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.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 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. The switch processing unit 25 validates the normal stop switch 15 both in the login state and the logout state.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 times, such as when a teaching operation was being performed. Therefore, in conventional cases, in order to stop the robot during normal times, it was necessary to perform an operation to stop the running program, and the robot could not be stopped immediately.

[0005] 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 the robot under normal circumstances. [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, and the switch processing unit enables the normal stop switch in both the login state and 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 a login procedure [Figure 3] Figure 1 showing an example of enabling or disabling the normal stop switch [Figure 4] Figure 2 showing an example of enabling or disabling the normal stop switch [Figure 5] A diagram showing a typical screen example when the normal stop switch is enabled [Figure 6] A diagram showing a typical screen example when the normal stop switch is disabled [Figure 7] FIG. 10 is a diagram schematically illustrating an operation mode for executing a stop process. [Figure 8] FIG. 10 is a diagram illustrating an example of a return procedure in a logged-in state. [Figure 9] FIG. 10 is a diagram illustrating an example of a return procedure in a logged-out state. [Figure 10] 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. The display unit 13 is configured with, for example, 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 a wearable display that is worn on the worker's head, for example.

[0019] The display processing unit 21 also executes a process for displaying the normal stop switch 15. As shown in FIG. 2, the normal stop switch 15 is displayed in such a manner that a character string 15a indicating a function such as "STOP" is surrounded by a circular figure 15b, and the circular figure 15b is further surrounded by a rectangular figure 15c. In accordance with the ISO 13850 standard, the normal stop switch 15 is displayed as an image in which the inside of the circular figure 15b that forms the background of the character string 15a is red, the inside of the rectangular figure 15c that forms the background of the circular figure 15b is yellow, and the circular figure 15b and the rectangular figure 15c are outlined in black. Note that in FIG. 4, the difference in color is schematically indicated by hatching.

[0020] Furthermore, since the normal stop switch 15 is displayed on the display unit 13, the character string 15a indicating its function is displayed in white. The normal stop switch 15 is displayed in a predetermined position, such as the lower left corner of the display unit 13, with a predetermined size. 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 it becomes possible to stop the robot 2 intuitively and immediately when it is necessary. Note that the display mode of the normal stop switch 15 shown in FIG. 2 is one example.

[0021] 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.

[0022] When the normal stop switch 15 is operated, the stop processing unit 23 executes a stop process to stop the robot 2 based on software processing. 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 controller 3 is configured to have an internal contact. The stop processing unit 23 also executes the stop process when an operation that determines that the normal stop switch 15 has been operated is performed, as will be described later.

[0023] 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.

[0024] Specifically, when the power of the operation device 1 is turned on, the login processing unit 24 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. 2. Then, when the login button 41 is operated, the login processing unit 24 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.

[0025] Then, when the correct user ID and password are input and the OK button 44 is pressed, the login processing unit 24 transitions to a login state. Furthermore, when the operation device 1 enters the login 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 logged-in account. Furthermore, in the login state, menu buttons (M3) for performing various operations are also displayed. Note that the login screen and login operation mode shown in FIG. 2 are merely examples.

[0026] The switch processing unit 25 executes processing to enable or disable the normal stop switch 15. In the present embodiment, the switch processing unit 25 basically enables the normal stop switch 15 in both the logged-in state and the logged-out state, but disables the normal stop switch 15 in the logged-out state as a partial exception. Note that a specific method by which the switch processing unit 25 enables or disables the normal stop switch 15 will be described later.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] In this way, the terminal setting unit 26 permits operation of the normal stop switch 15 when logging out for specific accounts, and prohibits operation of the normal stop switch 15 when logging out for other specific accounts. Also, account settings are not limited to numerical values; they can also be linked to worker names such as Suzuki or Tanaka. Note that the settings shown here are just 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 situation at the work site, etc.

[0031] 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 is determined in advance, and the settings are made individually for each operation device 1.

[0032] 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. 3. 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.

[0033] Furthermore, as shown in Fig. 4, 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. 4, 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.

[0034] On the other hand, if the robot 2 is logged out while stopped, the stop operation in the logged out state is set to not be permitted. In this way, in the operation device 1, the stop operation in the logged out state is set to be permitted or not depending on whether or not the user has logged out from a specific account, and whether or not the user has logged out in a specific state, i.e., while a specific process is being executed. Note that the setting shown here is just an example, and whether or not the stop operation in the logged out state is permitted or not can be defined and set depending on the actual usage situation, etc.

[0035] 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.

[0036] 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.

[0037] In response to this, the operation device 1 is provided with a normal stop switch 15 for stopping the robot 2 under normal circumstances. The operation device 1 basically enables operation of the normal stop switch 15 by displaying the normal stop switch 15 on the display unit 13 in both the logged-in state and the logged-out state.

[0038] As a result, when logged in, the normal stop switch 15 is displayed on the operation screen shown in Figure 2, for example, so that the robot 2 can be stopped immediately without having to perform an operation to stop the running program.

[0039] Also, even in the logged-out state, the normal stop switch 15 is displayed in the same display mode as in the logged-in state as shown in Effective Example 1 in Fig. 5, or in a display mode or display position different from that in the logged-in state as shown in Effective Example 2, so that the robot 2 can be stopped immediately without the need for a login operation. Note that different display modes are not limited to changing the size of the normal stop switch 15, but also include changing its color.

[0040] However, if a robot 2 operated by one operator is stopped by another operator who is unaware of the operation, there is a risk of the robot 2 stopping in an unintended position, etc. Therefore, it is important that the operating device 1 is capable of appropriately operating to stop the robot 2.

[0041] Therefore, the operation device 1 exceptionally disables the operation of the normal stop switch 15 in the logged-out state according to the setting examples shown in Fig. 2 and Fig. 3. For example, when an operator logs out of their account as shown as Exception 1 in Fig. 6, there is a possibility that the operator may not fully understand the operation of the robot 2. Therefore, the operation device 1 disables the normal stop switch 15 by not displaying the normal stop switch 15 according to the setting example shown in Fig. 3, and while displaying a message 47 notifying the operator that they have logged out of their account. Note that in Fig. 6, the fact that the normal stop switch 15 is not displayed is schematically indicated by a dashed line.

[0042] Alternatively, for example, when the robot 2 is logged out while stopped, as shown as exception 2 in Fig. 6, it is considered that there is no need to stop the robot 2. Therefore, the operation device 1 disables the normal stop switch 15 by not displaying the normal stop switch 15 according to the setting example shown in Fig. 4, and while displaying a message 48 notifying that the robot 2 has been logged out while stopped.

[0043] In reality, a situation may be assumed in which an operator starts the operation of the robot 2, logs out, and then a maintenance person stops the robot 2. In that case, if the normal stop switch 15 is disabled in the logged-out state, it may not be possible to immediately stop the robot 2. Therefore, when a preset operation is performed in the logged-out state, the operation device 1 determines that the normal stop switch 15 has been operated and executes a stop process.

[0044] 7 as operation example 1, the operation device 1 can be configured to determine that the normal stop switch 15 has been operated and execute stop processing when a login operation is performed in the logged-out state, a predetermined password such as "1234" is entered in the password field, and the OK button 44 is operated. In other words, a functional unit that stops the robot 2 by software control based on an operation on the operation screen can be implemented as a substitute for the normal stop switch 15.

[0045] This makes it possible to stop the robot 2 even when the normal stop switch 15 is not displayed in the logged-out state. Furthermore, since the determination is based on a predetermined operation, erroneous determination can be prevented. Furthermore, the robot 2 can be stopped more quickly than when the normal stop switch 15 is operated after logging in. Furthermore, incorrect input can be prevented by disabling the password to be used from being set to an individual account. Note that a configuration in which predetermined characters are entered in the user ID field can also be used.

[0046] Alternatively, as shown as operation example 2 in Fig. 7, the operation device 1 can be configured to display one or more substitute images 46 that substitute for the normal stop switch 15 on the display unit 13, and when a predetermined pattern of operation is performed, such as touching multiple substitute images 36 in order along the path indicated by the dashed arrow 46a, it can determine that the normal stop switch 15 has been operated and execute the stop process. As a result, even when the normal stop switch 15 is not displayed, the robot 2 can be stopped more quickly than when the normal stop switch 15 is operated after logging in. Note that the operation mode shown in Fig. 7 is an example and is not limited to this.

[0047] 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.

[0048] 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. 8. 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.

[0049] 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.

[0050] 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. 9, 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.

[0051] Then, as shown as return 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 return operation is performed in the logged-out state, the operation device 1 allows the execution of a program for operating the robot 2 only when the logged-in state is established after the return process is executed.

[0052] 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 operating the normal stop switch 15 from becoming operable while remaining in the logged-out state, in other words, prevents the robot 2 that has been stopped in an emergency 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 then activates the normal stop switch 15 in both the logged-in state and the logged-out state, thereby enabling the robot 2 to be stopped quickly in both the logged-in state and the logged-out state.

[0055] Furthermore, the switch processing unit 25 displays the normal stop switch 15 in both the logged-in state and the logged-out state. This visually indicates the presence of the normal stop switch 15, allowing the normal stop switch 15 to be operated quickly.

[0056] Furthermore, in the logged-out state, the switch processing unit 25 displays the normal stop switch 15 in a display mode that is different from that in the logged-in state. This visually indicates the presence of the normal stop switch 15 even in the logged-out state, allowing the normal stop switch 15 to be quickly operated. In this case, for example, the normal stop switch 15 can be displayed larger than in the logged-in state or displayed in the center of the display unit 13, allowing the normal stop switch 15 to be quickly and easily operated.

[0057] Furthermore, when a preset operation is performed in a logged-out state, the switch processing unit 25 determines that the normal stop switch 15 has been operated and executes the stop process. This allows, for example, a maintenance person to stop the robot 2 even if an account that is not permitted to operate the normal stop switch 15 in a logged-out state logs out. Furthermore, the robot 2 can be stopped more quickly than when the normal stop switch 15 is operated after logging in. Furthermore, it is possible to prevent erroneous operation by a worker who is unfamiliar with the operation mode.

[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.

[0059] 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.

[0060] Furthermore, when the switch processing unit 25 logs out from a specific account that has been set in advance or when the switch processing unit 25 logs out while a specific process that has been set in advance is being executed, the switch processing unit 25 normally disables the stop switch 15. This makes it possible to prevent the robot 2 from accidentally stopping in an unintended state.

[0061] In the embodiment, a configuration has been exemplified in which the main body 10 and the emergency stop switch 11 provided on the main body 10 are provided, and the display unit 13 is provided on the main body 10, but for example, as shown in Fig. 10, an operating device 101 can be configured to include a main body 110 that is held by an operator, and 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 is 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] 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]

[0065] 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 is an operating device for a robot that enables the normal stop switch in both a logged-in state and a logged-out state.

2. The robot operating device according to claim 1 , wherein the switch processing unit displays the normal stop switch on the display unit in both a logged-in state and a logged-out state.

3. The robot operating device according to claim 1 , wherein the switch processing unit displays the normal stop switch in a display mode different from that in the logged-out state.

4. The robot operating device according to claim 1 , wherein the switch processing unit determines that the normal stop switch has been operated and executes the stop process when a preset operation is performed 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 disables 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 disables 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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