation dial 81C.

[0129] <Variation 7> In the third embodiment, the operation dial 81B is disposed so as to protrude from the rear surface 42bB of the housing 42B, but it is also possible to dispose the operation dial 81B so that the top (flat surface) of the operation dial 81B is located on the same plane as the rear surface 42bB. Even in this case, by forming a finger rest portion so as to surround the operation dial 81B, the burden on the fingers when the operation dial 81B is held in the second position PS2 can be reduced by placing the fingers across the finger rest portion and the top (flat surface) of the operation dial 81B.

[0130] <Variation 8> In the third embodiment, the reflector 87 is fixed to the operation dial 81, but the present invention is not limited to this. It is sufficient that the positional relationship (phase) between the sensor unit 82 and the reflector 87 is changed by a rotation operation by the user, and the reflector 87 may be fixed to the mounting base 95, while the sensor unit 82 is fixed to the operation dial 81, and the sensor unit 82 may rotate following the rotation of the operation dial 81.

[0131] <Variation 9> It is also possible to provide a projection or recess for hooking a finger on the operation surface on the side wall portion 81a of the operation dial 81 shown in the third embodiment and the like.

[0132] <Fifth embodiment> In the operation terminal 15 shown in the first embodiment, the operation of the robot 11 is switched between permitted and prohibited depending on the pressing force (magnitude of pressing force) when the enable switch 49 is pressed by the user. In contrast, as shown in FIG. 25, the enable switch 49H shown in this embodiment is an insertion type in which a finger is inserted, and the operation of the robot 11 is switched between permitted and prohibited depending on the insertion position of the finger into the insertion part 101 provided in the operation terminal 15H, which is different from the first embodiment. The enable switch 49H and its related configuration in this embodiment will be described below with reference to FIGS. 25 to 27. Note that the description of the configuration common to the first embodiment will be omitted as appropriate. FIG. 25(a) is a rear view of the operation terminal 15H, and FIG. 25(b) is a partial cross-sectional view taken along the line BB in FIG. 25(a).

[0133] As shown in FIG. 25(a), the enable switch 49H is disposed in a bulging portion 51H formed on the rear portion 42bH of the housing 42H. The bulging portion 51H extends vertically along the edge of the rear portion 42bH, and is expanded so that the width is increased at a part of the upper side. In the part where the width is not expanded, it is possible to hook the tip of the finger on the side wall portion 52H of the bulging portion 51H by bending the fingers of the hand placed on the bulging portion 51H. In contrast, in the part where the width is expanded, it is difficult to bend the fingers. The enable switch 49H is disposed in this expanded part, specifically, on a surface portion (flat portion 55H) of the bulging portion 51H facing the thickness direction of the operation terminal 15H. In other words, the enable switch 49H is disposed at a position on the flat portion 55H where any finger of the hand H holding the grip portion 43H can reach. In addition, FIG. 25 and other figures show an example in which the index finger (hereinafter, finger F2) is inserted.

[0134] 25(b), the enable switch 49H has a tunnel-shaped insertion portion 101 into which a finger (finger F2) can be inserted. The insertion portion 101 is composed of a flat portion 55H on the housing 42H side and a housing 102 attached to the flat portion 55H. In other words, a finger insertion area IS in the insertion portion 101 is defined and formed by the flat portion 55H and the housing 102.

[0135] The insertion area IS extends in the width direction of the operation terminal 15H and is open on the left side. That is, the entrance 101a of the insertion part 101 faces leftward. This makes it easy to insert the fingers (e.g., finger F2) of the hand H gripping the grip part 43H. Note that the hand strap 44 (see FIG. 3) is not shown in FIG. 25.

[0136] The housing 102 is formed by combining an inner cover 103 made of a colorless and transparent synthetic resin having light transmission and an outer cover 104 made of a colored and opaque synthetic resin having light blocking properties so as to form an inner and outer double layer, and is unitized with a sensor unit 111 housed in the gap between the inner cover 103 and the outer cover 104. The sensor unit 111 has a first optical sensor 111a consisting of a first light emitter 112 and a first light receiver 113, and a second optical sensor 111b consisting of a second light emitter 114 and a second light receiver 115, and is arranged in the finger insertion direction so that the first optical sensor 111a is on the entrance side of the insertion portion 101 and the second optical sensor 111b is on the back side of the insertion portion 101.

[0137] Both the first light-emitting portion 112 and the second light-emitting portion 114 face the insertion area IS and face the flat portion 55H with the insertion area IS in between. A long plate-shaped reflector 117 is fixed to the part of the flat portion 55H facing the insertion area IS. The reflector 117 fits into a recess formed in the flat portion 55H and forms the inner wall of the insertion area IS together with the flat portion 55H.

[0138] Light from the first light-emitting unit 112 passes through the inner cover 103 and is irradiated to the reflector 117, and the light reflected by the reflector 117 passes through the inner cover 103 again and reaches the first light-receiving unit 113. When light arrives in this way, the light-receiving state of the first light-receiving unit 113 becomes a HIGH level. Also, light from the second light-emitting unit 114 passes through the inner cover 103 and is irradiated to the reflector 117, and the light reflected by the reflector 117 passes through the inner cover 103 again and reaches the first light-receiving unit 113. When light arrives in this way, the light-receiving state of the first light-receiving unit 113 becomes a HIGH level.

[0139] Now, with reference to FIG. 26, the relationship between the finger insertion position and the light receiving state of each of the light receiving sections 113 and 115 will be described.

[0140] As shown in FIG. 26(a), when finger F2 is not inserted into insertion portion 101, there is nothing blocking the light from first light-emitting portion 112 and the light from second light-emitting portion 114, so that the light receiving state of first light-receiving portion 113 and the light receiving state of second light-receiving portion 115 are both at a HIGH level, as described above.

[0141] As shown in FIGS. 26(b) and (c), when a finger F2 is inserted into the insertion portion 101, the light receiving states of the light receiving portions 113 and 115 differ depending on the insertion position (insertion depth) of the finger F2.

[0142] Specifically, as shown in FIG. 26(b), when the finger F2 is placed at a relatively shallow position and does not reach the optical path of the second optical sensor 111b, the light from the second light emitter 114 is reflected by the reflector 117 and reaches the second light receiver 115, so that the light receiving state of the second light receiver 115 is at a HIGH level. On the other hand, the light from the first light emitter 112 hits the finger F2 and is diffused, so that only a small amount of light reaches the first light receiver 113. As a result, the light receiving state of the first light receiver 113 is at a LOW level. On the other hand, as shown in FIG. 26(c), when the finger F2 is placed at a relatively deep position and reaches both the optical paths of the first optical sensor 111a and the second optical sensor 111b, the light from the first light emitter 112 hits the finger F2 and is diffused, so that only a small amount of light reaches the first light receiver 113. Furthermore, the light from the second light emitting unit 114 is also diffused by hitting the finger F2, and only a small amount of light reaches the second light receiving unit 115. As a result, the light receiving states of the first light receiving unit 113 and the second light receiving unit 115 are both at a LOW level. In the following description, a position where the finger is not inserted into the insertion unit 101, i.e., a position where the light receiving states of both the light receiving units 113 and 115 are at a LOW level, is called a "non-inserted position", a position where the finger is at a LOW level and a HIGH level, is called a "first inserted position", and a position where the finger is at a LOW level and a LOW level, is called a "second inserted position".

[0143] Both the first optical sensor 111a and the second optical sensor 111b are connected to the control board 61 of the operation terminal 15H, and the CPU 62 grasps the light receiving state of each of the light receiving parts 113, 115. The CPU 62 switches the operation of the robot 11 to "permitted" / "not permitted" according to the grasped light receiving state. Here, the relationship between the finger position and the switching between "permitted" / "not permitted" will be described with reference to FIG. 27.

[0144] When the finger is in the "non-insertion position", i.e., when both of the light receiving states of the optical sensors 111a and 111b are at a HIGH level, the operation of the robot 11 is "not permitted". When the finger is inserted into the "first insertion position", i.e., when the light receiving state of the first optical sensor 111a is at a LOW level and the light receiving state of the second optical sensor 111b is at a HIGH level, the operation of the robot 11 is "permitted". By keeping the finger in the "first insertion position", the operation of the robot 11 can be maintained in the "permitted" state. When the work is completed and the finger is pulled out of the insertion section 101, the finger is in the "non-insertion position" and the operation of the robot 11 is "not permitted" again.

[0145] On the other hand, when the robot 11 is operated with the finger at the "first insertion position", if the finger is suddenly moved to the back side and the finger position becomes the "second insertion position", that is, when the light receiving states of the optical sensors 111a and 111b are both at a HIGH level, the operation of the robot 11 is "not permitted". In this case, the switching from "not permitted" to "permitted" is temporarily restricted. Specifically, when the finger is moved from the "second insertion position" to the "non-insertion position", the finger passes through the "first insertion position", but if the finger reaches the "first insertion position" on the return path from the "second insertion position", the "not permitted" state remains. Then, when the finger position becomes the "non-insertion position", the restriction is lifted.

[0146] According to the fifth embodiment described above in detail, the following excellent effects can be expected.

[0147] The robot 11 is permitted to operate by inserting a finger into the insertion section 101 and keeping the finger at the first insertion position. With this configuration, it is not necessary to continue applying force against the biasing force of a spring or the like, or to maintain the shape of the finger in a fixed shape, as in the conventional enabling switch. In other words, it is possible to suppress the burden on the user's fingers from increasing when maintaining the state in which the operation is permitted. This is preferable in terms of reducing the user's fatigue and improving work efficiency. It is also assumed that the user will perform a reflex action of releasing or clenching the hand when encountering an unexpected dangerous situation. According to the enabling switch 49H shown in this embodiment, the position of the finger is shifted to the entrance 101a side or the back side of the insertion section 101 due to these reflex actions, so that the insertion position of the finger is moved away from the first insertion position and the operation of the robot 11 is disabled. For the above reasons, it is possible to contribute to improving safety and reducing the burden on the user when using the operation terminal 15H.

[0148] By arranging the insertion part 101 at a position where the fingers of the hand holding the grip part 43H can be inserted as shown in this embodiment, the user can maintain a state in which operation of the robot 11 is permitted by using the fingers of the hand holding the operation terminal 15H. This is preferable for improving user convenience.

[0149] By making the insertion section 101 have a straight structure as shown in this embodiment, it is possible to suitably prevent the user's finger from getting caught inside the insertion section 101 when he or she tries to quickly pull out the finger. This is preferable for quickly switching from a driving permission state to a driving non-permission state.

[0150] If the optical sensors 111a and 111b are used to detect the position of the finger as shown in this embodiment, a contact structure (fixed contacts, movable contacts) is not required, and even if the operation terminal 15H is used repeatedly, the possibility of failure or malfunction of the enable switch 49H due to wear can be reduced. In addition, since there is no contact structure, there is no need to rely on the user to exert force to maintain contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the robot 11 is permitted.

[0151] Sixth embodiment The operation terminal 15H shown in the fifth embodiment is provided with an insertion section 101 into which the finger gripping the gripping section 43H can be inserted, and the operation of the robot 11 is switched between "permitted" and "not permitted" depending on the insertion position of the finger in the insertion section 101. Here, the hand gripping the gripping section 43H may be clenched in an emergency. In this embodiment, the configuration related to the enable switch 49H is partially changed in consideration of such hand movements. Hereinafter, with reference to FIG. 28, the enable switch 49K in this embodiment will be described, focusing on the differences from the enable switch 49H shown in the fifth embodiment. Note that the description of the same configuration as in the fifth embodiment will be omitted as appropriate.

[0152] As shown in FIG. 28(a) and the like, in the operation terminal 15K shown in this embodiment, an enable switch 49K having optical sensors 111a and 111b is arranged on a rear surface 42bK (bulge 51K) of a housing 42K, as in the fifth embodiment. A reflector 117K that reflects light from the optical sensors 111a and 111b is attached to a flat surface 55K of the bulge 51K, but this reflector 117K is movable. Specifically, the reflector 117K has an elongated plate shape extending in the direction in which a finger is inserted into the insertion section 101K, and a shaft pin 124 extending in a direction intersecting with the direction in which the finger is inserted is inserted into a portion of the reflector 117K that is deeper than the first optical sensor 111a. The shaft pin 124 is fixed to the bulge 51K, and the reflector 117K is pivotally supported by the shaft pin 124 so as to be rotatable.

[0153] A recess 121 is formed in the flat surface 55K to ensure an operating area for the reflector 117K, and a biasing member (spring member) 122 is disposed between the recess 121 and the reflector 117K to bias the end of the reflector 117K on the entrance 101a side so as to lift it toward the insertion area IS side. The flat surface 55K is also provided with a stopper portion 123 that abuts against the end of the reflector 117K on the far side from the insertion area IS to prevent further rotation. Although the end of the reflector 117K on the entrance 101a side is pressed by the biasing member 122, the end of the reflector 117K on the far side abuts against the stopper portion 123, so that the reflector 117K is maintained in a position parallel to the insertion area IS (hereinafter referred to as the initial position). In the initial position, the reflector 117K and the flat surface 55K are located on the same plane.

[0154] As shown in FIG. 28(b), when the finger F2 is inserted into the first insertion position, the light receiving state of the first optical sensor 111a becomes a LOW level. Even when the finger F2 is inserted into the first insertion position, if the reflector 117K is not pressed by the finger F2, the reflector 117K is maintained in the initial position, and the light receiving state of the second optical sensor 111b becomes a HIGH level. As shown in FIG. 28(c), when the finger F2 is inserted into the second insertion position, the fingertip is positioned on the back side of the axis line CL3, and even if the fingertip presses the reflector 117K, the stopper portion 123 prevents the reflector 117K from rotating. In other words, when the finger F2 is inserted into the second insertion position, the light receiving states of both the first optical sensor 111a and the second optical sensor 111b become a LOW level, as in the fifth embodiment.

[0155] 28(b) to 28(d), when the hand is clenched while the finger F2 remains at the first insertion position to allow the robot 11 to operate, the finger F2 pushes the reflector 117K away from the insertion area IS, causing the reflector 117K to rotate against the biasing force of the biasing member 122, and causing a change in the attitude (tilt) of the reflector 117K. As a result, the optical path of the second optical sensor 111b changes significantly due to the change in the angle of incidence and the angle of reflection on the reflector 117K, and the light receiving state of the second optical sensor 111b changes from HIGH level to LOW level.

[0156] When the light receiving states of the first optical sensor 111a and the second optical sensor 111b are both at a LOW level, the CPU 62 of the operation terminal 15K "disallows" the movement of the robot 11, as in the case where the finger is inserted into the second insertion position. In other words, if the reflector 117K is pressed by the user's finger in an instantaneous attempt to clasp his / her hand, the "allowance" of the movement of the robot 11 is cancelled by that movement.

[0157] <Variation 1> In the first optical sensor 111a and the second optical sensor 111b shown in the fifth and sixth embodiments, the light from the light emitting units 112 and 114 is irradiated in a direction intersecting the rear surface 42bH of the housing 42H, but the light irradiation direction is not limited to this. For example, it is also possible to irradiate the light from the first optical sensor 111a and the second optical sensor 111b in a direction parallel to the rear surface 42bH (see FIG. 29, for example).

[0158] <Variation 2> In the sixth embodiment, the second optical sensor 111b that detects the insertion position of the finger in the insertion portion 101 is used to detect the behavior of the user when the hand is clenched. That is, the posture of the reflector 117K changes when the hand is clenched, and the change in posture changes the light receiving state of the second optical sensor 111b. This does not deny the use of a sensor other than the second optical sensor 111b in the configuration that can detect the behavior of the hand when it is clenched.

[0159] For example, the first optical sensor 111a may be configured to detect the behavior of a hand when the hand is clenched. A specific configuration will be described below with reference to FIG. 29. In the enable switch 49L shown in FIG. 29, the optical sensors 111a and 111b and the reflector 117L are arranged at positions sandwiching the insertion area IS from above and below. In other words, the optical paths of the light from the light emitting units 112 and 114 are arranged to traverse the insertion area IS. A recess 121L is formed in the part of the flat portion 55 covered by the housing 102L. The recess 121L extends from the insertion portion 101L so as to straddle the entrance 101a of the insertion portion 101L, and a movable plate 125L is arranged so as to close the opening of the recess 121L.

[0160] The movable plate 125L is capable of being displaced within the recess 121L toward the bottom surface side and the insertion area IS side. A biasing member 122L is disposed in the recess 121L so as to be sandwiched between the bottom surface of the recess 121L and the movable plate 125L, and waits near the opening of the recess 121L due to the biasing force of the biasing member.

[0161] When the user inserts his / her finger into the first insertion position and tries to clench his / her hand, the movable plate 125L is pushed by the finger F2, and the movable plate 125L moves away from the insertion area IS against the biasing force of the biasing member 122L (see Fig. 29 (b1), (d1)). When the finger F2 moves away from the insertion area IS together with the movable plate 125L, the finger F2 is removed from the optical path of the first optical sensor 111a, and the light receiving state of the first optical sensor 111a (light receiving unit 113) changes from LOW level to HIGH level. In other words, the light receiving states of the light receiving units 113 and 115 are both HIGH level, and the operation of the robot 11 is "not permitted". With this configuration, the first optical sensor 111a also has the function of detecting the behavior of the user when he / she clenches his / her hand.

[0162] In addition to the first optical sensor 111a and the second optical sensor 111b, it is also possible to add a sensor that detects the behavior of the user when he / she clenches his / her hand, for example, a sensor for detecting a change in the attitude of the reflector 117K. For example, it is preferable to arrange a contact sensor in the recess 121 or the like so as to come into contact with the reflector 117K when the attitude of the reflector 117K changes.

[0163] <Variation 3> In the fifth and sixth embodiments, the sensor unit 111 is disposed on the housing 102 side, and the reflector 117 is disposed on the casing 42H side (the bulging portion 51H side), but the present invention is not limited to this. As in the enable switch 49P shown in Fig. 30(a), the reflector 117 may be disposed on the housing 102P side, and the sensor unit 111 may be disposed on the casing 42P (the bulging portion 51P) side. In this case, a light transmitting portion 128P (e.g., a transparent plate) that transmits light may be provided in a portion that forms the wall surface of the insertion area IS in the flat portion 55P of the bulging portion 51P, i.e., in a portion sandwiched between the reflector 117 and the sensor unit 111.

[0164] <Modification 4> Although the fifth and sixth embodiments have been described above with reference to the configurations using the reflective sensor unit 111, a configuration using a transmissive sensor unit 111 may also be used. For example, as in an enable switch 49Q shown in Fig. 30(b), light-emitting units 112 and 114 may be provided on the housing 102Q side, and light-receiving units 113 and 115 may be provided on the casing 42Q side.

[0165] <Variation 5> In the fifth and sixth embodiments, the enable switch 49H (insertion section 101) is disposed at a position where the finger of the hand gripping the grip section 43H can be inserted. In a configuration in which the operation of the robot 11 is switched between "permitted" and "not permitted" depending on the insertion position of the finger into the insertion section 101, it may be difficult to hold the operation terminal 15H comfortably while keeping the finger at the first insertion position depending on the size of the hand (length of the finger). Therefore, as shown in FIG. 30(c), it is preferable to apply a configuration (e.g., an adjustment mechanism) in which the housing 102R (including the sensor unit 111) of the enable switch 49R can be slid in the width direction of the operation terminal 15R, that is, toward and away from the side portion 42cR of the housing 42R, and the position of the enable switch 49R can be arbitrarily adjusted by the user within the slidable range.

[0166] <Variation 6> The enable switch 49H shown in the fifth and sixth embodiments has the insertion portion 101 formed so that the finger insertion direction is the width direction of the operation terminal 15H, but this is not limited to this, and the insertion portion may be formed so that the finger insertion direction is the height direction of the operation terminal, or the insertion portion may be formed so that the finger insertion direction is the thickness direction of the operation terminal.

[0167] Here, when the insertion direction is the thickness direction of the operation terminal, as illustrated in Fig. 31, by forming the insertion portion 101S in the bulge portion 51S provided on the back surface of the operation terminal 15S (housing 42S), it is easy to ensure an insertion space for the finger. In particular, since the bulge portion 51S has a function as the grip portion 43S to be gripped by the user, by forming the insertion portion 101S in the bulge portion 51S, it becomes easy to insert the finger (e.g., finger F2) of the hand H gripping the grip portion 43S. In the example of Fig. 31, the entrance 101aS of the insertion portion 101S faces backward.

[0168] The sensor unit 111 (the first optical sensor 111a and the second optical sensor 111b) and the reflector 117S are arranged so as to sandwich the insertion area IS of the insertion portion 101S in the width direction. More specifically, the reflector 117S is arranged on the side surface portion 42cS side of the housing 42S, and the sensor unit 111 is arranged on the center side of the housing 42S. The reflector 117S is movable like the reflector 117K of the sixth embodiment, and is pivotally supported on the back side of the insertion portion 101S so as to be rotatable. When the user holds the finger F2 at the first insertion position and the hand H is gripped in an instant, the reflector 117S is pushed by the finger F2, and the reflector 117S pivots about the pivot point, changing the attitude (inclination) of the reflector 117S. The sensor unit 111 is arranged so that the first optical sensor 111a is on the entrance 101a side and the second optical sensor 111b is on the back side, and the optical path of the second optical sensor 111b changes as the attitude of the reflector 117S changes. As a result, the light receiving state of the second light receiving unit 115 changes from HIGH level to LOW level, and the movement of the robot 11 changes from "permitted" to "not permitted."

[0169] <Variation 7> In the fifth and sixth embodiments, an optical sensor is used as the "detection unit", but it is also possible to use a pressure-sensitive sensor, a capacitance sensor, a sonic sensor, or the like.

[0170] <Variation 8> In the sixth embodiment described above, a first insertion position and a second insertion position are defined as positions for inserting a finger into the insertion portion 101K. However, it is also possible to configure the robot 11 to be permitted to operate when a finger is inserted into the insertion portion 101K, and to revoke the permission when the finger is removed from the insertion portion 101K or when the reflector 117K is pushed in.

[0171] <Variation 9> In the sixth embodiment, the reflector 117K is disposed on the same plane as the flat portion 55K, but in order to reduce the chance of the reflector 117K being pressed by mistake, the position of the reflector 117K can be offset toward the bottom side of the recess 121. In particular, when the enable switch is disposed on the rear side of the operation terminal, the inserted finger bears the weight of the operation terminal, making it easier for the reflector to be pressed. In other words, in a configuration in which the enable switch is disposed on the rear side, the chance of an erroneous operation can be reduced by applying the configuration shown in this modified example.

[0172] <Modification 10> In the sixth embodiment, the reflector 117K is pushed to change its attitude, and the incident angle and reflection angle of the light from the light emitter 114 change, causing the light receiving state of the light receiver 115 to change from HIGH level to LOW level, but the present invention is not limited to this. For example, as shown in the fourth modification, when a transmission type optical sensor is used, a movable body that partially transmits (passes) light may be provided instead of the reflector 117, and when the movable body is pushed to change its attitude, the transmitting (passing) part may be moved out of the optical path, preventing the light from reaching the light receiver.

[0173] <Modification 11> In the fifth and sixth embodiments, the number of fingers that can be inserted into the insertion portion 101 is one, but this is not limited thereto. A plurality of fingers may be insertable into the insertion portion. In such a configuration, the robot 11 may be permitted to operate when all of the plurality of fingers inserted into the insertion portion are located at the first insertion position, and the robot 11 may not be permitted to operate when at least one of the plurality of fingers inserted into the insertion portion is located at the second insertion position. When a plurality of fingers can be inserted, an increase in the number of sensors can be suppressed by devising a method in which the direction of irradiation of light from the optical sensor is aligned with the direction in which the group of fingers to be inserted are arranged.

[0174] <Other embodiments> The present invention is not limited to the above-described embodiments, and may be implemented as follows: Each of the following configurations may be applied individually to each of the above-described embodiments, or may be applied in combination with a part or all of the following configurations to each of the above-described embodiments.

[0175] (1) In each of the above embodiments, the grip portion 43 to be gripped by the user is provided on the left and right ends of the operation terminal 15, but the position of the grip portion 43 is not limited to this. It may be provided on the top or bottom end of the operation terminal 15, or in a corner. Even if the grip portion 43 is provided in any position, it is preferable that the enable switch 49 is located in a position that can be operated with the hand holding it.

[0176] (2) The operation terminal 15 shown in each of the above embodiments may be configured so that the display 41 and the housing 42 are detachable. That is, the operation terminal 15 may be configured with the display 41 and a display holder that detachably holds the display 41.

[0177] (3) In each of the above embodiments, the operation terminal 15 is a portable type, but the enable switch 49 mounted on the operation terminal 15 can also be applied to a stationary operation terminal.

[0178] <Inventions extracted from the above embodiments> The following describes the features of the inventions extracted from the above-mentioned embodiments, while indicating, as necessary, their effects, etc. In the following, for ease of understanding, the corresponding configurations in the above-mentioned embodiments are appropriately indicated in parentheses, but the present invention is not limited to the specific configurations indicated in parentheses.

[0179] <Feature A Group> Pressure detection type Hereinafter, a group of features A, which are technical ideas extracted mainly from the first embodiment, the second embodiment, and their modified examples, will be described.

[0180] The following feature group A is about the background technology that states, "Some operating terminals, such as teaching pendants used to operate industrial robots, are equipped with enable switches to improve safety during manual operation. An enable switch is a safety switch for enabling or disabling manual operation of a robot. In recent years, this type of switch has been proposed in which the manual operation of a robot is enabled when the operator is pressed slightly (i.e., pressed to an intermediate position), but disabled when the operator is pressed deeply (see, for example, Patent Document 1)." The feature group B is about the background technology that states, "Here, in order to maintain the enabled state of manual operation, it is necessary to hold the operator in an intermediate position, and the operator It is necessary to keep applying a constant force so that the force of the operating finger does not become too weak or too strong. In reality, even if the user is conscious of the force applied, the force will fluctuate to a certain extent. Therefore, some users may operate the device by paying attention to the shape of their hand (fingers) and maintaining the hand in a specific shape. However, applying force for a long period of time or maintaining the hand in the same shape can be a significant burden for the user. In addition, there are various types of users who use operating terminals, and it is expected that the above burden will become more noticeable if the user operates the device in accordance with the specifications (required force) of the enable switch. This was done in consideration of the background and issues.

[0181] Feature A1. A robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), A safety switch (enable switch 49) including a safety operation unit (operator 57) that is pressed by a user and a detection unit (force sensor 59) that detects the pressing force applied to the safety operation unit, A robot operation terminal that allows the industrial robot to operate when the pressing force detected by the detection unit is within a specified range, and does not allow the industrial robot to operate when the pressing force detected by the detection unit is smaller than the specified range or larger than the specified range.

[0182] According to the configuration of this feature, when the pressure detected by the detection unit is within a predetermined range, the operation of the industrial robot is permitted, and when the detected pressure is smaller or larger than the predetermined range, the operation of the industrial robot is not permitted. With this configuration, for example, when a user is manually operating the robot and the safety operation unit is strongly pressed by suddenly grabbing the hand, the operation of the robot is not permitted. This is preferable for improving the safety of the industrial robot.

[0183] Here, in the case of a conventional safety switch having a contact structure (fixed contact and movable contact), a force is required to maintain contact between the contacts, and the force required to stabilize the contact state may be large. In this regard, according to the configuration for detecting the pressing force as shown in this feature, the above-mentioned contact structure is not required, and the force to maintain contact between the contacts is also not required. Therefore, a smaller pressing force than conventional can be tolerated to allow the robot to operate, and the pressing force required of the user (the lower limit of the above-mentioned predetermined range) can be reduced. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the industrial robot is permitted.

[0184] Feature A2. The robot operation terminal according to feature A1, further comprising a change unit (eg, a function of executing setting change processing in CPU 62) that changes the predetermined range based on a change operation by a user.

[0185] In order to keep the operation of the industrial robot permitted, the pressure applied to the safety operation unit needs to be kept within a predetermined range, and the amount of pressure that is easy to maintain constant may differ from user to user. In other words, if there is a large deviation between the set predetermined range and the pressure that is easy for the user to maintain constant, the burden on the user may increase. In this regard, as shown in this feature, a configuration in which the above-mentioned predetermined range, which is the standard for permission, can be changed by the user is effective in reducing the burden on the user.

[0186] Feature A3: A robot operation terminal according to feature A2, wherein the change unit is capable of changing at least the lower limit of the specified range between a lower limit (threshold on the lower limit side) and an upper limit (threshold on the upper limit side).

[0187] In order to reduce the burden on the user's fingers, it is preferable to set the lower limit of the specified range low. On the other hand, assuming the following cases, it is considered that there may be cases where it is preferable to set the lower limit of the specified range a little high. That is, when it is desired to prohibit the operation of the industrial robot while holding the robot operation terminal, it is not preferable for the industrial robot to operate due to unintentional touching of the safety operation unit. Paying attention to prevent such an event from occurring can be a burden for the user. Therefore, in order to reduce the possibility of such unintended operation, it is effective to set the lower limit of the specified range a little high. In view of these circumstances, there is technical significance in making the lower limit of the specified range a changeable object.

[0188] Feature A4. A robot operation terminal according to Feature A3, in which the range within which the lower limit of the specified range can be changed by the change unit is limited.

[0189] If the lower limit of the predetermined range is set too low, it may cause the safety switch to malfunction. Also, if the lower limit is set too high by mistake, there is a concern that the effect of reducing the burden on the user may not be fully achieved. For these reasons, when realizing the technical idea shown in feature A3, it is preferable to limit the range in which the lower limit can be changed, as shown in this feature.

[0190] Feature A5. The robot operation terminal according to Feature A2, wherein the change unit is capable of changing at least the upper limit of the specified range between a lower limit (a threshold on the lower limit side) and an upper limit (a threshold on the upper limit side).

[0191] As shown in feature A1, it is preferable in terms of improving safety to configure the robot so that its operation is not permitted (permission is cancelled) if the safety operation unit is suddenly and strongly pressed. Here, in terms of improving safety, it is preferable to set the upper limit of the specified range low to a certain extent, but if the upper limit is low, there is a concern that even a slight increase in pressure will result in the operation being not permitted, which may lead to reduced work efficiency. In this case, the effect of reducing the burden on the user will not be fully achieved. For these reasons, there is technical significance in making the upper limit of the specified range subject to change.

[0192] Feature A6. A robot operation terminal according to feature A5, in which the range within which the upper limit of the predetermined range can be changed by the change unit is limited.

[0193] Setting the upper limit of the predetermined range too low increases the chances of unintentional denial of permission. Also, if the upper limit is set too high, there is a concern that the effect of improving safety will not be fully realized. For these reasons, when embodying the technical idea shown in feature A5, it is preferable to limit the range in which the upper limit can be changed as shown in this feature.

[0194] Feature A7. A robot operation terminal according to any one of features A2 to A6, wherein the change unit is capable of individually changing the lower limit (lower limit threshold) and the upper limit (upper limit threshold) of the reference range.

[0195] As shown by this feature, by making it possible to change the upper and lower limits of the reference range individually, a practically preferable configuration can be realized.

[0196] Feature A8: A storage unit (library of RAM 64) that stores the predetermined range changed based on the change operation in association with the user; An identification unit for identifying a user who uses the robot operation terminal (a function for executing the process of step S302 in the automatic change process by the CPU 62); Equipped with A robot operation terminal described in any one of features A2 to A7, wherein the change unit has a function of changing the specified range so that it corresponds to the user identified by the identification unit.

[0197] It is not desirable to change the predetermined range every time the robot operation terminal is used, in terms of improving work efficiency. Therefore, as shown in this feature, by configuring the terminal to be able to reflect the results of past changes, it is possible to reduce the user's efforts and contribute to improving work efficiency. This is desirable in terms of reducing the burden on the user and improving work efficiency.

[0198] Feature A9. A robot operation terminal according to feature A8, which is provided with an instruction unit (a function of executing the processing of step S305 in the automatic change processing in CPU 62) that instructs the user on how to change the specified range when the user identified by the identification unit is a user using the robot operation terminal for the first time.

[0199] As shown by this feature, by configuring the device to instruct changes within a predetermined range at the time of first use, it is possible to prevent the change function from being used effectively.

[0200] Feature A10. A robot operation terminal described in any one of Features A2 to A9, wherein the change unit has a function of changing the specified range in accordance with the current pressing force value detected by the detection unit when a specified change condition is met while the safety operation unit is being pressed by a user.

[0201] According to the configuration showing this feature, the predetermined range is determined based on the actual operation feeling, so that it is possible to reduce the need to reset the range setting.

[0202] Feature A11. A robot operation terminal described in any one of features A2 to A10, wherein the change unit has a function of calculating a lower limit (lower limit threshold) and an upper limit (upper limit threshold) of the specified range from the current pressure force value detected by the detection unit when a specified change condition is met.

[0203] By configuring the threshold value to be calculated based on the actually calculated pressure, it is possible to suitably prevent the result of changing the predetermined range from deviating from the user's preference.

[0204] Feature A12. A robot operation terminal described in feature A10 or feature A11, in which one of the requirements for satisfying the specified change condition is that the current pressure value detected by the detection unit is greater than a specified value.

[0205] If the setting of the predetermined range is changed with an excessively small pressing force, it is expected that the following inconvenience will be likely to occur. That is, even if the user does not press the operation unit, it may be erroneously determined that the robot is within the predetermined range, and the robot's operation may be erroneously permitted. Therefore, as shown in this feature, by setting a lower limit of the pressing force when setting the predetermined range, the above inconvenience can be made less likely to occur.

[0206] Feature A13. The detection unit has a first detection unit and a second detection unit, A robot operation terminal described in any one of features A2 to A12, which allows operation of the industrial robot when each of the pressing forces detected by the first detection unit and the second detection unit is within the specified range, and does not allow operation of the industrial robot when at least one of the pressing forces detected by the first detection unit and the second detection unit is outside the specified range.

[0207] As shown by this feature, if the first detection unit and the second detection unit are used in combination, it is possible to reduce the chance of erroneous permission being given due to a malfunction or noise of the detection unit.

[0208] Feature A14. The detection unit has a first detection unit and a second detection unit, As the predetermined range, a first predetermined range corresponding to the pressing force detected by the first detection unit and a second predetermined range corresponding to the pressing force detected by the second detection unit are provided, permitting operation of the industrial robot when the pressing force detected by the first detection unit is within the first predetermined range and the pressing force detected by the second detection unit is within the second predetermined range, and disallowing operation of the industrial robot when the pressing force detected by the first detection unit is outside the first predetermined range or the pressing force detected by the second detection unit is outside the second predetermined range; A robot operation terminal described in any one of features A2 to A9, wherein the change unit has a function of changing the first predetermined range based on the current pressing force value detected by the first detection unit when a predetermined change condition is met under a situation in which the safety operation unit is pressed by a user, and changing the second predetermined range based on the current pressing force value detected by the second detection unit.

[0209] As shown in this feature, if the first detection unit and the second detection unit are used in combination, the chances of erroneous permission due to failure or noise of the detection unit can be reduced. However, when the same predetermined range is used as a reference, the actual predetermined range may be narrower than the setting due to the influence of individual differences and deterioration of the detection unit. The actual narrowing of the predetermined range may be a factor that makes it difficult to maintain the robot's operation in a permitted state. Therefore, as shown in this feature, the first predetermined range for the first detection unit and the second predetermined range for the second detection unit are used in combination, and the first predetermined range and the second predetermined range are changed by the user's change operation, thereby eliminating the above concerns.

[0210] Feature A15. A robot operation terminal according to any one of features A2 to A14, further comprising a regulating unit that regulates the change unit from changing the specified range when operation of the industrial robot is permitted.

[0211] If a user is operating the robot so that the pressing force falls within a predetermined range, and the predetermined range is suddenly changed, the actual pressing force may deviate from the changed predetermined range, causing the industrial robot to stop. This not only confuses the user, but is also undesirable in terms of improving safety. Therefore, as shown in this feature, it is technically significant to restrict changes to the predetermined range while the industrial robot is in operation and to prevent the predetermined range from being changed due to erroneous operation or malfunction.

[0212] In addition, the configuration shown in this feature may be "a robot operation terminal including a regulating unit that regulates the change unit from changing the specified range at least while the industrial robot is in operation."

[0213] Feature A16. A robot operation terminal according to any one of features A1 to A15, comprising a resistance variable unit that varies the magnitude of the resistance generated when the safety operation unit is pressed based on a change operation by the user.

[0214] As shown in this feature, if the resistance is variable according to the user's preference, it is possible to realize a configuration in which the pressing position can be changed when the pressing force is operated to be within a predetermined range. For example, it is possible to adjust the pressing force to be within the predetermined range by pressing slightly, or to be within the predetermined range by pressing deeply to a certain extent.

[0215] Feature A17. A robot operation terminal described in any one of features A1 to A16, which is provided with a stroke amount change unit that changes the stroke amount of the safety operation unit so that the pressing force detected by the detection unit falls within the specified range when a user presses the safety operation unit.

[0216] As shown by this feature, if the stroke amount can be changed according to the user's preference, it can contribute to reducing the burden on the user.

[0217] Feature A18. A robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), A safety switch (enable switch 49) including a safety operation unit (operator 57) that is pressed by a user and a detection unit (force sensor 59) that detects the pressing force applied to the safety operation unit, The system is configured to permit operation of the industrial robot when the pressing force detected by the detection unit is within a predetermined range (reference range), and to not permit operation of the industrial robot when the pressing force detected by the detection unit is smaller than the predetermined range or larger than the predetermined range, A robot operation terminal including a resistance variable section that varies the magnitude of the resistance generated when a user presses the safety operation section based on a change operation by the user.

[0218] As shown in this feature, if the resistance is variable according to the user's preference, it is possible to realize a configuration in which the pressing position can be changed when the pressing force is operated to be within a predetermined range. For example, it is possible to adjust the pressing force to be within the predetermined range by pressing slightly, or to be within the predetermined range by pressing deeply to a certain extent.

[0219] Feature A19. A robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), A safety switch (enable switch 49) including a safety operation unit (operator 57) that is pressed by a user and a detection unit (force sensor 59) that detects the pressing force applied to the safety operation unit, permitting the operation of the industrial robot when the pressing force detected by the detection unit is within a predetermined range (reference range), and disallowing the operation of the industrial robot when the pressing force detected by the detection unit is smaller than the predetermined range or larger than the predetermined range; A robot operation terminal including a stroke change unit that changes a stroke of the safety operation unit so that the pressing force falls within the predetermined range when a user presses the safety operation unit.

[0220] As shown by this feature, if the stroke amount can be changed according to the user's preference, it can contribute to reducing the burden on the user.

[0221] Feature A20. A safety switch (enable switch 49) applied to a robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), A safety operation unit (operator 57) that is pressed by a user; A detection unit (force sensor 59) that detects a pressing force applied to the safety operation unit; Equipped with A safety switch that allows the industrial robot to operate when the pressing force detected by the detection unit is within a specified range (reference range), and does not allow the industrial robot to operate when the pressing force detected by the detection unit is smaller than the specified range or larger than the specified range.

[0222] According to the configuration of this feature, when the pressure detected by the detection unit is within a predetermined range, the operation of the industrial robot is permitted, and when the detected pressure is smaller or larger than the predetermined range, the operation of the industrial robot is not permitted. With this configuration, for example, when a user is manually operating the robot and the safety operation unit is strongly pressed by suddenly grabbing the hand, the operation of the robot is not permitted. This is preferable for improving the safety of the industrial robot.

[0223] Here, in the case of a conventional safety switch having a contact structure (fixed contact and movable contact), a force is required to maintain contact between the contacts, and the force required to stabilize the contact state may be large. In this regard, according to the configuration for detecting the pressing force as shown in this feature, the above-mentioned contact structure is not required, and the force to maintain contact between the contacts is also not required. Therefore, a smaller pressing force than conventional can be tolerated to allow the robot to operate, and the pressing force required of the user (the lower limit of the above-mentioned predetermined range) can be reduced. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the industrial robot is permitted.

[0224] Feature A21. A safety switch (enable switch 49) applied to a robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), A safety operation unit (operator 57) that is pressed by a user; A detection unit (force sensor 59) that detects a pressing force applied to the safety operation unit; Equipped with The operation of the industrial robot is permitted or prohibited depending on the magnitude of the pressing force detected by the detection unit, A safety switch including a change unit that changes the reference pressure value (reference range) for permitting operation of the industrial robot based on a change operation by a user.

[0225] In order to keep the operation of the industrial robot permitted, the pressure applied to the safety operation unit needs to be kept within a predetermined range, and the amount of pressure that is easy to maintain constant may differ from user to user. In other words, if there is a large deviation between the set predetermined range and the pressure that is easy for the user to maintain constant, the burden on the user may increase. In this regard, as shown in this feature, a configuration in which the above-mentioned predetermined range, which is the standard for permission, can be changed by the user is effective in reducing the burden on the user.

[0226] <Feature B Group> Rotary type Hereinafter, a description will be given of feature group B, which is a technical idea extracted mainly from the third embodiment, the fourth embodiment, and their modified examples.

[0227] The following feature B group is "Some operating terminals, such as teaching pendants used to operate industrial robots, are equipped with enable switches to improve safety during manual operation. An enable switch is a safety switch for enabling or disabling manual operation of a robot. In recent years, this type of switch has been proposed in which manual operation of a robot is enabled when the operator is pressed slightly (i.e., pressed to an intermediate position), but disabled when pressed deeply (see, for example, Patent Document 1). "The background technology of "In this case, in order to maintain a state in which manual operation is enabled, it is necessary to hold the operator in an intermediate position, and it is necessary to constantly apply a constant force so that the force of the fingers operating the operator does not become too weak or too strong. In reality, even if one is conscious of the force to be applied, the force will fluctuate to a certain extent. As such, some users may operate the device by focusing on the shape of their hand (fingers) and maintaining their hand in a specific shape. However, continuing to apply force or maintaining the same hand shape for a long period of time can be a significant burden for the user. There is a concern that this will be a factor in reducing the efficiency of work using an operating terminal."

[0228] Feature B1. A robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), A safety switch (enable switch 49B) is provided that has a rotary type safety operation unit (operation dial 81, etc.) and a detection unit (sensor unit 82) capable of detecting that the rotation position of the safety operation unit is a predetermined rotation position (second position PS2) that is an intermediate position in the rotation range of the safety operation unit, When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A robot operation terminal is provided with a finger rest (finger rest 92) around the safety operation unit, on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated position to the specified rotation position.

[0229] In the robot operation terminal according to this feature, the finger operating the safety operation unit can be placed on the finger rest provided around the safety operation unit, so that the finger can be brought into contact with both the safety operation unit and the finger rest. With this configuration, the finger rest helps to maintain the position and shape of the finger operating the safety operation unit constant, and it is possible to reduce the dependency on the force of the finger when fixing the safety operation unit at a predetermined rotational position. For example, the finger position in the axial direction is less likely to vary by placing the fingertip or the like against the finger rest (stopper function), and the finger position in the trajectory direction is less likely to vary because friction caused by placing the fingertip or the like against the finger rest acts as resistance (resistance generating function). In this way, the burden on the user (fingers) is reduced, making it easier to maintain a state in which the operation of the industrial robot is permitted.

[0230] In addition, the configuration shown in this feature can also be described as "a robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), comprising a safety switch (enable switch 49B) having a safety operation unit (operation dial 81, etc.) rotatable around an axis (axis CL1) extending in a direction intersecting with the front surface of the robot operation terminal, and a detection unit (sensor unit 82) capable of detecting that the rotation position of the safety operation unit is at a predetermined rotation position (second position PS2) which is an intermediate position in the rotation range of the safety operation unit, and configured to permit operation of the industrial robot when the rotation position of the safety operation unit is at the predetermined rotation position and to prohibit operation of the industrial robot when the rotation position is not at the predetermined rotation position, and a finger rest (finger rest 92) on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated state to the predetermined rotation position is provided around the safety operation unit."

[0231] Feature B2: The safety operation part has an operation surface part (side wall part 81a) that is annular about a rotation central axis (axis line CL1) of the safety operation part and is parallel to the rotation central axis, The robot operation terminal according to feature B1, wherein the finger rest portion is planar and faces in a different direction from the operation surface portion.

[0232] According to the configuration shown in this feature, for example, the pad of the finger can be brought into contact with the operation surface portion and the tip of the finger can be brought into contact with the finger rest portion, or the pad of the finger can be brought into contact with the operation surface portion and the side of the finger can be brought into contact with the finger rest portion. In this way, if the contact parts with the operation surface portion and the finger rest portion can be gathered on the fingertip side, the load on the finger when the safety operation portion is maintained in a predetermined rotation position can be further reduced.

[0233] Feature B3 (sliding): A robot operation terminal described in feature B1 or feature B2, wherein the finger rest portion is formed so that when the safety operation portion is rotated from the specified rotation position to the other rotation position, the finger operating the safety operation portion can slide over the finger rest portion.

[0234] According to the configuration shown in this feature, when a user tries to move his / her hand suddenly (in the rotation direction), the finger operating the safety operation unit will slip on the finger rest, and the finger rest will not interfere with the rotation of the safety operation unit. This is preferable in terms of reducing the time lag when the operation of the industrial robot is not permitted.

[0235] Feature B4 (sliding): A robot operation terminal according to feature B1 or feature B2, wherein the finger rest portion has a flat surface and is formed so as to surround the safety operation portion when viewed from the front.

[0236] According to the configuration shown in this feature, when a user tries to move his / her hand suddenly (in the rotation direction), the finger operating the safety operation unit will slip on the finger rest, and the finger rest will not interfere with the rotation of the safety operation unit. This is preferable in terms of reducing the time lag when disabling the operation of the industrial robot.

[0237] Feature B5 (bidirectional rotation): A first rotation position and a second rotation position are provided as the predetermined rotation position, the safety operation unit is configured to be in a standby state in a rotation position between the first rotation position and the second rotation position when a rotation operation is not performed by a user, A robot operation terminal described in any one of Features B1 to B4, wherein the safety operation unit is capable of setting the rotation position of the safety operation unit to the first rotation position by rotating the safety operation unit in a first direction while in the standby state, and the safety operation unit is capable of setting the rotation position of the safety operation unit to the second rotation position by rotating the safety operation unit in a second direction while in the standby state.

[0238] The safety operation unit shown in this feature can be rotated in either the first direction or the second direction to allow the operation of the industrial robot, which is preferable in terms of improving user convenience.

[0239] Feature B6 (Limitation): A robot operation terminal described in Feature B5, in which the rotation range of the safety operation unit is limited so that it does not reach the second rotation position when rotated in the first direction from the first rotation position, and so that it does not reach the first rotation position when rotated in the second direction from the second rotation position.

[0240] The safety switch can improve safety by disabling the operation of the industrial robot when rotated from a predetermined rotation position (first rotation position, second rotation position) in either the first direction or the second direction. In the configuration that allows rotation in both the first and second directions as described in feature B5, the switch is restricted so that the second rotation position is not reached when rotated from the first rotation position in the first direction and the first rotation position is not reached when rotated from the second rotation position in the second direction. This makes it possible to easily prevent an event in which the user suddenly rotates the safety operation unit and the operation of the industrial robot is re-permitted due to the first rotation position being unintentionally changed from the first rotation position to the second rotation position or from the second rotation position to the first rotation position.

[0241] Feature B7 (hand strap). The safety operation unit and the finger rest unit are provided on the rear side of the robot operation terminal, A robot operation terminal according to any one of features B1 to B6, wherein a mounting part (hand strap 44) for mounting the robot operation terminal on a hand operating the safety operation part is provided.

[0242] When the rotary type safety operation unit provided on the back of the robot operation terminal is pinched between the fingers, it is possible to support the robot operation terminal with that hand, but it is difficult to stabilize the position of the robot operation terminal by gripping the terminal. As a result, it may be difficult to keep the safety operation unit in a predetermined rotational position. Therefore, by providing a mounting part for mounting the robot operation terminal on the hand operating the safety operation unit (for example, by using a band or the like to pinch the safety operation unit between the hand and the back of the robot operation terminal), it becomes easier to keep the safety operation unit in a predetermined rotational position.

[0243] Feature B8 (side). The safety operation unit is disposed so that a part of the safety operation unit protrudes from a side surface (side surface portion 42cC) of the robot operation terminal, A robot operation terminal according to any one of features B1 to B6, wherein the finger rest portion is formed on the side portion at a position aligned in the thickness direction of the safety operation portion and the robot operation terminal.

[0244] According to the configuration showing this feature, by placing a finger across the safety operation unit and the finger rest portion, the burden on the finger when the safety operation unit is held in a predetermined rotational position can be reduced.

[0245] Feature B9 (side). A robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), a safety switch (enable switch 49C) including a rotary safety operation part (operation dial 81C) and a detection part (sensor unit 82C) capable of detecting that the rotation position of the safety operation part is a predetermined rotation position (second position PS2) which is an intermediate position in a rotation range of the safety operation part; When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A gripping portion (grip portion 43C) to be held by a user is formed at an end of the robot operation terminal, The safety operation unit is disposed in a position where a portion of the safety operation unit protrudes from the end portion and is covered by the hand holding the grip portion.

[0246] In the robot operation terminal according to this feature, the safety operation unit is protruding at a position covered by the hand holding the gripping unit. By placing the hand holding the gripping unit against the safety operation unit, the safety operation unit can be maintained in a predetermined rotational position. At this time, the friction generated between the gripping hand and the safety operation unit can hinder the movement of the safety operation unit, making it unnecessary to apply a fine amount of force. This is preferable in terms of reducing the burden on the user.

[0247] Feature B10. The gripping portion is formed so as to straddle the front, side, and rear portions of the robot operation terminal; The robot operation terminal device according to Feature B9, wherein the safety operation unit is disposed on the side surface.

[0248] According to the configuration shown in this feature, the palm of the hand holding the gripping portion can be placed against the safety operation portion to maintain it at a predetermined rotation angle, thereby reducing fatigue in the user's fingers compared to maintaining the safety operation portion at a predetermined rotation angle with the user's fingers.

[0249] Feature B11. The gripping portion has a finger hook portion (side wall portion 52 of bulge portion 51) provided on the rear side of the robot operation terminal, The safety operation portion can be pushed in so that the amount of protrusion from the side portion becomes small, The robot operation terminal according to feature B10, wherein when the safety operation unit is pressed in, operation of the industrial robot is not permitted.

[0250] When the hand is suddenly gripped while the fingertips are hooked on the finger hook, the palm of the hand is likely to be pressed against the side of the robot. When this type of hand movement occurs, the palm of the hand presses against the safety operation unit, and the operation of the industrial robot is not permitted. This configuration contributes to improving the safety of the industrial robot while reducing the burden of maintaining the safety operation unit at a specified rotation angle.

[0251] Feature B12 (optical sensor): As the detection unit, an optical sensor having a light emitting unit (light emitting unit 83) and a light receiving unit (light receiving unit 84) is provided, A robot operation terminal described in any one of features B1 to B11, which is configured so that a difference occurs in the light receiving state of the light receiving unit when the rotation position of the safety operation unit is at the specified rotation position and when the safety operation unit is at any other rotation position.

[0252] As shown in this feature, if an optical sensor is used to detect the rotation position, a contact structure (fixed contact, movable contact) is not required, and even if the robot operation terminal is used repeatedly, the chance of failure or malfunction of the safety switch due to wear can be reduced. In addition, since there is no contact structure, there is no need to rely on the user to apply force to maintain contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the industrial robot is permitted.

[0253] Feature B13 (Reflector) The reflector (reflector 87) is annular about the rotation center axis (axis CL1) of the safety operation unit and rotates together with the safety operation unit in response to the user's rotation operation. the reflector is formed with a first portion that reflects the light from the light emitting portion toward the light receiving portion and a second portion that does not reflect the light from the light emitting portion or reflects the light to a position different from the light receiving portion, the first portion being aligned in a rotation direction; The robot operation terminal according to feature B12 is configured such that when the rotation position of the safety operation unit is the predetermined rotation position, one of the first part and the second part is located on the optical path of the light from the light-emitting unit, and when the rotation position of the safety operation unit is a rotation position other than the predetermined rotation position, the other of the first part and the second part is located on the optical path of the light from the light-emitting unit.

[0254] According to this characteristic configuration, the reflector rotates in response to a user's rotation operation, and the portion of the reflector to which the light from the light emitting unit is irradiated is switched between the first portion and the second portion, thereby generating a difference in the light receiving state of the light receiving unit.

[0255] Feature B14 (double optical sensor): As the detection unit, a first optical sensor (first optical sensor 82aD) having a first light emitting unit (first light emitting unit 83) and a first light receiving unit (first light receiving unit 84) to which light from the first light emitting unit is irradiated, and a second optical sensor (second optical sensor 82bD) having a second light emitting unit (second light emitting unit 85) and a second light receiving unit (second light receiving unit 86) to which light from the second light emitting unit is irradiated are provided. When the rotation position of the safety operation unit is the predetermined rotation position, the light receiving state of the first light receiving unit and the second light receiving unit becomes a predetermined state (LOW level), A robot operation terminal according to any one of features B1 to B11, configured to permit operation of the industrial robot when the light receiving states of the first light receiving unit and the second light receiving unit are both in the predetermined state, and to disallow operation of the industrial robot when at least one of the light receiving states of the first light receiving unit and the second light receiving unit is not in the predetermined state.

[0256] As shown in this feature, if an optical sensor is used to detect the rotation position, a contact structure (fixed contact, movable contact) is not required, and even if the robot operation terminal is used repeatedly, the chance of failure or malfunction of the safety switch due to wear can be reduced. Furthermore, since there is no contact structure, there is no need to rely on the user to exert force to maintain contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the industrial robot is permitted.

[0257] In addition, when the light receiving states of the first light receiving unit and the second light receiving unit are both in a predetermined state, the operation of the industrial robot is permitted, and when at least one of the light receiving states of the first light receiving unit and the second light receiving unit is not in a predetermined state, the operation of the industrial robot is not permitted. With this configuration, it is possible to prevent inconveniences such as the operation of the industrial robot being erroneously permitted in a situation where the operation of the industrial robot should be prohibited.

[0258] Feature B15 (opposite orientation of optical sensors): The robot operation terminal according to Feature B14, wherein the first optical sensor and the second optical sensor are arranged to face in opposite directions to each other.

[0259] According to the configuration showing this feature, even when a plurality of optical sensors are used in combination, it is possible to suppress mutual interference between the first optical sensor and the second optical sensor.

[0260] Feature B16 (arranged on either side of the optical axis): A robot operation terminal described in feature B15, in which the first optical sensor and the second optical sensor are arranged on either side of the rotation center axis (axis CL1) of the safety operation unit.

[0261] This characteristic configuration can contribute to miniaturization of the safety switch. In addition, the light receiving states of the two optical sensors (light receiving parts) can be aligned to ensure redundancy. With this configuration, it becomes possible to easily grasp the possibility of sensor failure based on the difference in the light receiving states.

[0262] Feature B17 (independent item of safety switch) A safety switch (enable switch 49B) applied to a robot operation terminal (operation terminal 15B) used to operate an industrial robot (robot 11), A rotary safety operation unit (operation dial 81) and a detection unit (sensor unit 82) capable of detecting that the rotation position of the safety operation unit is a predetermined rotation position (second position PS2) which is an intermediate position in a rotation range of the safety operation unit; having When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A safety switch having a finger rest (finger rest 92) provided around the safety operation unit, on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated position to the specified rotation position.

[0263] In the configuration described above, the finger operating the safety operation unit can be placed on the finger rest provided around the safety operation unit, so that the finger can be in contact with both the safety operation unit and the finger rest. In other words, the finger rest can be used as an aid to reduce dependency on the force of the finger in maintaining the position and shape of the finger operating the safety operation unit constant. For example, the finger position in the axial direction is less likely to vary by placing the fingertip or the like against the finger rest (stopper function), and the finger position in the trajectory direction is less likely to vary because friction caused by placing the fingertip or the like against the finger rest acts as resistance (resistance generating function). In this way, the burden on the user (fingers) is reduced, making it easier to maintain a state that allows the industrial robot to operate.

[0264] In addition, the configuration shown in this feature can also be described as "a safety switch (enable switch 49C) applied to a robot operation terminal (operation terminal 15C) used to operate an industrial robot (robot 11), the safety switch having a rotary safety operation unit (operation dial 81C) and a detection unit (sensor unit 82C) capable of detecting that the rotation position of the safety operation unit is at a predetermined rotation position (second position PS2) which is an intermediate position in the rotation range of the safety operation unit, the safety operation unit being configured to permit operation of the industrial robot when the rotation position of the safety operation unit is at the predetermined rotation position and to prohibit operation of the industrial robot when the rotation position is not at the predetermined rotation position, the end of the robot operation terminal being formed with a gripping unit to be gripped by a user, the safety operation unit being disposed in a position where a part of the safety operation unit protrudes from the end and is covered by the hand gripping the gripping unit."

[0265] The technical ideas shown in the above features B1 to B16 may be applied to feature B17.

[0266] <Feature C Group> Insertion type The following will mainly describe feature group C, which is a technical idea extracted from the fifth embodiment, the sixth embodiment, and their modified examples.

[0267] The following feature C group is "Some operating terminals, such as teaching pendants used to operate industrial robots, are equipped with enable switches to improve safety during manual operation. An enable switch is a safety switch for enabling or disabling manual operation of a robot. In recent years, this type of switch has been proposed in which manual operation of a robot is enabled when the operator is pressed slightly (i.e., pressed to an intermediate position), but disabled when pressed deeply (see, for example, Patent Document 1). "The background technology of "In this case, in order to maintain a state in which manual operation is enabled, it is necessary to hold the operator in an intermediate position, and it is necessary to constantly apply a constant force so that the force of the fingers operating the operator does not become too weak or too strong. In reality, even if one is conscious of the force to be applied, the force will fluctuate to a certain extent. As such, some users may operate the device by focusing on the shape of their hand (fingers) and maintaining their hand in a specific shape. However, continuing to apply force or maintaining the same hand shape for a long period of time can be a significant burden for the user. There is a concern that this will be a factor in reducing the efficiency of work using an operating terminal."

[0268] Feature C1. A robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), a safety switch (enable switch 49H) having an insertion section (insertion section 101) into which a finger can be inserted and a detection section (sensor unit 111) that detects the insertion position of the finger inserted in the insertion section; A robot operation terminal that allows the industrial robot to operate when the insertion position detected by the detection unit is a predetermined position (first insertion position), and does not allow the industrial robot to operate when a finger is not inserted in the insertion unit or when the insertion position detected by the detection unit is not the predetermined position.

[0269] The industrial robot is permitted to operate by inserting a finger into the insertion section and holding the finger in a specified position. This configuration eliminates the need to continue applying force against the biasing force of a spring or to maintain a fixed finger shape, as in conventional safety switches. In other words, it is possible to prevent the burden on the user's finger from increasing when maintaining a state in which operation is permitted. This is preferable in terms of reducing user fatigue and improving work efficiency.

[0270] In addition, it is assumed that the user will make a reflex action of releasing or clenching their hand when they encounter an unexpected dangerous situation. With the safety switch shown in this characteristic, the reflex action will cause the position of the finger to shift toward the entrance or the back of the insertion part, causing the finger insertion position to deviate from the specified position, and thus disabling the operation of the industrial robot.

[0271] For the reasons stated above, the present invention can contribute to improving safety when using a robot operation terminal and reducing the burden on the user.

[0272] Feature C2 (fingers of the holding hand): A robot operation terminal according to Feature C1, wherein the insertion portion is arranged in a position where at least one of the fingers of the hand holding the robot operation terminal can be inserted.

[0273] By adjusting the position of the insertion part as shown in this feature, the user can maintain the state in which the operation of the industrial robot is permitted by using the fingers of the hand holding the robot operation terminal, which is preferable in terms of improving user convenience.

[0274] Feature C3 (attached to the gripping unit): The end of the robot operation terminal is provided with a gripping unit (43) to be held by a user. The robot operation terminal according to feature C1, wherein the insertion portion is formed at a position where at least one of the fingers of the hand holding the gripping portion can be inserted.

[0275] In the configuration in which the driving permission state is established by keeping the finger in a predetermined position as shown in feature C1, there is no need to apply any particular force to the finger inserted into the insertion part. In other words, the configuration does not require both force to grip the operation terminal and force to maintain the driving permission state. Therefore, even if the gripping part and the insertion part are provided side by side, it is possible to prevent the burden on the gripping hand from becoming excessively large.

[0276] Feature C4 (orientation): A robot operation terminal according to any one of features C1 to C3, wherein the insertion portion is linear.

[0277] As shown by this feature, by making the insertion section a straight structure, it is possible to prevent the user's finger from getting caught inside the insertion section when trying to quickly pull out the finger, which is preferable for quickly switching from a driving permission state to a driving non-permission state.

[0278] Feature C5 (orientation): A robot operation terminal described in any one of Features C1 to C3, wherein the insertion portion is provided on one of the front and back portions of the robot operation terminal and extends parallel to the one of the front and back portions.

[0279] As shown in this feature, by making the insertion part parallel to the surface (front or back) of the robot operation terminal, bending of the inserted finger is suppressed, and when the user tries to pull out the finger suddenly, the finger can be suitably prevented from getting caught in the insertion part. In addition, since the finger can be pulled out by moving the hand along the surface, the movement of the hand and fingers when pulling out can be prevented from becoming complicated.

[0280] Feature C6 (orientation): The insertion unit is biased toward one of the left and right ends of the robot operation terminal; The robot operation terminal according to feature C5, wherein an entrance portion (entrance 101a) of the insertion portion faces the one end side.

[0281] According to the configuration showing this feature, it becomes possible to easily insert one of the fingers into the insertion portion while gripping the left and right ends of the robot operation terminal.

[0282] Feature C7. A robot operation terminal according to any one of Features C1 to C6, wherein the predetermined position is a position closer to an entrance portion of the insertion portion.

[0283] For example, if the finger insertion depth is increased, the user will need to spread the fingers apart to prevent other fingers from getting in the way, which may increase the burden on the user. In this regard, if the target position is set to a position closer to the entrance as shown in this feature, the finger insertion depth can be reduced while still allowing the finger to move further in. This can eliminate the above concerns.

[0284] Feature C8 (movable plate): The insertion unit has a facing part (housing 102) facing the rear part or the front part of the robot operation terminal across a finger insertion gap (insertion area IS), A portion of the rear portion or the front portion that forms the insertion gap together with the opposing portion is a movable portion (reflector 117K) that is displaceable so as to move away from the opposing portion, A robot operation terminal described in any one of features C1 to C7, which is configured so that a finger inserted into the predetermined position can be removed from the predetermined position by pushing the movable part with the finger.

[0285] If the user were to suddenly try to grip the handle with his or her hand, the inserted finger would push the movable part in. The finger that pushed the movable part in would be removed from the designated position and would switch to an inoperable state. This contributes to improved safety. In addition, since there is no need to push the movable part to keep the finger in the designated position, the improved safety can avoid increasing the burden on the user.

[0286] Feature C9 (length of movable part): A robot operation terminal according to Feature C8, wherein the movable part extends outward from the entrance portion of the insertion part.

[0287] As shown in this feature, by configuring the movable part to extend from the entrance portion, it is possible to prevent the movable part from being prevented from being pushed in by a finger hitting the back or front portion (the peripheral parts of the movable part), etc.

[0288] Feature C10 (optical sensor): The detection unit is an optical sensor having a light emitting unit (light emitting unit 112, 114) and a light receiving unit (light receiving unit 113, 115) to which light from the light emitting unit is irradiated, A robot operation terminal described in any one of features C1 to C9, wherein the light receiving state of the light receiving unit is configured to differ depending on whether the finger insertion position in the insertion unit is the specified position or other positions.

[0289] As shown in this feature, if an optical sensor is used to detect the position of a finger, a contact structure (fixed contact, movable contact) is not required, and even if the robot operation terminal is used repeatedly, the chance of failure or malfunction of the safety switch due to wear can be reduced. In addition, since there is no contact structure, there is no need to rely on the user to apply force to maintain contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the industrial robot is permitted.

[0290] Feature C11 (double optical sensor): As the detection unit, a first optical sensor (first optical sensor 111a) having a first light emitting unit (first light emitting unit 112) and a first light receiving unit (first light receiving unit 113) to which light from the first light emitting unit is irradiated, and a second optical sensor (second optical sensor 111b) having a second light emitting unit (second light emitting unit 114) and a second light receiving unit (second light receiving unit 115) to which light from the second light emitting unit is irradiated are provided. The first optical sensor and the second optical sensor are arranged such that the first optical sensor is located on an entrance side of the insertion portion and the second optical sensor is located on a back side of the insertion portion, an optical path from the first light-emitting unit to the first light-receiving unit and an optical path from the second light-emitting unit to the second light-receiving unit both cross an insertion path of a finger in the insertion unit, A robot operation terminal according to any one of features C1 to C9, which disallows operation of the industrial robot when the light receiving states of the first light receiving unit and the second light receiving unit are both in a predetermined state (HIGH level), allows operation of the industrial robot when the light receiving state of the second light receiving unit is in the predetermined state and the light receiving state of the first light receiving unit is not in the predetermined state, and disallows operation of the industrial robot when neither the light receiving state of the first light receiving unit nor the second light receiving unit is in the predetermined state.

[0291] As shown in this feature, if an optical sensor is used to detect the position of a finger, a contact structure (fixed contact, movable contact) is not required, and even if the robot operation terminal is used repeatedly, the chance of failure or malfunction of the safety switch due to wear can be reduced. Furthermore, since there is no contact structure, there is no need to rely on the user to apply force to maintain contact between the contacts. This is also preferable in terms of reducing the burden on the user when maintaining a state in which the operation of the industrial robot is permitted.

[0292] Furthermore, as shown in this feature, by arranging a first optical sensor on the entrance side of the insertion part and a second optical sensor on the rear side, and switching between an operation permitted state and an operation prohibited state depending on the light receiving state of each optical sensor (light receiving part), the load on the inserted finger can be reduced when the finger is kept in a designated position to maintain the operation permitted state.

[0293] Feature C12 (movable reflector). A movable part (reflector 117K) that can be displaced in the thickness direction of the robot operation terminal is provided on the back or front part of the robot operation terminal, which part forms the inner wall of the insertion part. A robot operation terminal according to feature C11, configured so that when the movable part is pushed in by a finger inserted in the insertion part, the light receiving state of the second light receiving part becomes a state different from the specified state (LOW level).

[0294] When a user suddenly clenches his / her hand, the movable part is pushed by the finger and displaced, and the displacement of the movable part changes the light receiving state of the second light receiving part from a predetermined state to a different state. In other words, the occurrence of the above-mentioned clenching can be identified from the light receiving state of the second light receiving part. This kind of ingenuity can contribute to the realization of a configuration that disables the operation of an industrial robot when a user suddenly clenches his / her hand.

[0295] Feature C13 (slide type). The movable part is a reflecting part that reflects the light from the second light emitting part to the second light receiving part; The robot operation terminal according to feature C12, wherein an optical axis of the second light-emitting unit is inclined obliquely with respect to the movable unit.

[0296] According to this feature, when the movable part is pushed and displaced by a finger, the distance from the second light-emitting part to the movable part changes. Since the optical axis of the second light-emitting part is inclined obliquely with respect to the movable part, the change in the distance changes the optical path, and the light-receiving state of the second light-receiving part can be changed from a predetermined state to another state.

[0297] Feature C14 (rotating type). The movable part is a reflecting part that reflects the light from the second light emitting part to the second light receiving part, and the inclination of the movable part is changed by being pushed by a finger inserted in the insertion part. The robot operation terminal according to feature C12, wherein the angle of incidence and the angle of reflection of light from the second light-emitting unit to the movable unit change as the inclination of the movable unit changes.

[0298] According to the configuration of this feature, when the movable part is pressed with a finger and the inclination of the movable part changes, the angle of incidence and the angle of reflection of the light from the second light emitting part to the movable part change. This changes the optical path, and the light receiving state of the second light receiving part can be changed from a predetermined state to another state. Furthermore, according to the configuration of this feature, a clear difference can be made in the optical path without an excessively large change in the inclination of the movable part. This is preferable in terms of reducing the operating area of ​​the movable part and realizing space saving of the safety switch.

[0299] Feature C15. The insertion unit has a facing unit (housing 102) that faces the rear or front of the robot operation terminal across a gap through which a finger can be inserted; The robot operation terminal according to any one of features C10 to C14, wherein the optical sensor is provided on the rear side or the front side.

[0300] When inserting a finger into the insertion section, it is necessary to spread the fingers wide to avoid interference between the insertion section and other fingers, which is undesirable because it places a burden on the user. In this regard, as shown in this feature, if a light sensor is provided on the back or front section, the width of the insertion section (the size in the direction perpendicular to the insertion direction) can be made as small as possible. With this configuration, the angle at which the fingers must be spread can be reduced, which contributes to reducing the burden on the user.

[0301] Feature C16 (vertical hole). The end of the robot operation terminal is provided with a gripping part (grip part 43H) to be gripped by a user, A robot operation terminal described in any one of Features C1 to C3, wherein the insertion portion extends in the thickness direction of the robot operation terminal and is formed at a position where the fingers of the hand holding the gripping portion can be inserted.

[0302] In the configuration in which the driving permission state is established by keeping the finger in a predetermined position as shown in feature C1, there is no need to apply any particular force to the finger inserted into the insertion part. In other words, the configuration does not require both force to grip the robot operation terminal and force to maintain the driving permission state. Therefore, even if the gripping part and the insertion part are provided side by side, it is possible to prevent the burden on the gripping hand from becoming excessively large.

[0303] In addition, since the insertion portion extends in the thickness direction of the robot operation terminal, the fingers of the hand holding the grip portion can be easily inserted without difficulty, which is preferable in terms of reducing the burden on the user.

[0304] Feature C17 (gripping): A movable part (reflector 117K) that can be displaced to the outside of the robot operation terminal is provided on the part forming the inner wall of the insertion part, The robot operation terminal according to feature C16, wherein the movable part is pushed by a finger inserted in the insertion part, so that the finger is removed from the predetermined position.

[0305] If the user suddenly grips the terminal with his / her hand, the movable part is pushed by the finger and displaced to the outside of the operation terminal, and the finger is removed from the predetermined position by the movable part. This configuration can contribute to realizing a configuration that makes it impossible for the industrial robot to operate when the hand is gripped.

[0306] Feature C18 (Independent). A safety switch (enable switch 49H) applied to a robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), An insertion section (insertion section 101) into which a finger can be inserted; a detection section (sensor unit 111) that is provided in the insertion section and detects an insertion position of a finger inserted in the insertion section; Equipped with A safety switch that allows the industrial robot to operate when the insertion position detected by the detection unit is a predetermined position (first insertion position), and does not allow the industrial robot to operate when a finger is not inserted in the insertion portion or when the insertion position detected by the detection unit is not the predetermined position.

[0307] The industrial robot is permitted to operate by inserting a finger into the insertion section and holding the finger in a specified position. This configuration eliminates the need to continue applying force against the biasing force of a spring or to maintain a fixed finger shape, as in conventional safety switches. In other words, it is possible to prevent the burden on the user's finger from increasing when maintaining a state in which operation is permitted. This is preferable in terms of reducing user fatigue and improving work efficiency.

[0308] In addition, it is assumed that the user will make a reflex action of releasing or clenching their hand when they encounter an unexpected dangerous situation. With the safety switch shown in this characteristic, the reflex action will cause the position of the finger to shift toward the entrance or the back of the insertion part, causing the finger insertion position to deviate from the specified position, and thus disabling the operation of the industrial robot.

[0309] For the reasons stated above, the present invention can contribute to improving safety when using a robot operation terminal and reducing the burden on the user.

[0310] Feature C19 (vertical hole): The safety switch according to Feature C18, wherein the insertion portion extends in the thickness direction of the robot operation terminal.

[0311] The insertion portion is configured to extend in the thickness direction of the robot operation terminal, which is advantageous in terms of ensuring coexistence of the safety switch with peripheral configurations such as other switches.

[0312] Feature C20 (gripping): A movable part (reflector 117K) that can be displaced in a direction intersecting with the finger insertion direction is provided on the part forming the inner wall of the insertion part. The safety switch according to feature C19, wherein the movable portion is pushed by a finger inserted in the insertion portion, so that the finger is removed from the predetermined position.

[0313] If the user suddenly grips his / her hand and the inserted finger pushes the movable part, the finger will be displaced from the predetermined position as the movable part is displaced. This configuration can contribute to realizing a configuration that makes it impossible for the industrial robot to operate when the hand is gripped.

[0314] Feature C21 (Configuration) A safety switch (enable switch 49H) applied to a robot operation terminal (operation terminal 15) used to operate an industrial robot (robot 11), An insertion section (insertion section 101) into which a finger can be inserted; a detection section (sensor unit 111) that detects a finger inserted in the insertion section; Equipped with The detection unit includes a first sensor (first optical sensor 111a) capable of detecting a finger at an entrance side of the insertion unit, and a second sensor (second optical sensor 111b) capable of detecting a finger at a back side of the insertion unit, A safety switch that does not permit operation of the industrial robot when neither the first sensor nor the second sensor detects a finger, permits operation of the industrial robot when the first sensor detects a finger and the second sensor does not detect a finger, and does not permit operation of the industrial robot when both the first sensor and the second sensor detect a finger.

[0315] As shown in this feature, by arranging a first sensor on the entrance side of the insertion part and a second sensor on the rear side, and switching between an operation permitted state and an operation not permitted state depending on the finger detection status of each sensor, it becomes unnecessary to apply force to the inserted finger to set the operation permitted state, and it is possible to suitably reduce the load on the finger that occurs when the inserted finger is kept in a designated position to maintain the operation permitted state. [Explanation of symbols]

[0316] 10...robot system, 11...robot, 14...robot control device, 15...operation terminal, 41...display, 42...housing, 42a...front portion, 42b...rear portion, 42c...side portion, 43...grip portion, 44...hand strap, 49...enable switch, 51...bulge portion, 57...operator, 58...urging member, 59...force sensor, 59a...first force sensor, 59b...second force sensor, 61...control board, 62...CPU, 63...ROM, 64...RAM, 81...operation dial, 81a...side wall portion, 82...sensor Unit, 82a...first optical sensor, 82b...second optical sensor, 83...light-emitting portion, 84...light-receiving portion, 85...light-emitting portion, 86...light-receiving portion, 87...reflector, 88...reflecting portion, 89...slit, 92...finger rest portion, 101...insertion portion, 102...housing, 103...inner cover, 111...sensor unit, 111a...first optical sensor, 111b...second optical sensor, 112...light-emitting portion, 113...light-receiving portion, 114...light-emitting portion, 115...light-receiving portion, 117...reflector, 121...recess, CL1 to CL4...axis, IS...insertion area.

Claims

1. A robot operation terminal used for operating an industrial robot, comprising: A safety switch including a rotary safety operation unit and a detection unit capable of detecting that the rotation position of the safety operation unit is a predetermined rotation position that is an intermediate position within a rotation range of the safety operation unit, When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A finger rest area is provided around the safety operation unit, on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated position to the specified rotation position.

2. The safety operation part has an operation surface part that is annular about a rotation central axis of the safety operation part and is parallel to the rotation central axis, The robot operation terminal according to claim 1 , wherein the finger rest portion has a planar shape and faces in a different direction from the operation surface portion.

3. The robot operation terminal according to claim 2 , wherein the finger rest portion has a flat surface and is formed so as to surround the safety operation portion when viewed from the front.

4. A first rotation position and a second rotation position are provided as the predetermined rotation position, the safety operation unit is configured to be in a standby state in a rotation position between the first rotation position and the second rotation position when a rotation operation is not performed by a user, The robot operation terminal according to claim 1, wherein the safety operation unit is capable of setting the rotation position of the safety operation unit to the first rotation position by rotating the safety operation unit in a first direction while in the standby state, and the safety operation unit is capable of setting the rotation position of the safety operation unit to the second rotation position by rotating the safety operation unit in a second direction while in the standby state.

5. The detection unit is provided with an optical sensor having a light emitting unit and a light receiving unit, 5. A robot operation terminal as described in any one of claims 1 to 4, wherein a difference occurs in the light receiving state of the light receiving unit when the rotation position of the safety operation unit is at the specified rotation position and when the safety operation unit is at any other rotation position.

6. A safety switch applied to a robot operation terminal used to operate an industrial robot, A rotary type safety operation unit and a detection unit capable of detecting that the rotation position of the safety operation unit is a predetermined rotation position that is an intermediate position within a rotation range of the safety operation unit; having When the rotation position of the safety operation unit is at the predetermined rotation position, the operation of the industrial robot is permitted, and when the safety operation unit is not at the predetermined rotation position, the operation of the industrial robot is not permitted, A finger rest is provided around the safety operation unit, on which the user can place the fingers operating the safety operation unit when the user holds the safety operation unit in a rotated position to the specified rotation position.

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