Robot operation device

Abstract

To provide an operation device which has a small number of physical buttons of an external operation unit, has high operability, and secures safety.SOLUTION: A robot operation device 1 has a portable terminal 2 having a touch panel display 21, and an external operation unit 4. The external operation unit 4 has a positive button 8 for instructing movement in a positive direction of a manual operation direction of a robot by manual operation, and a negative button 9 for instructing movement in a negative direction of the manual operation direction. The portable terminal 2 determines the manual operation direction on the basis of input to the touch panel display 21 or the external operation unit 4, and when the positive button 8 or the negative button 9 is depressed for the first time after the manual operation direction is determined, the portable terminal transmits a movement order of inching operation in the positive direction or the negative direction of the determined manual operation direction to the robot.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Known robot operation devices (also called teach pendants) used to teach industrial robots include button-type devices that display information on a non-touch panel display and are operated by physical buttons. Also known as robot operation devices are touch panel-type devices that use a general-purpose tablet terminal or a mobile terminal such as a smartphone that has a touch panel display (see Patent Document 1). In recent years, touch panel-type devices have become more common in response to demands for larger displays. [Prior art documents] [Patent documents]

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

[0004] However, conventional touch panel technologies, including those described in Patent Document 1, have not been able to resolve issues such as the lack of tactile sensation when touching virtual buttons displayed on a touch panel display and slow response speed, resulting in reduced operability. To improve operability, a well-known technology involves attaching physical buttons to a touch panel display as an external operation unit, but the increased number of physical buttons reduces portability and increases costs. Furthermore, safety considerations are also important when providing a new operation interface.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a robot operation device that has a small number of physical buttons on an external operation unit, is highly user-friendly, and ensures safety. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the present invention provides a robot operation device having a portable terminal with a touch panel display and an external operation unit, wherein the external operation unit has a positive button for manually instructing the robot to move in a positive direction of manual operation direction and a negative button for instructing movement in a negative direction of manual operation direction, and the portable terminal determines the manual operation direction based on input to the touch panel display or the external operation unit, and when the positive button or the negative button is pressed for the first time after the manual operation direction has been determined, the portable terminal transmits to the robot a movement command for an inching operation in the positive or negative direction of the determined manual operation direction.

[0007] After determining the manual operation direction, the mobile terminal or the external operation unit may notify the user of the determined manual operation direction by sound or vibration.

[0008] The portable terminal may also display a manual operation screen on the touch panel display, and when an operation direction object displayed on the manual operation screen is touched, switch the manual operation direction based on the touched operation direction object, and highlight and display the operation direction object corresponding to the switched manual operation direction.

[0009] The mobile terminal may also display a manual operation screen on the touch panel display, and when an operation orientation object displayed on the manual operation screen is touched, switch the manual operation direction based on the touched operation orientation object, and highlight an operation direction object displayed on the manual operation screen that corresponds to the switched manual operation direction, and when, for the first time after switching the manual operation direction, an operation orientation object related to the same operation direction as the operation orientation object touched for switching is touched, transmit to the robot a movement command for the inching operation in a positive direction or a negative direction of the switched manual operation direction.

[0010] The external operation unit may further have an enable switch that enables operation of the robot and a selection button that switches the selection of the manual operation direction, and the mobile terminal may be configured to determine the manual operation direction based on the number of times the selection button is pressed when the selection button is pressed within a predetermined time after the enable switch is pressed. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a robot operation device that has a small number of physical buttons on an external operation unit, is highly user-friendly, and ensures safety. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a plan view showing an outline of the configuration of a robot operation device according to a first embodiment of the present invention; [Figure 2] FIG. 2 is a diagram showing an example of a manual operation screen on the mobile terminal of FIG. 1; [Figure 3] 1. A flowchart showing an example of a processing flow in the robot operation device of FIG. [Figure 4] 10 is a flowchart showing an example of a processing flow of a robot operation device according to a second embodiment. [Figure 5]10 is a flowchart showing an example of a processing flow of a robot operation device according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings. A robot to be operated by a robot operating device of the present invention is, for example, an industrial robot such as a vertical articulated robot.

[0014] First Embodiment FIG. 1 is a plan view showing an outline of the configuration of a robot operation device 1 according to a first embodiment of the present invention. The main components of the robot operation device 1 include a mobile terminal 2 having a touch panel display 21 and an external operation unit 4. The robot operation device 1 is communicably connected to a robot (not shown) and is used to operate the robot. The robot operation device 1 is also called a teach pendant, and is used to teach a robot work content, to play back the content that has been taught to the robot, and to manually operate the robot.

[0015] The robot is composed of a robot main body and a robot control device. The robot main body has multiple arms and joint shafts connecting the arms, and each joint shaft is provided with a drive motor. Below, a vertical articulated robot with six joint shafts will be described, but the present invention is not particularly limited and can also be applied to robots with five or fewer or seven or more joint shafts. The robot main body and the robot control device may be separate or integrated. If separate, the robot control device is communicatively connected to the robot main body via a communication cable or wirelessly. The robot control device has a CPU (Central Processing Unit), memory, communication device, etc., and controls the operation of the robot main body by controlling the rotation and stopping of the drive motor of the robot main body based on a control program stored in advance in memory, etc., or commands received from the robot operation device 1.

[0016] The mobile terminal 2 is a general-purpose tablet terminal (computer) having a CPU (Central Processing Unit), memory, a touch panel display 21, a communication device, etc. The mobile terminal 2 also has built-in components such as a microphone 22 for inputting sound, a speaker 23 for outputting sound, a vibration motor 24 for generating vibrations, and a gyro sensor 25 for detecting the tilt of the mobile terminal 2. The mobile terminal 2 notifies the user of various types of information by sound or vibration.

[0017] In the following, a tablet terminal will be described as an example of the mobile terminal 2, but the mobile terminal 2 may be a smartphone, a notebook PC (Personal Computer), a wearable device, or any other computer that has a touch panel display 21 and is portable by the operator. The mobile terminal 2 may be a terminal dedicated to robot operation, or may be a general-purpose terminal.

[0018] The robot operation device 1 has a holder unit 3 externally attached to the outer periphery of the portable terminal 2. The holder unit 3 includes, for example, a first corner fixing unit 31 that fixes the lower right corner, right side, and lower side of the portable terminal 2, a second corner fixing unit 32 that fixes the upper left corner of the portable terminal 2, a third corner fixing unit 33 that fixes the lower left corner of the portable terminal 2, and a connecting unit 34 that connects the external operation unit 4 and the first corner fixing unit 31. The second corner fixing unit 32 and the third corner fixing unit 33 are connected by a string-like elastic body (not shown), for example, on the back side of the portable terminal 2. The operator fastens the string-like elastic body to a protrusion (not shown) of the first corner fixing unit 31 on the back side of the portable terminal 2, thereby fixing the portable terminal 2 to the holder unit 3, as shown in FIG. 1 .

[0019] The external operation unit 4 incorporates an electronic board (not shown) and has a terminal (not shown) that can be connected to the mobile terminal 2, and in the state shown in FIG. 1, is connected to the terminal of the mobile terminal 2. This connects the mobile terminal 2 and the external operation unit 4 so that they can communicate with each other. The standard of the terminal is not particularly limited, and any standard that at least allows for information transmission, such as USB Type-A, USB Type-C, or micro USB, will suffice. Furthermore, if the terminal is capable of transmitting power, it will be possible to charge the mobile terminal 2. Note that, because the USB standard does not allow for long-distance communication, it may be converted to a LAN (Local Area Network) standard to enable stable long-distance information transmission.

[0020] The external operation unit 4 is communicably connected to the robot control device via a cable (not shown). This cable includes, for example, an IO cable and a LAN cable. This enables the mobile terminal 2 to send commands related to robot operation to the robot control device and receive information related to robot operation from the robot control device. Note that the connection between the external operation unit 4 and the robot control device does not have to be a wired connection using a cable, but may be a wireless connection.

[0021] The external operation unit 4 has an emergency stop switch 5 that stops the robot in an emergency, an enable switch 6 that enables operation of the robot, a selection button 7 that switches between manual operation directions of the robot, a positive button 8 that commands movement in the positive direction of the manual operation direction, and a negative button 9 that commands movement in the negative direction of the manual operation direction. These switches and buttons are physical switches and buttons as shown in FIG. 1, unlike virtual switches and buttons displayed on the touch panel display 21.

[0022] The emergency stop switch 5 is a stop switch used to stop the operation of the robot main body by the robot control device in the event of an emergency. When the operator presses the emergency stop switch 5, the robot's operation comes to an emergency stop. The enable switch 6 is an enabling switch designed with safety in mind to prevent the robot from malfunctioning. The robot can only be operated when the operator presses the enable switch 6 and it is in the specified position. The enable switch 6 is, for example, a three-position switch, and the operator can stop the robot's operation by pressing the enable switch 6 even harder while operating the robot.

[0023] The operator enables robot operation by, for example, holding the robot operation device 1 in his left arm and pressing the enable switch 6 with the palm or fingers of his left hand. Then, while holding down the enable switch 6 with his left hand, the operator touches the touch panel display 21 with his right finger or a touch pen, or presses the switches or buttons of the external operation unit 4 with his right finger. How to use the switches and buttons of the external operation unit 4 will be described later with reference to FIGS. 3 to 5.

[0024] In the above description, the mobile terminal 2 is described as having a speaker 23 that outputs sound and a vibration motor 24 that generates vibration, but the external operation unit 4 may also have a speaker and a vibration motor (not shown). Furthermore, the speaker provided in the external operation unit 4 may be one that outputs only beeps, or one that outputs not only beeps but also voice. In either case, the mobile terminal 2 or the external operation unit 4 notifies the user of various types of information by sound or vibration.

[0025] Furthermore, instead of the microphone and speaker built into the portable terminal 2 or the external operation unit 4, the robot operation device 1 may be provided with wireless headphones that are capable of communicating with the portable terminal 2 via Bluetooth (registered trademark) or the like and are worn on the user's head. Similarly, instead of the vibration motor built into the portable terminal 2 or the external operation unit 4, the robot operation device 1 may be provided with a smart band that is capable of communicating with the portable terminal 2 via Bluetooth (registered trademark) or the like, has a built-in vibration motor, and is worn on the user's arm. In either case, the portable terminal 2 notifies the user of various types of information by sound or vibration.

[0026] Fig. 2 is a diagram showing an example of a manual operation screen 10 on the mobile terminal 2 of Fig. 1. The manual operation screen 10 is a screen used for manually operating a robot. In the example shown in Fig. 2, the entire screen displayed on the touch panel display 21 of the mobile terminal 2 excludes menu displays for selecting various functions, etc.

[0027] Manual operation has two modes (=manual operation modes): a Cartesian coordinate system mode (also called machine coordinate system mode), in which the robot's tool tip (also called TCP (Tool Center Point)) is operated in a Cartesian coordinate system, and an axis-only operation mode, in which each axis of the robot's joint (axis 1 to axis 6 in this embodiment) is operated independently. In the Cartesian coordinate system mode, orthogonal coordinates of the X, Y, and Z axes are defined with the robot's tool tip as the center. In this mode, the robot moves linearly along the X, Y, and Z axes according to instructions from the operator, or twists the wrist with the tool tip fixed around the X, Y, and Z axes as rotation axes. In the axis-only operation mode, the robot rotates around the first to sixth axes according to instructions from the operator.

[0028] As shown in Figure 2, the manual operation screen 10 is composed of a Cartesian coordinate system operation section 11 and an axis operation section 12. The Cartesian coordinate system operation section 11 includes objects for manually operating the robot's movements in the Cartesian coordinate system mode. The axis operation section 12 includes objects for manually operating the robot's movements in the axis-only operation mode. The objects refer to virtual screen components displayed on the touch panel display 21 and are different from the physical switches and buttons on the external operation unit 4.

[0029] The Cartesian coordinate system operation unit 11 and the axis operation unit 12 each include six operation direction objects 13 and twelve operation orientation objects 14. The operation direction objects 13 are associated with specific operation directions (=manual operation directions) for manually operating the robot. The operation direction objects 14 are associated with orientations (positive orientations or negative orientations) in the specific manual operation directions. The manual operation directions include both linear directions indicating the direction of linear movement and rotational directions indicating the direction of rotational movement around a certain axis.

[0030] The Cartesian coordinate system operation unit 11 includes "X," "Y," "Z," "RX," "RY," and "RZ" as operation direction objects 13. The directions associated with "X" to "Z" are directions in which the tip of the robot's tool is linearly operated in the Cartesian coordinate system mode, and are linear directions along the X-axis, Y-axis, and Z-axis, respectively. The directions associated with "RX" to "RZ" are directions in which the rotation of the robot's wrist is operated in the Cartesian coordinate system mode, and are rotation directions of the rotation axes of the X-axis, Y-axis, and Z-axis, respectively. The axis operation unit 12 includes "J1," "J2," "J3," "J4," "J5," and "J6" as operation direction objects 13. The directions associated with "J1" to "J6" are directions in which the rotation of each axis of the robot's joint is operated in the axis-only operation mode, and are rotation directions of the first to sixth rotation axes, respectively.

[0031] The operation direction objects 14 are associated with "+" (= positive direction) or "-" (= negative direction) of the specific operation direction object 13, and are arranged around the specific operation direction object 13. In the example shown in FIG. 2, the "+" operation direction object 14 is arranged on the right side of the operation direction object 13, and the "-" operation direction object 14 is arranged on the left side. For example, the "X" operation direction object 13a is paired with the "+" operation direction object 14a arranged on the right side and the "-" operation direction object 14b arranged on the left side. These three objects 13a, 14a, and 14b are associated with a linear direction along the X-axis.

[0032] On the manual operation screen 10, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the currently selected manual operation direction. This allows the operator to visually confirm the currently selected manual operation direction. Examples of a method for highlighting the operation direction object 13 include displaying the text of the operation direction object 13 in a different color from the others, making the text of the operation direction object 13 larger than the others, or surrounding only one character of the operation direction object 13 with a frame. However, any method may be used as long as the operator can visually confirm the text. In the example shown in FIG. 2, "J1" of the operation direction object 13b is the currently selected manual operation direction, and the mobile terminal 2 displays only the text of "J1" surrounded by a thick frame.

[0033] 3 is a flowchart showing an example of a processing flow in the robot operation device of FIG. 1. In the first embodiment, the portable terminal 2 determines the manual operation direction based on an input to the touch panel display 21, and when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction is determined, the portable terminal 2 transmits to the robot a movement command for an inching operation (described later) in the positive or negative direction of the determined manual operation direction. In particular, in the first embodiment, the portable terminal 2 determines the manual operation direction based on an input to an operation direction object 13 displayed on the touch panel display 21. Furthermore, after determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration.

[0034] 3, the portable terminal 2 displays the manual operation screen 10 on the touch panel display 21 (step S11), and checks whether the operation direction object 13 displayed on the manual operation screen 10 has been touched (step S12). If the operation direction object 13 has not been touched (No in step S12), the portable terminal 2 proceeds to step S16. If the operation direction object 13 has been touched (Yes in step S12), the portable terminal 2 determines and switches the manual operation direction based on the touched operation direction object 13 (step S13). Specifically, the portable terminal 2 determines the direction associated with the touched operation direction object 13 as the manual operation direction.

[0035] Next, the mobile terminal 2 or the external operation unit 4 notifies the user of the switched manual operation direction by sound or vibration (step S14). An example of the notification method will now be described.

[0036] In a first example, the mobile terminal 2 or the external operation unit 4 controls the operation of the speaker 23 to output a sound indicating the switched manual operation direction. For example, if the switched manual operation direction is "X", the mobile terminal 2 or the external operation unit 4 outputs a sound from the speaker 23 saying, "Moving in X direction." Furthermore, if the switched manual operation direction is "J1", the mobile terminal 2 or the external operation unit 4 outputs a sound from the speaker 23 saying, "J1 will operate."

[0037] In a second example, the mobile terminal 2 or the external operation unit 4 controls the operation of the vibration motor 24 to generate vibrations that indicate the switched manual operation direction. The mobile terminal 2 or the external operation unit 4 transmits a command pattern that combines a command to generate a long vibration and a command to generate a short vibration, and notifies the user of the switched manual operation direction. Here, one command to generate a long vibration is referred to as "long," and one command to generate a short vibration is referred to as "short." The mobile terminal 2 or the external operation unit 4 transmits a command pattern of long and short for "X," long and short for "Y," long and short and short for "Z," long and short and short for "RX," long and short and short for "RY," and long and short and short and short for "RZ." Similarly, the mobile terminal 2 or the external operation unit 4 sends the following commands: long long short for "J1", long long short short for "J2", long long short short short for "J3", long long short short short short for "J4", long long short short short short for "J5", long long short short short short short for "J6", respectively.

[0038] In the third example, the mobile terminal 2 or the external operation unit 4 controls the operation of the speaker 23 to output a beep sound indicating the switched manual operation direction. As in the second example, the mobile terminal 2 or the external operation unit 4 transmits a command pattern that combines a long beep command and a short beep command to notify the user of the switched manual operation direction. The command pattern may be the same as or different from the second example.

[0039] Next, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the switched manual operation direction (step S15). An example of the method for highlighting and displaying is as described above with reference to FIG.

[0040] Next, the portable terminal 2 checks whether the positive button 8 or the negative button 9 of the external operation unit 4 has been pressed (step S16). If the positive button 8 or the negative button 9 has not been pressed (No in step S16), the portable terminal 2 repeats the process from step S12. If the positive button 8 or the negative button 9 has been pressed (Yes in step S16), the portable terminal 2 checks whether the positive button 8 or the negative button 9 has been pressed for the first time since the manual operation direction was switched (step S17).

[0041] If it is the first time (Yes in step S17), the portable terminal 2 transmits to the robot a movement command for an inching operation in the positive or negative direction of the determined manual operation direction (step S18), and repeats the process from step S16. If it is not the first time (No in step S17), the portable terminal 2 transmits to the robot a movement command for a normal operation in the positive or negative direction of the determined manual operation direction while the positive button 8 or negative button 9 is being pressed (step S19), and repeats the process from step S16.

[0042] Inching motion, also called inching motion, is a motion in which the robot moves a small amount (for example, about 10 mm) regardless of how long the positive button 8 or negative button 9 is pressed. Normal motion is a motion in which the robot continues to move while the positive button 8 or negative button 9 is pressed. When the positive button 8 or negative button 9 is pressed for the first time after the manual operation direction has been determined, the robot always performs an inching motion, ensuring safety. This is because, even if the movement operation direction is determined in a direction unintended by the user, the robot only moves a small amount, so it will stop before colliding with another object, or will only collide with a weak object. Furthermore, if the movement operation direction is determined in a direction unintended by the user, the user can re-determine the movement operation direction.

[0043] If the manual operation direction has not been determined at the time of executing the processing of step S18 or S19, the mobile terminal 2 may display an error message on the manual operation screen 10 informing the operator that the manual operation direction has not been determined, and prompt the operator to select the manual operation direction.

[0044] Furthermore, at least when the portable terminal 2 executes the process of step S18 or S19, the operation of the robot needs to be enabled by the enable switch 6. In other words, if the operation of the robot is not enabled, the portable terminal 2 does not execute the process of step S18 or S19.

[0045] As described above, according to the first embodiment, in manual operation, the operator can operate the robot using the physical buttons, the positive button 8 and the negative button 9. Therefore, the operator feels the sensation of pressing a button, which allows the operator to tactilely recognize that the button is being pressed, and the reaction speed is faster. Furthermore, the physical buttons arranged on the external operation unit 4 only need to include at least the positive button 8 and the negative button 9, excluding the emergency stop switch 5 and the enable switch 6, which are essential for safety reasons. This reduces the number of physical buttons, reducing costs, and allows the positive button 8 and the negative button 9 to be larger, improving operability during manual operation. Furthermore, when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction has been determined, the robot always performs an inching motion, ensuring safety.

[0046] Furthermore, after determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration, so that the user can confirm the manual operation direction by hearing or touch, thereby ensuring greater safety.

[0047] In addition to the process flow shown in FIG. 3 , when the selection button 7 of the external operation unit 4 is pressed, the portable terminal 2 switches the manual operation direction as shown in step S13. Specifically, the portable terminal 2 switches the manual operation direction in the following order according to the number of times the selection button 7 is pressed: "X" → "Y" → "Z" → "RX" → "RY" → "RZ" → "J1" → "J2" → "J3" → "J4" → "J5" → "J6." For example, if the manual operation direction has not yet been determined, when the selection button 7 is pressed twice, the portable terminal 2 determines the second "Y" as the manual operation direction. Also, for example, if the current manual operation direction has been determined as "Y," when the selection button 7 is pressed three times, the portable terminal 2 determines the third "RY" from "Y" as the manual operation direction.

[0048] In addition, in the Cartesian coordinate system mode, the robot is moved linearly along the X-axis, Y-axis, and Z-axis. However, it is also possible to move the robot along any two or three of the X-axis, Y-axis, and Z-axis in a mixed manner. In this case, the "X" to "Z" operation direction objects 13 are arranged on the manual operation screen 10 as draggable and droppable objects. For example, when the "X" operation direction object 13 is dragged and dropped onto the "Y" operation direction object 13, the portable terminal 2 accepts that the direction on the XY plane is to be set as the manual operation direction. To specify the direction on the XY plane, the portable terminal 2 displays an object for determining the mixing ratio of the X-axis and the Y-axis on the manual operation screen 10. This object is, for example, a slider object that can slide left and right. The leftmost position is set to 100% for the X-axis and 0% for the Y-axis, the center position is set to 50% for the X-axis and 50% for the Y-axis, and the rightmost position is set to 0% for the X-axis and 100% for the Y-axis, allowing the mixing ratio to be continuously adjusted.

[0049] Second Embodiment 4 is a flowchart showing an example of the processing flow of the robot operating device in the second embodiment. Note that, for the sake of brevity, the description of the components used in the second embodiment that are the same as those in the first embodiment will be omitted.

[0050] In the second embodiment, the portable terminal 2 determines the manual operation direction based on an input to the touch panel display 21, and when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction is determined, the portable terminal 2 transmits to the robot a movement command for an inching motion in the positive or negative direction of the determined manual operation direction. Particularly in the second embodiment, the portable terminal 2 determines the manual operation direction based on an input to an operation direction object 14 displayed on the touch panel display 21. Furthermore, after determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration.

[0051] 4, the portable terminal 2 displays the manual operation screen 10 on the touch panel display 21 (step S21), and checks whether the operation direction object 14 displayed on the manual operation screen 10 has been touched (step S22). If the operation direction object 14 has not been touched (No in step S22), the portable terminal 2 proceeds to step S30. If the operation direction object 14 has been touched (Yes in step S22), the portable terminal 2 determines and switches the manual operation direction based on the touched operation direction object 14 (step S23). More specifically, the portable terminal 2 determines the direction associated with the touched operation direction object 14 as the manual operation direction.

[0052] Next, the mobile terminal 2 or the external operation unit 4 notifies the user of the switched manual operation direction by sound or vibration (step S24). An example of the notification method is the same as in the first embodiment.

[0053] Next, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the switched manual operation direction (step S25). An example of the method for highlighting and displaying is as described above with reference to FIG.

[0054] Next, the portable terminal 2 checks whether an operation direction object 14 related to the same operation direction as the operation direction object 14 touched for switching in step S22 has been touched (step S26). If the operation direction object 14 related to the same operation direction has not been touched (No in step S26), the portable terminal 2 proceeds to step S30. If the operation direction object 14 related to the same operation direction has been touched (Yes in step S26), the portable terminal 2 checks whether this is the first touch since the manual operation direction was switched (step S27).

[0055] If it is the first time (Yes in step S27), the portable terminal 2 transmits to the robot a movement command for an inching operation in the positive or negative direction of the switched manual operation direction (step S28), and repeats the process from step S26. If it is not the first time (No in step S27), the portable terminal 2 transmits to the robot a movement command for a normal operation in the positive or negative direction of the determined manual operation direction while the operation direction object 14 is being touched (step S29), and repeats the process from step S26.

[0056] Next, the portable terminal 2 checks whether the positive button 8 or the negative button 9 of the external operation unit 4 has been pressed (step S30). If the positive button 8 or the negative button 9 has not been pressed (No in step S30), the portable terminal 2 repeats the process from step S22. If the positive button 8 or the negative button 9 has been pressed (Yes in step S30), the portable terminal 2 checks whether the positive button 8 or the negative button 9 has been pressed for the first time since the manual operation direction was switched (step S31).

[0057] If it is the first time (Yes in step S31), the portable terminal 2 transmits to the robot a movement command for an inching operation in the positive or negative direction of the determined manual operation direction (step S32), and repeats the process from step S30. If it is not the first time (No in step S31), the portable terminal 2 transmits to the robot a movement command for a normal operation in the positive or negative direction of the determined manual operation direction while the positive button 8 or negative button 9 is being pressed (step S33), and repeats the process from step S30.

[0058] If the manual operation direction has not been determined at the time of executing the processing of step S28, S29, S32 or S33, the mobile terminal 2 may display an error message on the manual operation screen 10 informing the operator that the manual operation direction has not been determined, and prompt the operator to select the manual operation direction.

[0059] Furthermore, when the portable terminal 2 executes at least the processing of steps S28, S29, S32, or S33, the operation of the robot needs to be enabled by the enable switch 6. In other words, if the operation of the robot is not enabled, the portable terminal 2 does not execute the processing of steps S28, S29, S32, or S33.

[0060] As described above, according to the second embodiment, in manual operation, the operator can operate the robot using the physical buttons, the positive button 8 and the negative button 9. This allows the operator to feel the sensation of pressing a button, allowing the operator to tactilely recognize that a button is being pressed and resulting in a faster response speed. Furthermore, the external operation unit 4 only requires at least the positive button 8 and the negative button 9, excluding the emergency stop switch 5 and the enable switch 6, which are essential for safety reasons. This reduces the number of physical buttons, reducing costs, and allows the positive button 8 and the negative button 9 to be larger, improving operability during manual operation. Furthermore, the operator can operate the robot using both the virtual operation direction object 14 and the physical positive button 8 and negative button 9. This allows the operator to roughly operate the robot using the operation direction object 14, and then finely operate the robot using the positive button 8 and the negative button 9, further improving operability during manual operation. Furthermore, when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction has been determined, the robot always performs an inching motion, ensuring safety.

[0061] Furthermore, when an operation direction object 14 relating to the same operation direction as the operation direction object 14 touched for switching is touched for the first time after switching the manual operation direction, the mobile terminal 2 transmits to the robot a movement command for an inching motion in the positive or negative direction of the switched manual operation direction. This ensures safety because the robot always performs an inching motion when operation is performed using the operation direction object 14 for the first time after the manual operation direction is determined.

[0062] Furthermore, after determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration, so that the user can confirm the manual operation direction by hearing or touch, thereby ensuring greater safety.

[0063] As in the first embodiment, in addition to the process flow shown in FIG. 4, when the selection button 7 of the external operation unit 4 is pressed, the mobile terminal 2 switches the manual operation direction as in step S23.

[0064] Furthermore, the robot operation device 1 can adopt a configuration that selectively combines the processing of the portable terminal 2 in the first embodiment and the second embodiment. That is, after displaying the manual operation screen 10, the portable terminal 2 may execute the processing shown in Fig. 3 when the operation direction object 13 is touched, and may execute the processing shown in Fig. 4 when the operation direction object 14 is touched.

[0065] Third Embodiment 5 is a flowchart showing an example of the processing flow of the robot operating device in the third embodiment. As in the second embodiment, in the third embodiment, the description of the same components as in the first embodiment will be omitted for the sake of brevity.

[0066] In the third embodiment, the portable terminal 2 determines the manual operation direction based on an input to the external operation unit 4, and when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction is determined, the portable terminal 2 transmits to the robot a movement command for an inching motion in the positive or negative direction of the determined manual operation direction. Particularly in the third embodiment, the portable terminal 2 determines the manual operation direction based on input to the enable switch 6 and the selection button 7 of the external operation unit 4. Furthermore, after determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration.

[0067] 5, the mobile terminal 2 displays the manual operation screen 10 on the touch panel display 21 (step S41), and checks whether or not the operation of the robot has been enabled by the enable switch 6, that is, whether or not the enable switch 6 has been pushed to a predetermined position (step S42). If the operation of the robot has been enabled by the enable switch 6 (Yes in step S42), the mobile terminal 2 proceeds to step S43, and if the operation of the robot has not been enabled by the enable switch 6 (No in step S42), the mobile terminal 2 repeats the process from step S42.

[0068] Next, the portable terminal 2 checks whether the selection button 7 has been pressed within a predetermined time after the enable switch 6 has been pressed (step S43). The predetermined time is, for example, about one second. If the selection button 7 has not been pressed within the predetermined time (No in step S43), the portable terminal 2 proceeds to step S47. If the selection button 7 has been pressed within the predetermined time (Yes in step S43), the portable terminal 2 determines the manual operation direction based on the number of times the selection button 7 has been pressed (step S44).

[0069] Step S44 will now be described in detail. For example, the portable terminal 2 switches the selection of the operation direction object 13 in the order of "X" → "Y" → "Z" → "RX" → "RY" → "RZ" → "J1" → "J2" → "J3" → "J4" → "J5" → "J6" according to the number of times the selection button 7 is pressed, and determines the manual operation direction. For example, when the selection button 7 is pressed three times, the portable terminal 2 switches the selection to the third operation direction object 13 of "Z" and determines "Z" as the manual operation direction.

[0070] Furthermore, for example, when the selection button 7 is pressed and held, that is, when the selection button 7 is pressed and held for a predetermined time or longer, the mobile terminal 2 switches the selection between the Cartesian coordinate system operation unit 11 and the axis operation unit 12. More specifically, when the selection button 7 is pressed and held, if the currently selected operation direction object 13 belongs to the Cartesian coordinate system operation unit 11, the mobile terminal 2 switches the selection to a specific operation direction object 13 (for example, the first "J1") included in the axis operation unit 12, and if the currently selected operation direction object 13 belongs to the axis operation unit 12, the mobile terminal 2 switches the selection to a specific operation direction object 13 (for example, the first "X") included in the Cartesian coordinate system operation unit 11. By using this long press function, the operator may be able to reduce the number of times the selection button 7 is pressed.

[0071] Next, the mobile terminal 2 or the external operation unit 4 notifies the user of the switched manual operation direction by sound or vibration (step S45). An example of the notification method is the same as in the first embodiment.

[0072] Next, the mobile terminal 2 highlights and displays the operation direction object 13 corresponding to the determined manual operation direction (step S46). An example of the method for highlighting and displaying is as described above with reference to FIG.

[0073] Next, the portable terminal 2 checks whether the positive button 8 or the negative button 9 of the external operation unit 4 has been pressed (step S47). If the positive button 8 or the negative button 9 has not been pressed (No in step S47), the portable terminal 2 repeats the process from step S42. If the positive button 8 or the negative button 9 has been pressed (Yes in step S47), the portable terminal 2 checks whether the positive button 8 or the negative button 9 has been pressed for the first time since the manual operation direction was switched (step S48).

[0074] If it is the first time (Yes in step S48), the portable terminal 2 transmits to the robot a movement command for an inching operation in the positive or negative direction of the determined manual operation direction (step S49), and repeats the process from step S47. If it is not the first time (No in step S48), the portable terminal 2 transmits to the robot a movement command for a normal operation in the positive or negative direction of the determined manual operation direction while the positive button 8 or negative button 9 is being pressed (step S50), and repeats the process from step S47.

[0075] If the manual operation direction has not been determined at the time of executing the processing of step S49 or S50, the mobile terminal 2 may display an error message on the manual operation screen 10 informing the operator that the manual operation direction has not been determined, and prompt the operator to select the manual operation direction.

[0076] Furthermore, at least when the portable terminal 2 executes the process of step S49 or S50, the operation of the robot needs to be enabled by the enable switch 6. In other words, if the operation of the robot is not enabled, the portable terminal 2 does not execute the process of step S49 or S50.

[0077] As described above, according to the third embodiment, in manual operation, the operator can operate the robot using the physical buttons, the positive button 8 and the negative button 9. This allows the operator to feel the sensation of pressing a button, allowing the operator to tactilely recognize that a button is being pressed and resulting in a faster response speed. Furthermore, the physical buttons arranged on the external operation unit 4 only need to include at least the selection button 7, the positive button 8, and the negative button 9, excluding the emergency stop switch 5 and the enable switch 6, which are essential for safety reasons. This reduces the number of physical buttons, reducing costs, and allows the positive button 8 and the negative button 9 to be larger, improving operability during manual operation. Furthermore, the operator can select the manual operation direction triggered by the operation of the enable switch 6, which is required to enable the operation of the robot, thereby simplifying the operation when selecting the manual operation direction. Furthermore, when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction has been determined, the robot always performs an inching motion, ensuring safety.

[0078] Furthermore, after determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration, so that the user can confirm the manual operation direction by hearing or touch, thereby ensuring greater safety.

[0079] In the third embodiment, it is desirable that the portable terminal 2 initializes the manual operation direction, that is, puts the manual operation direction into a state where it has not been determined, when displaying the manual operation screen 10 in step S41 or when confirming activation by the enable switch 6 in step S42. This means that the manual operation direction is determined every time activation is performed by the enable switch 6, and when the operator changes or returns from a break, the previous manual operation direction will not be used as is, and erroneous operation can be prevented.

[0080] The robot operation device 1 can adopt a configuration that selectively combines the processing of the portable terminal 2 in the first to third embodiments. That is, after displaying the manual operation screen 10, the portable terminal 2 may execute the processing shown in Fig. 3 when the operation direction object 13 is touched, execute the processing shown in Fig. 4 when the operation orientation object 14 is touched, and execute the processing shown in Fig. 5 when activation by the enable switch 6 is confirmed.

[0081] The order of the processes in steps S41 and S42 may be reversed. That is, the mobile terminal 2 may display the manual operation screen 10 on the touch panel display 21 after confirming that the enable switch 6 has been enabled.

[0082] <Fourth embodiment> In the fourth embodiment, the portable terminal 2 determines the manual operation direction based on inputs to the external operation unit 4 and the microphone 22 of the portable terminal 2, and when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction is determined, it transmits to the robot a movement command for an inching motion in the positive or negative direction of the determined manual operation direction. After determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration.

[0083] When the mobile terminal 2 detects voice input from the microphone 22 within a predetermined time (for example, about one second) after the enable switch 6 is pressed, it converts the voice data into text data by voice recognition processing, determines a manual operation direction based on the text data, and highlights and displays the operation direction object 13 corresponding to the determined manual operation direction. For example, when the operator presses the enable switch 6 to enable operation of the robot and utters "J1" into the microphone 22, the mobile terminal 2 converts the voice data to text data "J1," determines "J1" as the manual operation direction, and highlights and displays the operation direction object 13 for "J1."

[0084] Furthermore, the mobile terminal 2 may be configured to execute the same process when detecting voice input from the microphone 22 within a predetermined time after the selection button 7 has been pressed and held (=pressed for a predetermined time or longer).

[0085] Furthermore, after determining the manual operation direction, the portable terminal 2 may be configured to transmit to the robot a movement command in the positive or negative direction of the determined manual operation direction while a specific voice is being input from the microphone 22. For example, the portable terminal 2 may be configured to transmit to the robot a movement command in the positive direction of the determined manual operation direction while the operator continues to utter the vowel "a", and to transmit to the robot a movement command in the negative direction of the determined manual operation direction while the operator continues to utter the vowel "i".

[0086] Fifth Embodiment In the fifth embodiment, the portable terminal 2 determines the manual operation direction based on inputs to the external operation unit 4 and the gyro sensor of the portable terminal 2, and when the positive button 8 or the negative button 9 is pressed for the first time after the manual operation direction is determined, it transmits to the robot a movement command for an inching motion in the positive or negative direction of the determined manual operation direction. After determining the manual operation direction, the portable terminal 2 or the external operation unit 4 notifies the user of the determined manual operation direction by sound or vibration.

[0087] The mobile terminal 2 displays four arrow objects pointing in the up, down, left, and right directions on the manual operation screen 10 (not shown). Each arrow object is labeled with one of the letters "X," "Y," "Z," "RX," "RY," "RZ," "J1," "J2," "J3," "J4," "J5," or "J6," and is associated with the operation direction of that letter. For example, an upward arrow object is associated with "X," a left arrow object with "Y," a right arrow object with "J1," and a downward arrow object with "J2." This association combination can be set on a separate setting screen.

[0088] When the gyro sensor of the portable terminal 2 detects a tilt of a predetermined angle (for example, 45 degrees) or more in any direction, up, down, left, or right, the portable terminal 2 determines the operation direction associated with that direction as the manual operation direction, and displays the determined manual operation direction on the manual operation screen 10.

[0089] Furthermore, after determining the manual operation direction, the portable terminal 2 may transmit to the robot a movement command in the positive or negative direction of the determined manual operation direction while the gyro sensor continues to detect a tilt of a predetermined angle or more in a particular direction. For example, the portable terminal 2 may transmit to the robot a movement command in the positive direction of the determined manual operation direction while the gyro sensor continues to detect an upward tilt of a predetermined angle or more, and may transmit to the robot a movement command in the negative direction of the determined manual operation direction while the gyro sensor continues to detect a downward tilt of a predetermined angle or more.

[0090] While the preferred embodiments of the robot manipulation device according to the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to these examples. It is clear that those skilled in the art can conceive of various modifications and alterations within the scope of the technical ideas disclosed herein, and it is understood that these modifications and alterations also fall within the technical scope of the present invention. [Explanation of symbols]

[0091] 1...Robot operation device 2. Mobile device 3...Holder part 4. External operation unit 5...Emergency stop switch 6...Enable switch 7...Select button 8...Positive button 9....Negative button 10……Manual operation screen 11: Cartesian coordinate system operation section 12……Axis operation section 13, 13a, 13b...Operation direction object 14, 14a, 14b...Operation-oriented objects 21...Touch panel display

Claims

1. A robot operation device having a mobile terminal with a touch panel display and an external operation unit, the external operation unit has a positive button for instructing a movement of the robot in a positive direction of a manual operation direction by manual operation, and a negative button for instructing a movement in a negative direction of the manual operation direction, The mobile terminal determines the manual operation direction based on an input to the touch panel display or the external operation unit, and when the positive button or the negative button is pressed for the first time after the manual operation direction has been determined, transmits to the robot a movement command for an inching operation in the positive or negative direction of the determined manual operation direction.

2. After determining the manual operation direction, the portable terminal or the external operation unit notifies the user of the determined manual operation direction by sound or vibration.

2. The robot operating device according to claim 1.

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

4. 3. The robot operation device according to claim 1, wherein the mobile terminal displays a manual operation screen on the touch panel display, and when an operation direction object displayed on the manual operation screen is touched, switches the manual operation direction based on the touched operation direction object, and highlights an operation direction object displayed on the manual operation screen and corresponding to the switched manual operation direction, and when the operation direction object related to the same operation direction as the operation direction object touched for switching is touched for the first time after the manual operation direction is switched, transmits to the robot a movement command for the inching operation in a positive direction or a negative direction of the switched manual operation direction.

5. the external operation unit further includes an enable switch that enables operation of the robot and a selection button that switches the selection of the manual operation direction; 3. The robot operation device according to claim 1, wherein when the selection button is pressed within a predetermined time after the enable switch is pressed, the portable terminal determines the manual operation direction based on the number of times the selection button is pressed.

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