Switch device and robot

Abstract

This switch device comprises: three or more switches arranged in a movable part of a robot; and an identification part for a worker to identify the three or more switches through tactile sensation. With the identification part, each of one or more of the switches can be identified distinctly from the other switches by tactile sensation.

Description

Switching device and robot

[0001] The present disclosure relates to a switch device and a robot.

[0002] One method of teaching an industrial robot is direct teaching, in which an operator holds the robot arm in his or her hand and directly operates the robot arm (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2023-096701

[0004] A robot arm may be equipped with multiple switches for direct teaching. Due to the movement of the robot arm, the switches may be located in positions that are difficult for an operator to see. In such a situation, it is desirable for the operator to be able to distinguish the arrangement of the multiple switches to prevent pressing the wrong switch.

[0005] One aspect of the present disclosure is a switch device mounted on a robot, the switch device comprising three or more switches arranged on a movable part of the robot, and an identification unit that enables an operator to identify the arrangement of the three or more switches by touch, wherein the identification unit is capable of distinguishing each of at least one of the switches from the other switches by touch.

[0006] Fig. 1 is an overall configuration diagram of a robot according to a first embodiment. Fig. 2 is an enlarged view of a wrist flange of the robot of Fig. 1 , showing the configuration of a switch device according to the first embodiment. Fig. 3 is an enlarged view of a wrist flange, showing the configuration of a switch device according to a second embodiment. Fig. 4 is a block diagram showing the configuration of a switch device according to a second embodiment. Fig. 5 is a block diagram showing the configuration of a switch device according to a third embodiment.

[0007] A switch device and a robot according to a first embodiment will be described with reference to the drawings. As shown in Fig. 1, a robot 10 according to this embodiment includes a base 11 fixed to an installation surface such as a floor, a movable part 12 movable relative to the base 11, and a switch device 1 mounted on the movable part 12.

[0008] The robot 10 is an industrial robot, for example, a collaborative robot that works in a shared space with a worker. The robot 10 is connected to and controlled by a control device (not shown). The movable part 12 is a multi-joint robot arm connected to a base 11. In the example of FIG. 1 , the robot 10 is a vertical multi-joint robot, and the robot arm 12 has multiple joints that can rotate about axes J1, J2, J3, J4, J5, and J6, and a wrist flange 12a at the tip. A tool such as a hand is connected to the tip surface of the wrist flange 12a.

[0009] 2, the switch device 1 includes three switches 2A, 2B, and 2C arranged on the wrist flange 12a and an identification unit 3 that allows the operator to tactilely identify the arrangement of the three switches 2A, 2B, and 2C. The switches 2A, 2B, and 2C are arranged on the cylindrical outer peripheral surface of the wrist flange 12a and are aligned in a circumferential direction. Each of the switches 2A, 2B, and 2C is a push switch that is pressed by the operator and may be a push-button switch that protrudes from the outer peripheral surface of the wrist flange 12a.

[0010] The three switches 2A, 2B, and 2C are each assigned a different identification number, for example, "1," "2," and "3," and are each assigned a predetermined function for direct teaching of the robot 10. In direct teaching, the operator holds part of the robot arm 12 in his or her hand and moves the robot arm 12 directly. Furthermore, the operator uses a portable teaching console to set and teach the robot 10's movements and to operate peripheral devices such as a hand. The predetermined functions are some of the functions of the teaching console.

[0011] The switch device 1 is connected to the control device wirelessly or by wire, and transmits a signal to the control device in response to pressing of the switch 2A, 2B, or 2C. The control device executes the function corresponding to the pressed switch 2A, 2B, or 2C. Instead of operating the teaching pendant, an operator can perform operation settings, teaching, or operation of peripheral equipment by pressing the switch 2A, 2B, or 2C.

[0012] The identification unit 3 has three protrusions (concave and recessed portions) 4A, 4B, and 4C corresponding to the three switches 2A, 2B, and 2C, respectively. In FIG. 2 , the protrusions 4A, 4B, and 4C are provided on the corresponding switches 2A, 2B, and 2C, respectively. Alternatively, the protrusions 4A, 4B, and 4C may be provided near the corresponding switches 2A, 2B, and 2C, respectively. The protrusions 4A, 4B, and 4C have structures that protrude from the top surfaces of the switches 2A, 2B, and 2C and have mutually different outer shapes. Therefore, the operator can identify the switch 2A, 2B, or 2C that the operator is touching based on the shape of the protrusion 4A, 4B, or 4C that the operator is touching, thereby identifying the arrangement of the switches 2A, 2B, and 2C.

[0013] Each of the protrusions 4A, 4B, and 4C may have an outer shape that represents the identification number of the corresponding switch 2A, 2B, or 2C. In Fig. 2, the protrusions 4A, 4B, and 4C are formed of one or more linear protrusions protruding from the top surface of the switch 2A, 2B, or 2C, and the number of protrusions is the same as the identification number of the corresponding switch 2A, 2B, or 2C. An operator can identify the identification number of the switch 2A, 2B, or 2C by touching the protrusions with their fingers and counting the number of protrusions.

[0014] Next, the operation of the switch device 1 and the robot 10 will be described. In direct teaching of the robot 10, an operator grasps part of the robot arm 12 by hand and moves the robot arm 12 to a desired teaching point, and then teaches the teaching point to the control device by, for example, pressing switch 2A at "1." If necessary, the operator sets the operation of the robot 10 or operates peripheral devices by operating the teaching operation panel or pressing switches 2B and 2C.

[0015] During direct teach, as the position and posture of the robot arm 12 change, the switches 2A, 2B, and 2C may be positioned in a way that makes them difficult for the worker to see. In this case, the arrangement of the switches 2A, 2B, and 2C as seen by the worker varies depending on the posture of the robot arm 12. When there are one or two switches, the worker can easily identify the arrangement of the switches and easily identify the desired switch, even when the switches are not visible, based on, for example, the posture of the robot arm 12. However, when there are three or more switches, it may be difficult for the worker to grasp the arrangement of the invisible switches.

[0016] When the switches 2A, 2B, and 2C cannot be seen, the worker touches the protruding portion 4A, 4B, or 4C of one of the switches 2A, 2B, and 2C with his or her fingers to recognize the outer shape of the protruding portion. Because the outer shapes of the protruding portions 4A, 4B, and 4C differ depending on the switch 2A, 2B, or 2C, the worker can identify the switch he or she is touching based on the recognized outer shape of the protruding portion. For example, the worker can easily identify the identification number of the switch he or she is touching based on the number of protrusions on the protruding portion 4A, 4B, or 4C. Then, the worker can identify the arrangement of the three switches 2A, 2B, and 2C based on the identified switch.

[0017] Furthermore, the worker can identify the position of the desired switch based on the grasped arrangement. Furthermore, the worker can confirm that the switch at the identified position is the desired switch based on the external shape of the protrusion of that switch. Thus, even in situations where it is difficult to visually identify switches 2A, 2B, and 2C, the worker can accurately identify the desired switch based on the shape of protrusions 4A, 4B, and 4C that touch the fingers, thereby preventing the worker from pressing the wrong switch.

[0018] In this embodiment, all of the switches 2A, 2B, and 2C are provided with protruding portions 4A, 4B, and 4C. However, instead, protruding portions may be provided only on some of the switches 2A, 2B, and 2C. For example, a protruding portion may be provided only on the reference switch. The reference switch is one of the three switches 2A, 2B, and 2C, such as the end switch 2A. The operator can distinguish the reference switch 2A from the other switches 2B and 2C based on the presence or absence of the protruding portion, thereby identifying the arrangement of the three switches 2A, 2B, and 2C.

[0019] In this embodiment, the uneven portions are protrusions 4A, 4B, and 4C, but they may be recesses instead, or a combination of protrusions and recesses. The recesses are recessed below the top surfaces of the switches 2A, 2B, and 2C. The operator can identify the switch 2A, 2B, or 2C that is touching based on the shape of the recess that the operator's finger touches.

[0020] In the present embodiment, the identification unit 3 has a concave-convex portion, but instead, the identification unit 3 may have other configurations as long as the switches 2A, 2B, and 2C can be tactilely distinguished from the other switches. For example, the identification unit 3 may be configured to distinguish the switches 2A, 2B, and 2C from each other by differences in texture, such as hardness or surface roughness.

[0021] Second Embodiment Next, a switch device and a robot according to a second embodiment will be described with reference to the drawings. This embodiment differs from the first embodiment in that the arrangement of the switches is identified based on the vibration of the switches instead of the concave and convex portions. In this embodiment, only the configurations different from the first embodiment will be described, and the same reference numerals will be used to designate the same configurations as the first embodiment, and the description thereof will be omitted.

[0022] The robot according to this embodiment includes a base 11, a movable unit 12 formed by a robot arm, and a switch device 101. As shown in Figures 3 and 4, the switch device 101 according to this embodiment includes three switches 2A, 2B, and 2C arranged on a wrist flange 12a, and an identification unit 31 that allows an operator to identify the arrangement of the three switches 2A, 2B, and 2C by touch. As in the first embodiment, the switches 2A, 2B, and 2C are push switches that are pressed by an operator, and may be push-button switches.

[0023] The identification unit 31 includes a contact detection unit 5 that detects contact with each of the three switches 2A, 2B, and 2C, and a vibration generation unit 6 that vibrates each of the three switches 2A, 2B, and 2C. The contact detection unit 5 has sensors 5a, 5b, and 5c provided in each of the three switches 2A, 2B, and 2C, and the sensors 5a, 5b, and 5c detect contact with the corresponding switch 2A, 2B, or 2C, respectively.

[0024] The vibration generating unit 6 has vibrators 6a, 6b, and 6c provided for the three switches 2A, 2B, and 2C, respectively. The vibrators 6a, 6b, and 6c generate intermittent vibrations in response to contact detection by the sensors 5a, 5b, and 5c provided for the corresponding switches 2A, 2B, and 2C. The number of vibrations generated by each of the vibrators 6a, 6b, and 6c is different from one another, and each vibrator 6a, 6b, and 6c generates vibrations the number of times corresponding to the identification number of the corresponding switch 2A, 2B, or 2C, for example, the same number of times as the identification numbers "1," "2," and "3." The vibration generating unit 6 may further include a control circuit for controlling the operation of the vibrators 6a, 6b, and 6c. Based on the number of vibrations felt by the operator's finger, the operator can identify the switch 2A, 2B, or 2C that the operator is touching, thereby identifying the arrangement of the switches 2A, 2B, and 2C.

[0025] Next, the operation of the switch device 101 and the robot according to this embodiment will be described. As in the first embodiment, during direct teach, the switches 2A, 2B, and 2C may be located in positions that are difficult for the worker to see. In such cases, the worker touches one of the switches 2A, 2B, and 2C with his or her finger. The contact of the finger with the switch 2A, 2B, or 2C is detected by the contact detection unit 5, and in response, the vibration generation unit 6 vibrates the touched switch 2A, 2B, or 2C a number of times corresponding to its identification number. By feeling the number of vibrations with his or her finger, the worker can identify the switch 2A, 2B, or 2C that he or she is touching, and thereby identify the arrangement of the three switches 2A, 2B, and 2C.

[0026] Furthermore, the worker can identify the position of the desired switch based on the grasped arrangement. Furthermore, the worker can confirm that the switch at the identified position is the desired switch by touching the switch at the identified position and counting the number of vibrations of the switch. In this way, even in a situation where it is difficult to visually identify switches 2A, 2B, and 2C, the worker can accurately identify the desired switch based on the number of vibrations that the worker feels, thereby preventing the worker from pressing the wrong switch.

[0027] Third Embodiment Next, a switch device and a robot according to a third embodiment will be described with reference to the drawings. This embodiment differs from the first embodiment in that the switch arrangement is identified based on sound instead of concave and convex portions. In this embodiment, configurations different from the first embodiment will be described, and configurations common to the first embodiment will be assigned the same reference numerals and will not be described again.

[0028] The robot according to this embodiment includes a base 11, a movable section including a robot arm 12, and a switch device 102. As shown in Fig. 5, the switch device 102 according to this embodiment includes three switches 2A, 2B, and 2C arranged on the wrist flange 12a, and an identification unit 32 that allows the worker to auditorily identify the three switches 2A, 2B, and 2C. The switches 2A, 2B, and 2C are push switches that are pressed by the worker, and may be push-button switches.

[0029] The identification unit 32 includes a contact detection unit 5 that detects contact with each of the three switches 2A, 2B, and 2C, and a sound generation unit 7 that generates a notification sound in response to the detection of contact by the contact detection unit 5. As described in the second embodiment, the contact detection unit 5 includes sensors 5a, 5b, and 5c.

[0030] The sound generating unit 7 has a speaker (not shown) that emits a notification sound, and emits a notification sound corresponding to the switch 2A, 2B, or 2C whose contact is detected by the contact detecting unit 5. The notification sound is a beep sound the number of times corresponding to the identification number of the switch 2A, 2B, or 2C whose contact is detected, for example, the same number of times as the identification numbers "1," "2," and "3." The sound generating unit 7 may further include a control circuit for controlling such operation of the speaker. Based on the number of beeps, the worker can recognize the switch 2A, 2B, or 2C that is touching with his / her finger, and thereby identify the arrangement of the switches 2A, 2B, and 2C.

[0031] Next, the operation of the switch device 102 and robot according to this embodiment will be described. As in the first embodiment, during direct teach, the switches 2A, 2B, and 2C may be positioned in a way that makes them difficult for the worker to see. In such a case, the worker touches one of the switches 2A, 2B, or 2C with his or her finger. The contact of the finger with the switch 2A, 2B, or 2C is detected by the contact detection unit 5, and in response, the sound generation unit 7 emits a number of beeps corresponding to the identification number of the touched switch 2A, 2B, or 2C. By listening to and counting the number of beeps, the worker can identify the switch 2A, 2B, or 2C that he or she is touching, thereby identifying the arrangement of the three switches 2A, 2B, and 2C.

[0032] Furthermore, the worker can identify the position of the desired switch based on the grasped arrangement. Furthermore, the worker can confirm that the switch at the identified position is the desired switch by touching the switch at the identified position and counting the number of beeps. In this way, even in situations where it is difficult to visually identify switches 2A, 2B, and 2C, the worker can accurately identify the desired switch based on the number of beeps, thereby preventing the worker from pressing the wrong switch.

[0033] In the present embodiment, the notification sound is a beep sound. However, instead, a sound corresponding to the switch 2A, 2B, or 2C whose contact is detected may be generated. The sound may be a sound of an identification name assigned to the switch 2A, 2B, or 2C. The identification name may be, for example, an identification number or a name representing a function assigned to the switch 2A, 2B, or 2C. With this configuration, the sound generating unit 7 generates a sound of the identification name of the switch 2A, 2B, or 2C that is being touched by the finger. The worker can identify the switch 2A, 2B, or 2C that is being touched based on the sound.

[0034] Although the embodiments and modifications of the present disclosure have been described above, the switch device and robot of the present disclosure are not limited to the above-described embodiments and modifications, and various modifications are possible without departing from the spirit and scope of the present disclosure. For example, in each of the above embodiments, three switches 2A, 2B, and 2C are arranged in a circumferential line, but the number and arrangement of the switches are not limited to this and can be changed as appropriate. For example, the switch devices 1, 101, and 102 may have four or more switches, and the switches may be arranged two-dimensionally.

[0035] The switches 2A, 2B, and 2C may be disposed on the outer surface of another part of the robot arm 12, rather than on the wrist flange 12a. The switches 2A, 2B, and 2C are preferably disposed in positions where the operation of the robot arm 12 makes it difficult for an operator to see the switches 2A, 2B, and 2C.

[0036] The switch device may include a combination of two or more of the identifiers 3, 31, and 32. In this case, the worker can more accurately identify the switch he or she is touching based on at least two of the unevenness, vibration, and notification sound. The robot 10 may be an industrial robot of a type other than a vertical articulated robot, such as a horizontal articulated robot or a parallel link robot. The functions assigned to the switches 2A, 2B, and 2C are not limited to direct teach functions, and may also be other functions related to the robot 10 or peripheral devices such as tools.

[0037] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples: (Supplementary Note 1) A switch device mounted on a robot, comprising: three or more switches arranged on a movable part of the robot; and an identification unit that allows an operator to identify the arrangement of the three or more switches by touch, wherein the identification unit can distinguish each of the at least one switch from the other switches by touch.

[0038] (Supplementary Note 2) The switch device according to Supplementary Note 1, wherein the identification portion has at least one uneven portion provided on at least one of the switches or in the vicinity thereof. (Supplementary Note 3) The switch device according to Supplementary Note 2, wherein the identification portion has three or more uneven portions provided on the three or more switches or in the vicinity thereof, respectively, and the three or more uneven portions have mutually different outer shapes.

[0039] (Supplementary Note 4) A switch device mounted on a robot, comprising: three or more switches arranged on a movable part of the robot; and an identification unit that allows an operator to identify the arrangement of the three or more switches by touch, wherein the identification unit comprises: a contact detection unit that detects contact with each of the three or more switches; and a vibration generation unit that vibrates the switch for which contact has been detected in response to the detection of contact by the contact detection unit, wherein the vibration generation unit vibrates the switch for which contact has been detected a number of times according to an identification number assigned to the switch for which contact has been detected.

[0040] (Supplementary Note 5) A switch device mounted on a robot, comprising: three or more switches arranged on a movable part of the robot; and an identification unit that allows an operator to auditorily identify the arrangement of the three or more switches, wherein the identification unit comprises: a contact detection unit that detects contact with each of the three or more switches; and a sound generation unit that emits a notification sound in response to detection of contact by the contact detection unit, and the sound generation unit emits the notification sound corresponding to the switch for which contact has been detected.

[0041] (Supplementary Note 6) The switch device according to Supplementary Note 5, wherein the notification sound is a beep sound the number of times corresponding to an identification number assigned to the switch where the contact is detected. (Supplementary Note 7) The switch device according to Supplementary Note 5, wherein the notification sound is a voice of an identification name assigned to the switch where the contact is detected. (Supplementary Note 8) A robot comprising: a movable part; and the switch device according to any one of Supplementary Notes 1 to 7 provided on the movable part.

[0042] REFERENCE SIGNS LIST 1, 101, 102 Switch device 2A, 2B, 2C Switch 3, 31, 32 Identification unit 4A, 4B, 4C Convex portion (concave / convex portion) 5 Contact detection unit 5a, 5b, 5c Sensor 6 Vibration generation unit 6a, 6b, 6c Vibrator 7 Sound generation unit 10 Robot 11 Base 12 Movable unit (robot arm)

Claims

1. A switch device mounted on a robot, comprising: three or more switches arranged on a movable part of the robot; and an identification unit for an operator to identify the arrangement of the three or more switches by touch, wherein the identification unit can identify each of at least one of the switches from the other switches by touch.

2. The switch device according to claim 1, wherein the identification unit has at least one uneven portion provided respectively on at least one of the switches or in the vicinity thereof.

3. The switch device according to claim 2, wherein the identification unit has three or more uneven portions provided respectively on the three or more switches or in the vicinity thereof, and the three or more uneven portions have mutually different outer shapes.

4. A switch device mounted on a robot, comprising: three or more switches arranged on a movable part of the robot; and an identification unit for an operator to identify the arrangement of the three or more switches by touch, wherein the identification unit includes a contact detection unit for detecting contact with each of the three or more switches, and a vibration generation unit for vibrating the switch where contact is detected in response to detection of contact by the contact detection unit, and the vibration generation unit vibrates the switch where contact is detected a number of times corresponding to an identification number assigned to the switch where contact is detected.

5. A switch device mounted on a robot, comprising: three or more switches arranged on a movable part of the robot; and an identification unit for an operator to identify the arrangement of the three or more switches by hearing, wherein the identification unit includes a contact detection unit for detecting contact with each of the three or more switches, and a sound generation unit for emitting a notification sound in response to detection of contact by the contact detection unit, and the sound generation unit emits a notification sound corresponding to the switch where contact is detected.

6. The switch device according to claim 5, wherein the notification sound is a beep sound a number of times corresponding to an identification number assigned to the switch where contact is detected.

7. The switch device according to claim 5, wherein the notification sound is a voice of an identification name assigned to the switch where contact is detected.

8. A robot comprising a movable part and the switch device according to any one of claims 1 to 7 provided on the movable part.

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