Handling device of robot

Abstract

To provide a handling device of a robot, the handling device being capable of immediately stopping the robot at the normal time while suppressing the operation to stop the robot from being unintentionally performed.SOLUTION: A handling device 1 of a robot comprises: a display unit 13; a normal stop switch 15 displayed on the display unit 13; a display processing unit 21 which performs display processing to display the normal stop switch 15 on the display unit 13; a stop processing unit 23 which performs, when the normal stop switch 15 is operated, stop processing to stop the robot 2 based on software processing; a login processing unit 24 which switches between a login state where functions according to authority given to a user are executable and a logout state where at least some of the functions are restricted; and a switch processing unit 25 which validates or invalidates the normal stop switch 15.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an operating device for a robot. [Background technology]

[0002] The robot can be operated using an operating device such as a teaching device, and such an operating device is provided with an emergency stop switch and an enable switch, as described in Patent Document 1, for example. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-110873 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional switches were provided for so-called emergencies, and no switch was provided for immediately stopping the robot during normal operation of the operating device. Therefore, in the past, in order to stop the robot during normal operation, it was necessary to perform an operation to stop the running program, and the robot could not be stopped immediately.

[0005] Furthermore, for example, if a robot being operated by one worker is stopped by another worker, there is a risk that the robot will stop in an unintended state, so it is also important to ensure that the operation to stop the robot is carried out appropriately. The present disclosure has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a robot operating device that can immediately stop a robot under normal circumstances and can prevent operations that stop the robot from being performed unintentionally. [Means for solving the problem]

[0006] A robot operating device according to one aspect of the present disclosure includes a display unit, a normal stop switch displayed on the display unit, a display processing unit that executes display processing to display the normal stop switch on the display unit, a stop processing unit that executes stop processing to stop the robot based on software processing when the normal stop switch is operated, a login processing unit that executes processing to switch between a login state in which functions according to granted permissions can be executed and a logout state in which at least some functions are restricted, and a switch processing unit that executes processing to enable or disable the normal stop switch, wherein the switch processing unit enables the normal stop switch in the login state and disables the normal stop switch in the logout state. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of an operating device according to an embodiment. [Figure 2] A diagram showing an example of account settings [Figure 3] A diagram showing an example of terminal settings [Figure 4] A diagram showing an example of a login procedure [Figure 5] A diagram showing a typical screen example when the normal stop switch is disabled [Figure 6] A diagram showing a typical example of a screen in which the normal stop switch is enabled as an exception [Figure 7] FIG. 10 is a diagram illustrating an example of a return procedure in a logged-in state. [Figure 8] FIG. 10 is a diagram illustrating an example of a return procedure in a logged-out state. [Figure 9] FIG. 10 is a diagram schematically illustrating another configuration example of the operating device. DETAILED DESCRIPTION OF THE INVENTION

[0008] 1, the operating device 1 of this embodiment is assumed to be a so-called teaching device that teaches a robot 2, and is connected to a controller 3 that controls the robot 2 by a dedicated cable 4. The robot 2 is assumed to be, for example, a vertically articulated six-axis robot or seven-axis robot, or a horizontally articulated four-axis robot.

[0009] The controller 3 has a general configuration and will not be described in detail, but it is equipped with a non-safety control device 3a that is the main body that controls the robot 2, such as generating and outputting control commands based on settings and instructions from the operating device 1, and a safety control device 3b that is the main body that performs safety-related control, such as cutting off the power supply to the robot 2 to stop it when an emergency stop operation is input.

[0010] The operating device 1 includes a main body 10, an emergency stop switch 11 provided on the main body 10, an enable switch 12 provided on the back side of the main body 10, a display unit 13, a touch panel 14 provided on the screen of the display unit 13, a normal stop switch 15 displayed on the display unit 13, a plurality of buttons 16 provided on the surface of the main body 10, and a cable connection unit 17 to which the dedicated cable 4 is connected. Note that the configuration of the operating device 1 is an example, and the shape, size, number, and arrangement of each part are not limited to those shown in FIG. 1.

[0011] The emergency stop switch 11 is used to input an operation to bring the robot 2 to an emergency stop, and generally has a normally closed physical contact point connected to the safety system controller 3b on both sides. When the emergency stop switch 11 is operated by an operator, the contact point is turned off, and when the safety system controller 3b detects that the contact point has been turned off, the safety system controller 3b cuts off the power supply to the robot 2, bringing the robot 2 to an emergency stop. Stopping the operation of the robot 2 by the emergency stop switch 11 is executed with priority over all other functions.

[0012] The enable switch 12 enables the execution of a function when it is continuously operated, and for example, enables the execution of a function to manually operate the robot 2 while the operator holding the operating device 1 continues to operate it. Note that the execution of other functions can be permitted or prohibited depending on the operation of the enable switch 12. Furthermore, a configuration can be provided in which multiple enable switches 12 are provided to accommodate cases where the operating device is held with the right hand and cases where it is held with the left hand, for example.

[0013] The normal stop switch 15 is used to input an operation to immediately stop the robot 2 during normal operation of the operating device 1. When this normal stop switch 15 is operated, the operation of the robot 2 is stopped in stop category 0 or stop category 1 according to the IEC 60204-1 standard. In other words, the normal stop switch 15 is used to input an operation to bring the robot 2 to an emergency stop during normal operation. Note that normal operation refers to a state that is not an emergency, and refers to a state in which the worker is performing general work using the operating device, such as checking the posture of the robot 2 using a 3D model, editing a program, or teaching work, or a state in which such work can be performed.

[0014] The normal stop switch 15 is configured to be operated by the worker touching the touch panel 14, that is, in the same manner as when operating the operation screen to operate the robot 2.

[0015] In this embodiment, it is assumed that when the normal stop switch 15 is operated, an instruction to the effect that the normal stop switch 15 has been operated is output to the controller 3 based on software control, and in response to this, the safety system control device 3b brings the robot 2 to an emergency stop. However, it is also possible to provide a normally closed contact in the main body 10 and connect it to the safety system control device 3b, and by turning off the contact when the normal stop switch 15 is operated, the robot 2 is brought to an emergency stop in the same manner as the emergency stop switch 11.

[0016] The main body 10 is formed in a roughly rectangular box shape, and has a control unit 20 disposed therein. The control unit 20 is configured, for example, by a microcomputer, and is electrically connected to the display unit 13, the touch panel 14, the buttons 16, etc. The control unit 20 controls the overall functions of the operating device 1 by executing a program. The control unit 20 also has a plurality of functional units related to this embodiment.

[0017] Specifically, the control unit 20 includes functional units such as a display processing unit 21, an input processing unit 22, a stop processing unit 23, a login processing unit 24, a switch processing unit 25, a terminal setting unit 26, and a return processing unit 27. In the present embodiment, each functional unit is realized by software by executing a program in the control unit 20. Furthermore, although not shown in the figure, the control unit 20 also includes other functional units required for moving or teaching the robot 2, such as a functional unit that executes processing to manually operate the robot 2, a processing unit that creates a program to operate the robot 2, a processing unit that sets parameters for operating the robot 2, and a communication processing unit that communicates with the controller 3.

[0018] The display processing unit 21 executes processing to display various types of information on the display unit 13, and in this embodiment also executes processing to display the normal stop switch 15. The display unit 13 is configured, for example, with a liquid crystal display or an organic EL display, and functions as a user interface with the worker by displaying an operation screen for operating the robot 2 and various types of information. Alternatively, the display unit 13 may be, for example, a wearable display that is worn on the worker's head.

[0019] The input processing unit 22 receives operational input from the user in response to information displayed on the display unit 13, such as by executing a process for accepting operational input from the worker via the touch panel 14. The input processing unit 22 receives operational input from, for example, a mouse or keyboard, or at least a pointing device or touch device that can specify a specific position on the screen displayed on the display unit 13, or a position detection device that can detect a position pointed to by the worker's fingertip.

[0020] When the normal stop switch 15 is operated, the stop processing unit 23 executes a stop process based on software processing to stop the robot 2. For example, the stop processing unit 23 executes the stop process by outputting an instruction to the controller 3 that the normal stop switch 15 has been operated, as described above, or by driving a contact if the stop processing unit 23 is configured to have an internal contact.

[0021] The login processing unit 24 switches between a login state in which functions according to the granted authority can be executed and a logout state in which at least some functions are restricted. Whether or not a user can log in is determined by the user ID registered in the account settings, which will be described later.

[0022] The switch processing unit 25 executes a process of enabling or disabling the normal stop switch 15. A specific method by which the switch processing unit 25 enables or disabling the normal stop switch 15 will be described later.

[0023] The terminal setting unit 26 executes various processes related to the settings of the operation device 1. For example, as shown in Fig. 2 as an example of settings, the terminal setting unit 26 executes account setting processing that links a user ID with functions that can be executed in a logged-in state. In the case of Fig. 2, the account with the user ID "0000" is classified as an operator, and is authorized to execute functions such as operating the operation panel and changing its own password. In the logged-out state, the stop operation of operating the normal stop switch 15 to stop the robot 2 is not permitted, and various setting changes are also not permitted.

[0024] In addition, the account with the user ID "1111" is classified as a programmer, and in addition to the functions that an operator can perform, it is given the authority to perform functions such as manually operating Robot 2, creating and editing programs, and verifying programs. Stop operations are permitted when logged out, but various setting changes are not permitted.

[0025] Additionally, accounts with the user ID "9999" are classified as maintainers, and in addition to the functions that programmers can perform, they are given the authority to perform functions such as recovery procedures in the event of an error, setting changes, and maintenance and inspections. Stop operations are permitted when logged out, and various setting changes are also permitted.

[0026] In this way, the terminal setting unit 26 permits operation of the normal stop switch 15 upon logout for specific accounts, and prohibits operation of the normal stop switch 15 upon logout for other specific accounts. Furthermore, account settings are not limited to numerical values; they can also be linked to the names of workers, such as Suzuki or Tanaka. These settings can be changed by an account with the authority to change the settings, such as a maintainer, while logged in. In other words, the settings of the operation device 1 can be changed by a specific account that has been determined in advance, and the settings are made individually for each operation device 1. Note that the settings shown here are merely an example; permission or prohibition of stop operations can be set for each account classification, and which classifications are permitted or prohibited can be set as appropriate depending on the actual usage conditions at the site, etc.

[0027] For example, when a maintainer changes account settings, when the maintainer performs the setting change operation, a current settings list image 30 is displayed on the display unit 13 as shown in the setting change example in Fig. 2. Then, when the maintainer changes a setting for which the stop operation is not permitted in the logged-out state, for example, by tapping the part to be changed, a Allow button 31 or a Disallow button 32 is displayed in a speech bubble 33 according to the part to be changed, and the account settings are changed by tapping, for example, the Allow button 31 from the speech bubble 33. Note that the setting change procedure described here is an example, and the display manner and operation manner are not limited to this.

[0028] Furthermore, as shown in Fig. 3, the setting processing unit associates the state at the time of logout with whether the stop operation is permitted or not in that state. This setting can be changed by a specific account that has the authority to change the settings, such as a maintainer. In the example of Fig. 3, the stop operation in the logged-out state is set to permitted in the following cases: when the maintainer logs out; when an authorized account that is permitted to perform the stop operation in the logged-out state logs out; when the robot 2 logs out while the robot 2 is operating; and when the robot 2 logs out while a program that may start operating after the robot 2 has stopped is running.

[0029] On the other hand, if the user logs out while the robot 2 is stopped, the stop operation in the logged-out state is set to be disallowed. In this way, in the operation device 1, the stop operation in the logged-out state is set to be allowed or disallowed depending on whether the user has logged out from a specific account, and whether the user has logged out in a specific state, that is, while a specific process is being executed. Note that the setting shown here is just an example, and whether the stop operation in the logged-out state is allowed or disallowed can be defined and set according to the actual usage situation at the site, etc.

[0030] The return processing unit 27 executes a process to return the robot 2 when a predetermined return operation including a plurality of steps is performed after the normal stop switch 15 is operated to execute a stop process. This return process is, for example, a process to return the posture of the robot 2 to the so-called origin position or work start position, or to initialize operation parameters. Furthermore, when the robot 2 enters a logged-in state after execution of the return process, the return processing unit 27 permits execution of a program to operate the robot 2.

[0031] Next, the operation and effects of the above-described configuration will be described. Conventionally, while an emergency stop switch 11 and an enable switch 12 are provided for emergencies, there is no switch provided to immediately stop the robot 2 during normal operation of the operating device 1.

[0032] In response to this, the operating device 1 is provided with a normal stop switch 15 for stopping the robot 2 under normal circumstances. This makes it possible to immediately stop the robot 2 under normal circumstances without performing an operation to stop a running program, for example.

[0033] However, if a robot 2 operated by one worker is stopped by another worker who is unaware of the operation, there is a risk that the robot 2 may enter an unintended state, such as stopping in a dangerous position. Therefore, the operating device 1 is also required to be able to prevent an operation to stop the robot 2 from being performed unintentionally.

[0034] Therefore, the operation device 1 enables or disables the normal stop switch 15 depending on the usage status of the operation device 1. Specifically, the operation device 1 determines whether the usage status is a logged-in state or a logged-out state, and enables the normal stop switch 15 in the logged-in state. On the other hand, the operation device 1 basically disables the normal stop switch 15 in the logged-out state, with some exceptions.

[0035] Below, the manner in which the normal stop switch 15 is enabled or disabled will be described together with the manner in which it is displayed on the display unit 13. Note that the display screens shown in the figures described below are examples. Furthermore, although the processing described below is performed in cooperation with functional units such as the switch processing unit 25, the explanation will be centered on the operation device 1 for the sake of simplicity.

[0036] When the power is turned on, the operation device 1 displays a message 40 prompting the operator to log in and a login button 41 on the display unit 13, as shown as a login screen in Fig. 4. When the login button 41 is operated, the operation device 1 displays an input field 42 for inputting a user ID and password and input buttons 43, such as a software keyboard, as shown as an example of an input screen, and waits for input by the operator. When the correct user ID and password are input and an OK button 44 is pressed, the operation device 1 transitions to a login state.

[0037] When the operation device 1 is in a logged-in state, it displays, as shown as an example of an operation screen, an image (M1) showing the current posture of the robot 2 and a menu (M2) for inputting or changing parameters, and enables various operations according to the type of account that has logged in. In addition, in the logged-in state, menu buttons (M3) for performing various operations are also displayed.

[0038] Furthermore, when the operation device 1 is in a logged-in state, the operation device 1 displays the normal stop switch 15 on the display unit 13. That is, when the operation device 1 is in a logged-in state, the normal stop switch 15 is enabled. Then, when the normal stop switch 15 is enabled, it becomes possible to stop the robot 2 by operating the normal stop switch 15.

[0039] The normal stop switch 15 is displayed with a character string 15a indicating a function, such as "STOP," surrounded by a circular shape 15b, and a rectangular shape 15c surrounding the circular shape 15b. In accordance with the ISO 13850 standard, the normal stop switch 15 is displayed with the inside of the circular shape 15b that forms the background of the character string 15a colored red, the inside of the rectangular shape 15c that forms the background of the circular shape 15b colored yellow, and the circular shape 15b and the rectangular shape 15c outlined in black. Note that in FIG. 4, the color differences are schematically indicated by hatching. Furthermore, because the normal stop switch 15 is displayed on the display unit 13, the character string 15a indicating the function is displayed in white. Note that the display mode of the normal stop switch 15 is merely an example.

[0040] Furthermore, the normal stop switch 15 is displayed in a predetermined size at a predetermined position, such as the lower left corner of the display unit 13. By displaying the normal stop switch 15 in a fixed position in this way, it becomes easier for the worker to remember the location of the normal stop switch 15, and when it is necessary to stop the robot 2, it becomes possible to stop it intuitively and immediately.

[0041] The controller device 1 transitions to a logout state when the logout button 45 is operated or when a timeout occurs after a predetermined period of time has passed without the controller device 1 being operated. When the controller device 1 transitions to the logout state, the controller device 1 basically disables the normal stop switch 15. In this case, the controller device 1 disables the normal stop switch 15 by not displaying the normal stop switch 15, for example, as shown as disabled example 1 in FIG. 5 . Specifically, the switch processing unit 25 prohibits the display processing unit 21 from displaying the normal stop switch 15, thereby preventing the normal stop switch 15 from being displayed on the display unit 13. In disabled example 1, the display position where the normal stop switch 15 would be displayed in the logged-in state is indicated by a dashed line, thereby schematically illustrating a state in which the normal stop switch 15 is not displayed.

[0042] Furthermore, as shown in invalid example 2, the operation device 1 displays the normal stop switch 15 even in the logged-out state, but when the normal stop switch 15 is operated, it can be configured to not permit execution of the stop process and to display a message 46 indicating that the operation is invalid, such as "Operation not permitted while logged out," thereby invalidating the normal stop switch 15. Specifically, the switch processing unit 25 prohibits the stop processing unit 23 from executing the stop process, and causes the display processing unit 21 to display the message 46 when the normal stop switch 15 is operated.

[0043] Alternatively, as shown in invalid example 3, the operation device 1 can be configured to display the normal stop switch 15 in a different display mode from that in the logged-in state, such as by displaying it in gray, in addition to disallowing execution of the stop process, thereby invalidating the normal stop switch 15. Specifically, the switch processing unit 25 prohibits the stop processing unit 23 from executing the stop process, and causes the display processing unit 21 to display the normal stop switch 15 in a different display mode. Note that in invalid example 3, different hatching from that in FIG. 4 is used to schematically indicate that the display mode, such as color, is different. Also, when the normal stop switch 15 is operated, a message 46 indicating that the operation is invalid can be further displayed.

[0044] In this way, the operating device 1 enables the normal stop switch 15 in the logged-in state, thereby enabling the robot 2 to be stopped quickly during normal work, and by disabling the normal stop switch 15 in the logged-out state, prevents the robot 2 from being stopped in a state unintended by the operator.

[0045] However, even if the operation device 1 is in a logged-out state, there may be a situation where it is necessary to stop the robot 2 urgently. In that case, the normal stop switch 15 can be exceptionally enabled even in the logged-out state according to the setting shown in FIG.

[0046] For example, the normal stop switch 15 can be enabled when a maintainer with sufficient knowledge of the robot 2 logs out as shown as exception 1 in Fig. 6, or when an authorized account as shown in Fig. 3 logs out. This allows a worker with sufficient knowledge of the robot 2 to quickly stop the robot 2 even if the worker is logged out. A message 47 may be displayed indicating which type of account has logged out.

[0047] Alternatively, as shown as exception 2 in Fig. 6, if the logout state occurs while the program that operates the robot 2 is being executed, the operation device 1 can exceptionally activate the normal stop switch 15 even in the logout state. This allows the robot 2 to be quickly stopped by operating the normal stop switch 15, for example, when the robot 2 is left in an operating state. A message 48 may be displayed that indicates the state from which the robot 2 was logged out.

[0048] Stopping the robot 2 using the normal stop switch 15 is similar to a so-called emergency stop. Therefore, when the robot 2 is stopped using the normal stop switch 15, an intentional return operation is required to operate the robot 2 again. Therefore, the operating device 1 executes a return process to return the robot 2 to its original state when a predetermined return operation including a plurality of steps is performed after the normal stop switch 15 is operated to execute the stop process.

[0049] Specifically, when the normal stop switch 15 is operated in a logged-in state to stop the robot 2, the operation device 1 displays a message 50 indicating that an emergency stop has occurred, along with a return button 51 for performing a return operation, on the display unit 13, as shown as return procedure 1 in Fig. 7. When the return button 51 is operated by the operator, the operation device 1 displays a message 52 indicating that the return button 51 has been pressed, as shown as return procedure 2, along with an execute button 53 for executing the return process and a back button 54 for not executing the return process.

[0050] Then, when the operator operates the execute button 53, the operation device 1 internally executes the return process, and then displays a confirmation button 56 together with a message 55 indicating that the return process has been executed, as shown as return procedure 3. In this way, after the normal stop switch 15 is operated to stop the robot 2, the operation device 1 returns the robot 2 when a predetermined return procedure including a plurality of steps that can be determined to indicate that the operator desires return is input.

[0051] It is also assumed that the operation device 1 will enter a logout state after the normal stop switch 15 is operated to stop the robot 2, or that the normal stop switch 15 will be operated in a logged-out state after a maintainer has logged out, for example, to stop the robot 2. For this reason, the operation device 1 displays a message 50 and a return button 51 even in the logged-out state, as shown as return procedure 4 in Fig. 8, and displays a message 52, an execute button 53, or a back button 54 when the return button 51 is operated, as shown as return procedure 5.

[0052] Then, as shown in recovery procedure 6, when the execute button 53 is operated, the operation device 1 displays a message 55 and a confirmation button 56. However, if the recovery operation is performed in the logged-out state, the operation device 1 allows the execution of the program for operating the robot 2 only when the logged-in state is reached after the recovery process is executed. At this time, the operation device 1 displays a message 40 prompting the user to log in and a login button 41 on the display unit 13. This prevents the robot 2 that has been stopped by operation of the normal stop switch 15 from becoming operable while still in the logged-out state, in other words, it prevents the robot 2 that has been emergency-stopped from being operated without going through the normal procedure.

[0053] According to the embodiment described above, the following effects can be obtained. The operating device 1 includes a display unit 13, a normal stop switch 15 displayed on the display unit 13, a stop processing unit 23 that executes a stop process to stop the robot 2 based on software processing when the normal stop switch 15 is operated, a login processing unit 24 that executes a process to switch between a logged-in state in which functions according to the granted authority can be executed and a logged-out state in which at least some functions are restricted, and a switch processing unit 25 that executes a process to enable or disable the normal stop switch 15.

[0054] The switch processing unit 25 enables the normal stop switch 15 in the logged-in state, but disables the normal stop switch 15 in the logged-out state. This makes it possible to immediately stop the robot 2 in the logged-in state, and also makes it possible to prevent an operation to stop the robot 2 unintentionally in the logged-out state.

[0055] Furthermore, the switch processing unit 25 enables the normal stop switch 15 by displaying the normal stop switch 15 in the logged-in state, and disables the normal stop switch 15 by not displaying the normal stop switch 15 in the logged-out state. This makes it possible to reliably suppress operation of the normal stop switch 15 in the logged-out state.

[0056] Furthermore, in the logged-in state, the switch processing unit 25 enables the normal stop switch 15 by displaying the normal stop switch 15, but in the logged-out state, the switch processing unit 25 does not permit execution of the stop process and, when the normal stop switch 15 is operated, disables the normal stop switch 15 by displaying a message indicating that the operation is invalid. This makes it possible to reliably suppress operation of the normal stop switch 15 in the logged-out state and to reliably notify the worker that the normal stop switch 15 cannot be operated.

[0057] Furthermore, in the logged-in state, the switch processing unit 25 enables the normal stop switch 15 by displaying the normal stop switch 15, while in the logged-out state, the switch processing unit 25 displays the normal stop switch 15 in a display mode different from that in the logged-in state and does not permit execution of the stop process, thereby disabling the normal stop switch 15. This makes it possible to reliably suppress operation of the normal stop switch 15 in the logged-out state, and allows the worker to recognize that the normal stop switch 15 cannot be operated.

[0058] Furthermore, the return processing unit 27 executes a return process to return the robot 2 when a predetermined return operation including multiple steps is performed after the normal stop switch 15 has been operated and the stop process has been executed. This makes it possible to determine that the return process is intended. Furthermore, when the logged-in state is established after the execution of the process for restoring the robot 2, the restoration processing unit 27 permits the execution of a program for operating the robot 2. This makes it possible to prevent the robot 2 from being operated by an operator who is not qualified to operate the robot 2.

[0059] Furthermore, when the user logs out from a specific account that has been set in advance, the switch processing unit 25 activates the normal stop switch 15. This allows a maintenance person, such as a maintainer, to stop the robot 2 even if the user is logged out.

[0060] Furthermore, if the user logs out while a specific preset process is being executed, the switch processing unit 25 activates the normal stop switch 15. This eliminates the need for login operations when, for example, the user wishes to stop the robot 2 in operation, and allows the robot 2 to be stopped quickly.

[0061] In the embodiment, the configuration has been exemplified as including the main body 10, the emergency stop switch 11 provided on the main body 10, and the display unit 13 provided on the main body 10, but as shown in Fig. 9, for example, an operating device 101 can be configured to include a main body 110 that is held by an operator, an emergency stop switch 111 that is provided on the main body 110 and that brings the robot 2 to an emergency stop when operated, and the display unit 13 provided separately from the main body 110. The operating device 101 is also provided with a lever-type enable switch 112.

[0062] In this case, for example, the screen of an operation terminal 113 such as a personal computer, smartphone, or tablet computer, or a wearable display worn on the head of an operator, can be used as the display unit 13 that displays the normal stop switch 15. Also, the control unit 20 for controlling the operation device 101 may be provided in the main body 110, or may be configured to share the same function as the operation terminal 113. Note that a configuration without the enable switch 112 is also possible.

[0063] Even with this configuration, by enabling the normal stop switch 15 in the logged-in state and disabling the normal stop switch 15 in the logged-out state, it is possible to immediately stop the robot 2 in the logged-in state and to prevent operations that unintentionally stop the robot 2 in the logged-out state, thereby achieving the same effects as in the embodiment.

[0064] In the embodiment, an example has been shown in which the normal stop switch 15 is configured as an image displayed on the display unit 13, but the normal stop switch 15 can also be configured as a functional unit that stops the robot 2 by software control based on an operation on the operation screen. That is, instead of displaying an image, it is also possible to determine that an operation on the normal stop switch 15 is a predetermined procedure performed on the operation screen, such as a login operation or tracing a predetermined shape on the screen, and then execute the stop process.

[0065] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure. [Explanation of symbols]

[0066] In the drawings, 1,101 indicate an operating device, 2 indicates a robot, 10,110 indicate a main body, 11,111 indicate an emergency stop switch, 12,112 indicate an enable switch, 13,113 indicate a display unit, 15 indicates a normal stop switch, 21 indicates a display processing unit, 23 indicates a stop processing unit, 24 indicates a login processing unit, 25 indicates a switch processing unit, and 27 indicates a recovery processing unit.

Claims

1. A display unit; a normal stop switch displayed on the display unit; a display processing unit that executes a display process to display the normal stop switch on the display unit; a stop processing unit that executes a stop process to stop the robot based on software processing when the normal stop switch is operated; a login processing unit that switches between a login state in which functions according to the granted authority can be executed and a logout state in which at least some of the functions are restricted; a switch processing unit that executes a process of enabling or disabling the normal stop switch, The switch processing unit enables the normal stop switch in a logged-in state, and disables the normal stop switch in a logged-out state.

2. The robot operation device according to claim 1 , wherein the switch processing unit enables or disables the normal stop switch by displaying the normal stop switch in a logged-in state and not displaying the normal stop switch in a logged-out state.

3. 2. The robot operating device of claim 1, wherein the switch processing unit displays the normal stop switch in a logged-in state to enable the normal stop switch, and disables the normal stop switch in a logged-out state by not allowing execution of the stop process and displaying a message indicating that the operation is invalid when the normal stop switch is operated.

4. 2. The robot operating device of claim 1, wherein the switch processing unit displays the normal stop switch in a logged-in state to enable the normal stop switch, and displays the normal stop switch in a display mode different from that in the logged-in state and does not allow execution of the stop process to disable the normal stop switch in a logged-out state.

5. 2. The robot operating device according to claim 1, further comprising a return processing unit that executes a return process to return the robot when a predetermined return operation including a plurality of steps is performed after the normal stop switch is operated and a stop process is executed.

6. The robot operating device according to claim 5 , wherein the return processing unit permits execution of a program that operates the robot when the logged-in state is established after execution of the process of returning the robot.

7. The robot manipulation device according to claim 1 , wherein the switch processing unit enables the normal stop switch when the user logs out of a specific account that is set in advance.

8. The robot manipulation device according to claim 1 , wherein the switch processing unit enables the normal stop switch when the user logs out during execution of a specific process that has been set in advance.

9. The main body and an emergency stop switch that is provided on the main body and that brings the robot to an emergency stop when operated; 2. The robot operating device according to claim 1, wherein the display unit is provided on the main body or is provided separately from the main body.

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