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WO2018155181A1 - Terminal d'apprentissage et système d'apprentissage - Google Patents

Terminal d'apprentissage et système d'apprentissage Download PDF

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Publication number
WO2018155181A1
WO2018155181A1 PCT/JP2018/004143 JP2018004143W WO2018155181A1 WO 2018155181 A1 WO2018155181 A1 WO 2018155181A1 JP 2018004143 W JP2018004143 W JP 2018004143W WO 2018155181 A1 WO2018155181 A1 WO 2018155181A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
teaching operation
teaching
operation terminal
switch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/004143
Other languages
English (en)
Japanese (ja)
Inventor
大輔 南雲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Instruments Corp
Original Assignee
Nidec Sankyo Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017033015A external-priority patent/JP2018138316A/ja
Priority claimed from JP2017033016A external-priority patent/JP2018138317A/ja
Application filed by Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Publication of WO2018155181A1 publication Critical patent/WO2018155181A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • the present invention relates to a teaching operation terminal used for teaching operation of a robot.
  • the present invention also relates to a teaching operation system including this teaching operation terminal.
  • a teaching operation terminal used for teaching operation of a robot is known (for example, see Patent Document 1).
  • the teaching operation terminal described in Patent Document 1 includes an LCD display, an emergency stop switch, and an enable switch.
  • the LCD display is arranged at the center of the surface of the teaching operation terminal.
  • the emergency stop switch is disposed obliquely above the LCD display, and the enable switch is disposed on the back surface of the teaching operation terminal.
  • a plurality of keys (switches) are arranged on both the left and right sides and the lower side of the LCD display.
  • a grip portion for gripping the teaching operation terminal is provided in the vicinity of the enable switch.
  • a first problem of the present invention is that an operator who performs the teaching operation of the robot can easily operate with one hand holding the teaching operation terminal in the teaching operation terminal used for the teaching operation of the robot. It is to provide a possible teaching operation terminal. Moreover, this invention is providing the teaching operation system provided with this teaching operation terminal.
  • a second problem of the present invention is that when an abnormality occurs in the teaching operation terminal used in the teaching operation of the robot, an abnormality of the robot is notified to an operator who performs the teaching operation of the robot.
  • An object of the present invention is to provide a teaching operation terminal that can be recognized quickly.
  • a teaching operation terminal of the present invention is a teaching operation terminal used for teaching operation of a robot, and a gripping unit gripped by one hand of an operator who performs teaching operation of the robot; Switching between an operation member consisting of a joystick or a cross key and operated by the operator's thumb and operating the robot, and a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the robot cannot be operated by the operation member
  • An operation switch of an operation member operated by an operator is disposed closer to the distal end side of the teaching operation terminal than the gripping portion, and a side on which the operation unit of the operation member is disposed is arranged on the teaching operation terminal.
  • the operation part of the enable switch operated by the operator is arranged on the back side of the teaching operation terminal, It is arranged on the axis of the joystick or the axis of the cross key, and the angle formed by the axis of the joystick or the cross key and the pushing direction of the enable switch is 60 ° or more and 90 ° or less. .
  • the teaching operation terminal of the present invention includes a gripping unit that is gripped by one hand of an operator who performs teaching operation of a robot.
  • the operation portion of the operation member operated by the operator's thumb is disposed on the front side of the teaching operation terminal from the grip portion and on the front side of the teaching operation terminal, and the operation portion of the enable switch is And arranged on the back side of the teaching operation terminal and on the axis of the joystick or the axis of the cross key.
  • the angle formed between the axis of the joystick or the axis of the cross key and the pressing direction of the enable switch is 60 ° or more and 90 ° or less.
  • an operator holding the grip part with one hand can easily push the operation part of the enable switch with the index finger or middle finger of one hand holding the grip part, It is possible to easily operate the operation portion of the operation member with the thumb of one hand holding the portion. Therefore, according to the present invention, the operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal.
  • the angle formed by the axis line of the joystick or the cross key and the pushing direction of the enable switch is approximately 75 °.
  • the teaching operation terminal is provided with an emergency stop switch for emergency stop of the robot, and the operation part of the emergency stop switch operated by the operator is arranged on the tip side of the teaching operation terminal with respect to the operation part of the operation member. It is preferable. If comprised in this way, it will become difficult for the operator's thumb who is operating the operation part of an operation member to contact the operation part of an emergency stop switch. Therefore, it is possible to prevent erroneous operation of the emergency stop switch when performing the teaching operation of the robot.
  • the teaching operation terminal includes a light emitting unit for informing at least one of the state of the robot and the state of the teaching operation terminal, and the light emitting unit includes an operation unit of the operation member and an operation unit of the emergency stop switch. It is preferable to arrange
  • the teaching operation terminal includes a first slide switch that switches a coordinate system when the robot is operated by the operation member, and a second switch that switches at least one of the operation location and the operation direction of the robot operated by the operation member.
  • the first slide switch operating unit, the second slide switch operating unit, and the push button operating unit operated by an operator are provided with a slide switch and a push button for recording the current position of the robot. It is preferable that the operation member is disposed between the operation portion and the grip portion.
  • the operator who performs the teaching operation of the robot uses the thumb that operates the operation unit of the operation member to operate the operation unit of the first slide switch, the operation unit of the second slide switch, and the push button.
  • the operation unit can be operated. Therefore, even if the first slide switch, the second slide switch, and the push button are provided in the teaching operation terminal, the operator who performs the teaching operation of the robot can use the teaching operation terminal with one hand holding the teaching operation terminal. Can be easily operated.
  • the front side surface of the teaching operation terminal of the gripping part is formed in a convex curved surface
  • the back side surface of the gripping operation terminal is formed in a concave curved surface, and the teaching operation of the gripping unit is performed.
  • the curvature radius of the surface on the front side of the terminal is equal to the curvature radius of the surface on the back side of the teaching operation terminal of the grip portion. If comprised in this way, it will become easy for an operator to hold
  • the teaching operation terminal of the present invention can be used in a teaching operation system including a tablet terminal having a display device and an input device and installed with robot teaching software.
  • a teaching operation system including a tablet terminal having a display device and an input device and installed with robot teaching software.
  • an operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal.
  • this teaching operation system it becomes possible to perform teaching operation of the robot using a general-purpose tablet terminal in which software for robot teaching is installed.
  • a teaching operation terminal includes a gripping unit that is gripped by an operator who performs a teaching operation of the robot in the teaching operation terminal used for the teaching operation of the robot, It is characterized by a built-in vibration motor that notifies the robot of abnormalities.
  • the teaching operation terminal of the present invention has a built-in vibration motor that notifies the abnormality of the robot. Therefore, according to the present invention, when an abnormality occurs in the robot during the teaching operation, the vibration motor built in the teaching operation terminal is vibrated to vibrate the gripping portion held by the operator who performs the robot teaching operation. Is possible. Therefore, according to the present invention, when an abnormality occurs in the robot during the teaching operation, it is possible to promptly recognize the abnormality of the robot by the operator who performs the teaching operation of the robot.
  • the vibration motor is preferably built in the gripping portion. If comprised in this way, when abnormality will generate
  • the teaching operation terminal has a built-in buzzer for notifying the abnormality of the robot. If comprised in this way, when abnormality will generate
  • the teaching operation terminal includes an operation member for operating the robot, an enable switch for switching between a servo-on state in which the robot can be operated by the operation member and a servo-off state in which the operation of the robot by the operation member is disabled.
  • An emergency stop switch for emergency stop of the robot, a first circuit board to which the operation member, the enable switch and the emergency stop switch are electrically connected, and a vibration motor are formed separately from the first circuit board.
  • the second circuit board is preferably provided.
  • This configuration makes it difficult for vibration generated by the vibration motor to be transmitted to the first circuit board to which the operation member, the enable switch, and the emergency stop switch are electrically connected. Accordingly, it is possible to reduce the influence of vibration generated by the vibration motor on the operation member and the like. Also, with this configuration, the first circuit board and the second circuit board are provided in the teaching operation terminal as compared with the case where the first circuit board and the second circuit board are integrally formed. And will be easier to place.
  • the teaching operation terminal switches, for example, at least one of the first slide switch for switching the coordinate system when the robot is operated by the operation member, and the operation location and the operation direction of the robot operated by the operation member.
  • the vibration generated by the vibration motor is not easily transmitted to the first circuit board to which the first slide switch, the second slide switch, and the push button are electrically connected. Therefore, it is possible to reduce the influence of the vibration generated by the vibration motor on the first slide switch, the second slide switch, and the push button.
  • the second circuit board is built in the holding part. If comprised in this way, when abnormality will generate
  • the teaching operation terminal has a built-in buzzer for notifying the abnormality of the robot, and the buzzer is mounted on the second circuit board. If comprised in this way, when abnormality will generate
  • the operator who performs the teaching operation of the robot can easily operate the teaching operation terminal with one hand holding the teaching operation terminal. Further, the teaching operation terminal of the present invention makes it possible to promptly recognize the abnormality of the robot by the operator who performs the teaching operation of the robot when the abnormality occurs in the robot during the teaching operation.
  • FIG. 1 is a block diagram of a robot system in which a teaching operation terminal according to an embodiment of the present invention is used. It is a perspective view of the robot shown in FIG. It is a perspective view of the teaching operation terminal shown in FIG. It is a side view of the teaching operation terminal shown in FIG. It is sectional drawing of the teaching operation terminal shown in FIG.
  • FIG. 1 is a block diagram of a robot system 3 in which a teaching operation terminal 1 according to an embodiment of the present invention is used.
  • FIG. 2 is a perspective view of the robot 2 shown in FIG.
  • the teaching operation terminal 1 of this embodiment is a terminal used for teaching operation of the robot 2.
  • This teaching operation terminal 1 is used in a robot system 3 including a robot 2.
  • the robot system 3 includes a controller 4 that controls the robot 2 in addition to the teaching operation terminal 1 and the robot 2, and a tablet terminal (tablet PC) that is used together with the teaching operation terminal 1 when performing the teaching operation of the robot 2.
  • the teaching operation terminal 1, the robot 2, and the tablet terminal 5 are electrically connected to the controller 4.
  • Robot 2 is a vertical articulated robot. Specifically, the robot 2 is a 6-axis vertical articulated robot. As shown in FIG. 2, the robot 2 includes a support member 8 that constitutes the base end portion of the robot 2, six joint portions 9, two arms 10, and a tip member that constitutes the distal end portion of the robot 2. 11. The support member 8 is fixed to the floor on which the robot 2 is installed.
  • the joint portion 9 includes a motor, a speed reducer coupled to the output shaft of the motor, and a case body in which the motor and the speed reducer are accommodated.
  • the arm 10 is formed in an elongated cylindrical shape.
  • the six joint portions 9 and the two arms 10 are configured so that the robot 2 can move from the directly-facing posture shown in FIG. 2A to the posture shown in FIG. And are connected.
  • the joint portion 9 arranged on the most proximal side of the robot 2 is rotatably connected to the support member 8, and the joint portion 9 is rotatable with the vertical direction as the axis direction of rotation. Yes.
  • the tip member 11 is rotatably connected to a joint portion 9 disposed on the most tip side of the robot 2.
  • a predetermined end effector (not shown) can be attached to the tip member 11.
  • the end effector is, for example, a gripping mechanism that grips a predetermined conveyance target or a processing tool that processes a predetermined processing target.
  • the tablet terminal 5 includes a display device 14 such as a liquid crystal display and an input device 15 such as a touch panel or a keyboard.
  • the tablet terminal 5 is connected to the controller 4 via, for example, a LAN cable.
  • Software for teaching the robot 2 is installed in the tablet terminal 5, and the tablet terminal 5 is used together with the teaching operation terminal 1 when performing the teaching operation of the robot 2 as described above.
  • the setting of the teaching operation of the robot 2, the change of the setting of the teaching operation, and the like are performed by the tablet terminal 5.
  • the teaching operation terminal 1 of the present embodiment can be held with one hand by a worker who performs the teaching operation of the robot 2, and the worker can, for example, use a tablet terminal 5 placed on a predetermined table. Is operated with one hand while holding the teaching operation terminal 1 with the other hand.
  • a teaching operation system 16 is configured by the teaching operation terminal 1 and the tablet terminal 5.
  • FIG. 3 is a perspective view of the teaching operation terminal 1 shown in FIG.
  • FIG. 4 is a side view of the teaching operation terminal 1 shown in FIG.
  • FIG. 5 is a cross-sectional view of the teaching operation terminal 1 shown in FIG.
  • the teaching operation terminal 1 enables the operation member 20 for operating the robot 2 and switching between a servo-on state where the operation member 20 can operate the robot 2 and a servo-off state where the operation member 20 cannot operate the robot 2.
  • a switch 21 and an emergency stop switch 22 for emergency stop of the robot 2 are provided.
  • the teaching operation terminal 1 includes a plurality of light emitting units 23 for notifying the state of the robot 2 and the state of the teaching operation terminal 1.
  • the teaching operation terminal 1 of the present embodiment includes three light emitting units 23.
  • the teaching operation terminal 1 includes a slide switch 24 as a first slide switch that switches a coordinate system when the robot 2 is operated by the operation member 20, and an operation location and an operation direction of the robot 2 operated by the operation member 20.
  • a slide switch 25 serving as a second slide switch for switching at least one of them and a push button 26 for recording the current position of the robot 2 are provided.
  • the teaching operation terminal 1 is provided with a buzzer 30 and a vibration motor 31 for notifying the abnormality of the robot 2 and two circuit boards 32 and 33.
  • the buzzer 30, the vibration motor 31, and the circuit boards 32 and 33 are accommodated in the casing 27 of the teaching operation terminal 1. That is, the buzzer 30, the vibration motor 31, and the circuit boards 32 and 33 are built in the teaching operation terminal 1.
  • the circuit board 32 of this embodiment is a first circuit board
  • the circuit board 33 is a second circuit board.
  • the operation member 20, the emergency stop switch 22, the slide switches 24 and 25, and the push button 26 are arranged on the front side of the teaching operation terminal 1. That is, the operation member 20, the emergency stop switch 22, the slide switches 24 and 25, and the push button 26 are disposed on the front side of the housing 27. Specifically, the operation unit 20a of the operation member 20 operated by the operator who performs the teaching operation of the robot 2, the operation unit 22a of the emergency stop switch 22, the operation unit 24a of the slide switch 24, and the operation unit 25a of the slide switch 25. The operation part 26 a of the push button 26 is disposed on the front side of the housing 27.
  • the light emitting unit 23 is also arranged on the front side of the housing 27. Specifically, the light emitting unit 23 is arranged so that the light from the light emitting unit 23 can be seen from the front side of the housing 27.
  • the enable switch 21 is disposed on the back side of the teaching operation terminal 1. That is, the enable switch 21 is disposed on the back side of the housing 27.
  • an operation unit 21 a of the enable switch 21 operated by an operator who performs the teaching operation of the robot 2 is disposed on the back side of the housing 27.
  • the base end portion of the housing 27 is a grip portion 27 a that is gripped by one hand of an operator who performs the teaching operation of the robot 2.
  • the gripper 27a is gripped by the operator's middle finger, ring finger, little finger, and palm. Alternatively, the grip portion 27a is gripped by the operator's ring finger and little finger and the palm of the hand.
  • the distal end portion of the housing 27 is a switch arrangement portion 27b where the operation member 20, the emergency stop switch 22 and the like are arranged.
  • the housing 27 includes a gripping portion 27a and a switch placement portion 27b. A cable (not shown) of the teaching operation terminal 1 connected to the controller 4 is drawn from the base end of the housing 27.
  • the front side (Z1 direction side in FIG. 4) of the teaching operation terminal 1 is referred to as “upper” side
  • the opposite side (back side of the teaching operation terminal 1, Z2 direction side in FIG. 4) is referred to as “lower” side
  • the base end side (X1 direction side in FIG. 4) of the teaching operation terminal 1 orthogonal to the vertical direction is the “rear” side
  • the opposite side (tip side of the teaching operation terminal 1, X2 direction side in FIG. 4) is “ The front side.
  • the Y direction in FIG. 4 orthogonal to the up and down direction and the left and right direction is referred to as “left and right direction”.
  • the switch arrangement portion 27b protrudes obliquely downward and forward from the front upper end portion of the grip portion 27a.
  • a bottom surface (lowermost surface) 27c of the switch placement portion 27b formed on the front end side of the switch placement portion 27b is a plane orthogonal to the vertical direction.
  • a bottom surface (lowermost surface) 27d of the grip portion 27a formed on the rear end side of the grip portion 27a is a plane orthogonal to the vertical direction.
  • the bottom surface 27c and the bottom surface 27d are disposed on the same plane.
  • An upper surface (front surface of the teaching operation terminal 1) 27e of the grip portion 27a is formed in a convex curved surface, and a lower surface (surface on the back side of the teaching operation terminal 1) 27f of the grip portion 27a excluding the bottom surface 27d is The concave curved surface is formed.
  • the upper surface 27e is formed in a convex curved surface having an arc shape when viewed from the left and right direction
  • the lower surface 27f is formed in a concave curved surface having an arc shape when viewed from the left and right direction. Is formed.
  • the curvature radius of the upper surface 27e is equal to the curvature radius of the lower surface 27f.
  • the operation member 20 is a joystick.
  • the main body 20b of the operation member 20 which is a joystick is mounted on the upper surface of the circuit board 32 as shown in FIG.
  • the operation part 20a of the operation member 20 is disposed in front of the grip part 27a (that is, the front end side of the teaching operation terminal 1).
  • the operation unit 20a is arranged at the center position in the left-right direction of the switch arrangement unit 27b.
  • the axis L of the operation member 20 that is a joystick is orthogonal to the left-right direction.
  • the axis L is inclined so as to go to the rear side as it goes down.
  • the operation member 20 is operated by the operator's thumb. Specifically, the operation unit 20a is operated by the operator's thumb.
  • the operation member 20 is operated in a mode in which the robot 2 is analog-operated by the operation member 20 (analog operation mode) and a mode in which the robot 2 is operated by frame operation (digital operation) by the operation member 20 (digital operation mode).
  • the function of switching the operation mode of the member 20 is also achieved.
  • the operation mode of the operation member 20 is switched from the analog operation mode to the digital operation mode, or from the digital operation mode to the analog operation mode.
  • the operation portion 21a of the enable switch 21 protrudes obliquely downward and forward from the front lower end portion of the grip portion 27a.
  • the operation unit 21 a is disposed at the center position in the left-right direction of the housing 27.
  • the lower end of the operation unit 21a is disposed above the bottom surfaces 27c and 27d.
  • the enable switch 21 is disposed so that the operation unit 21a is pushed obliquely upward and rearward.
  • the operation portion 21 a is disposed on the axis L of the operation member 20.
  • the angle ⁇ formed by the pressing direction of the enable switch 21 (that is, the pressing direction of the operation portion 21a, the direction indicated by the arrow V in FIG. 4) and the axis L is 60 ° or more and 90 ° or less. In this embodiment, the angle ⁇ is approximately 75 °.
  • the enable switch 21 is operated by the operator's index finger (or middle finger). When the enable switch 21 is not pushed (that is, when the operation unit 21a is not pushed), the servo is turned off. When the operation unit 21a is pushed in the pushing direction V, the servo is turned on. When the operation unit 21a is strongly pushed in the pushing direction V, the servo-on state is switched to the servo-off state. That is, the enable switch 21 is a three-position enable switch.
  • the operation unit 22a of the emergency stop switch 22 is disposed in front of the operation unit 20a of the operation member 20 (that is, the tip side of the teaching operation terminal 1).
  • the operation unit 22a is arranged at the center position in the left-right direction of the switch arrangement unit 27b.
  • the emergency stop switch 22 is arranged so that the operation portion 22a is pushed toward the diagonally lower rear side.
  • the slide switch 24 is a three-contact slide switch, and the switch body 24b of the slide switch 24 is mounted on the upper surface of the circuit board 32 as shown in FIG.
  • the slide switch 24 has a function of switching the coordinate system when the robot 2 is operated by the operation member 20 to any one of the three coordinate systems of the first coordinate system, the second coordinate system, and the third coordinate system.
  • the first coordinate system is a coordinate system that represents the position of the tip member 11 using the rotational coordinates of the motors of the six joint portions 9 constituting the robot 2.
  • the second coordinate system includes a coordinate in the vertical direction (z coordinate), a coordinate in the x direction orthogonal to the vertical direction (x coordinate), a coordinate in the y direction orthogonal to the vertical direction and the x direction (y coordinate),
  • It is a coordinate system that represents the position of the tip member 11 using rotational coordinates.
  • the third coordinate system is a coordinate system that represents the position of the end effector attached to the tip member 11 using the same six coordinates as the second coordinates.
  • the slide switch 25 is a three-contact slide switch similar to the slide switch 24, and the switch body (not shown) of the slide switch 25 is mounted on the upper surface of the circuit board 32.
  • the slide switch 25 has a function of switching at least one of the operation location and the operation direction of the robot 2 operated by the operation member 20. Specifically, when the coordinate system of the robot 2 is set to the first coordinate system, the slide switch 25 is disposed second from the proximal end side with the motor of the joint portion 9 disposed on the most proximal end side.
  • the first mode in which the motor of the joint portion 9 is rotated by the operating member 20, the motor of the joint portion 9 arranged third from the base end side, and the motor of the joint portion 9 arranged fourth from the base end side Are rotated by the operating member 20, and the operating member 20 rotates the motor of the joint portion 9 arranged fifth from the proximal end side and the motor of the joint portion 9 arranged most distally. Switch to one of the three modes.
  • the slide switch 25 is configured to operate the tip member 11 in the x direction and the y direction by the operation member 20 and the operation member.
  • the second mode in which the distal end member 11 is operated in the z direction by 20 and the motor of the joint portion 9 disposed second from the distal end side is rotated, and the motor and the proximal end of the joint portion 9 disposed closest to the distal end side
  • the mode is switched to one of the third mode in which the motor of the joint portion 9 arranged on the side is rotated by the operation member 20.
  • the slide switch 25 uses the operation member 20 to operate the end effector in the x direction and the y direction, and the operation member 20.
  • the second mode in which the end effector is operated in the z direction and the motor of the joint portion 9 disposed second from the distal end side is rotated, and the motor of the joint portion 9 disposed closest to the distal end side and the proximal end side
  • the mode is switched to any one of the third mode in which the motor of the joint portion 9 to be arranged is rotated by the operation member 20.
  • the button body 26b of the push button 26 is mounted on the upper surface of the circuit board 32 as shown in FIG. As described above, the push button 26 has a function of recording (teaching) the current position of the robot 2. When the operation unit 26 a of the push button 26 is pressed, the current position of the robot 2 is recorded.
  • the push button 26 performs the function of recording (teaching) the current position of the robot 2, and when the operation unit 26a of the push button 26 is pressed, the current position of the robot 2 is recorded.
  • the operation part 26a of the push button 26 is arranged in a state sandwiched between the operation part 24a of the slide switch 24 and the operation part 25a of the slide switch 25 in the left-right direction.
  • the operation unit 24a of the slide switch 24, the operation unit 25a of the slide switch 25, and the operation unit 26a of the push button 26 are arranged in the switch arrangement unit 27b.
  • the operation unit 26a is arranged at the center position in the left-right direction of the switch arrangement unit 27b.
  • the operation unit 24a, the operation unit 25a, and the operation unit 26a are disposed between the operation unit 20a of the operation member 20 and the gripping unit 27a.
  • the light emitting unit 23 includes a light source 23 a and a light guide member 23 b.
  • the light source 23 a is an LED (light emitting diode) and is mounted on the upper surface of the circuit board 32.
  • the light guide member 23 b is disposed on the upper side of the light source 23 a and functions to guide the light emitted from the light source 23 a to the front side of the housing 27.
  • One of the three light emitting units 23 is lit in a predetermined color or blinks to indicate whether it is in a servo-on state or a servo-off state. 2 indicates that an overrun that operates out of the specified range has occurred, or indicates that an error has occurred.
  • one of the light emitting units 23 is lit in a predetermined color or blinks, so that the operation mode of the operation member 20 is an analog operation mode or digital. Whether the operation mode is selected or that the slide positions of the slide switches 24 and 25 are unknown is displayed.
  • the remaining one light emitting unit 23 displays the on / off state of the power source of the teaching operation terminal 1 by lighting in a predetermined color.
  • the three light emitting units 23 are arranged so as to be adjacent in the left-right direction. Further, the three light emitting units 23 are arranged in the switch arrangement unit 27b. The light emitting unit 23 arranged at the center in the left-right direction among the three light emitting units 23 is arranged at the center position in the left-right direction of the switch arrangement unit 27b. Further, the three light emitting units 23 are disposed between the operation unit 20 a of the operation member 20 and the operation unit 22 a of the emergency stop switch 22. That is, the three light emitting units 23 are arranged on the front side (the tip side of the teaching operation terminal 1) of the operation member 20 with respect to the operation unit 20a.
  • the buzzer 30 and the vibration motor 31 have a function of notifying the abnormality of the robot 2 as described above.
  • the buzzer 30 generates an alarm when a predetermined error occurs during the teaching operation of the robot 2.
  • the vibration motor 31 vibrates, for example, when an overrun occurs in which the robot 2 moves outside a specified range.
  • the vibration motor 31 vibrates when the robot 2 comes into contact with other components disposed around the robot 2, for example.
  • the buzzer 30 also sounds when the operation unit 26a of the push button 26 is pressed. That is, the buzzer 30 also sounds when the current position of the robot 2 is recorded. Moreover, the magnitude of the alarm generated by the buzzer 30 may be changed or the magnitude and intensity of vibration of the vibration motor 31 may be changed according to the type and degree of abnormality that has occurred in the robot 2.
  • the circuit board 32 and the circuit board 33 are rigid boards such as a glass epoxy board, and are formed in a rectangular flat plate shape, for example.
  • the circuit board 32 and the circuit board 33 are formed separately.
  • the outer shape of the circuit board 32 is larger than the outer shape of the circuit board 33.
  • the enable switch 21 is electrically connected to the circuit board 32 via a cable (not shown), and the emergency stop switch 22 is electrically connected via a cable (not shown).
  • a buzzer 30 and a vibration motor 31 are mounted on the circuit board 33. Specifically, the buzzer 30 and the vibration motor 31 are mounted on the lower surface of the circuit board 33. In this embodiment, the vibration motor 31 is disposed in front of the buzzer 30.
  • the circuit board 32 is fixed inside the housing 27.
  • the circuit board 32 is disposed on the upper end side inside the housing 27. That is, the circuit board 32 is disposed on the front side of the teaching operation terminal 1.
  • the rear end portion of the circuit board 32 is disposed inside the grip portion 27a, and most of the circuit board 32 excluding the rear end portion is disposed inside the switch arrangement portion 27b.
  • the circuit board 32 formed in a flat plate shape is arranged so as to be parallel to the left-right direction. When viewed from the left-right direction, the circuit board 32 is inclined so as to go downward as it goes to the front side.
  • the circuit board 33 is fixed inside the housing 27.
  • the circuit board 33 is disposed on the lower end side inside the housing 27. That is, the circuit board 33 is arranged on the back side of the teaching operation terminal 1.
  • the circuit board 33 is disposed inside the grip portion 27a. That is, the circuit board 33 is built in the holding part 27a. Specifically, the circuit board 33 is built in the grip portion 27 a on the back side of the teaching operation terminal 1. Further, since the circuit board 33 is built in the gripping part 27a, the buzzer 30 and the vibration motor 31 mounted on the circuit board 33 are also built in the gripping part 27a.
  • the circuit board 33 formed in a flat plate shape is arranged so as to be parallel to the left-right direction. When viewed from the left-right direction, the circuit board 33 is inclined so as to go downward as it goes to the front side.
  • the circuit board 32 and the circuit board 33 are disposed substantially in parallel.
  • the base end portion of the casing 27 of the teaching operation terminal 1 is the grip portion 27 a that is gripped with one hand of the operator who performs the teaching operation of the robot 2.
  • the operation unit 20a of the operation member 20 operated by the operator's thumb is arranged on the front side of the teaching operation terminal 1 and also on the front side of the teaching operation terminal 1 from the grasping unit 27a.
  • the operation unit 21 a of the switch 21 is disposed on the back side of the teaching operation terminal 1 and is disposed on the axis L of the operation member 20.
  • the angle ⁇ formed by the pressing direction V of the enable switch 21 and the axis L is 60 ° or more and 90 ° or less. Specifically, the angle ⁇ is approximately 75 °.
  • an operator holding the grip portion 27a with one hand can easily press the operation portion 21a of the enable switch 21 with the index finger (or middle finger) of one hand holding the grip portion 27a.
  • the operation portion 20a of the operation member 20 can be easily operated with the thumb of one hand holding the grip portion 27a. Therefore, in this embodiment, the operator who performs the teaching operation of the robot 2 can easily operate the teaching operation terminal 1 with one hand holding the teaching operation terminal 1.
  • the operation part 22a of the emergency stop switch 22 is arranged on the distal end side of the teaching operation terminal 1 with respect to the operation part 20a of the operation member 20. Therefore, in this embodiment, the thumb of the operator who is operating the operation unit 20 a of the operation member 20 is less likely to come into contact with the operation unit 22 a of the emergency stop switch 22. Therefore, in this embodiment, it is possible to prevent erroneous operation of the emergency stop switch 22 when the teaching operation of the robot 2 is being performed.
  • the operation unit 20a of the operation member 20 is operated to the operation unit of the emergency stop switch 22. It becomes possible to keep 22a away. Therefore, in this embodiment, the thumb of the operator who is operating the operation unit 20 a of the operation member 20 is less likely to come into contact with the operation unit 22 a of the emergency stop switch 22.
  • the three light emitting units 23 are arranged on the distal end side of the teaching operation terminal 1 with respect to the operation unit 20a of the operation member 20. Therefore, in this embodiment, the light emitting unit 23 is not covered with the thumb of the operator who operates the operation unit 20a of the operation member 20. Therefore, in this embodiment, the operation member 20 can be operated while grasping the state of the robot 2 and the state of the teaching operation terminal 1 based on the light emission state of the light emitting unit 23.
  • the operation unit 24a of the slide switch 24, the operation unit 25a of the slide switch 25, and the operation unit 26a of the push button 26 are disposed between the operation unit 20a of the operation member 20 and the gripping unit 27a. Therefore, in this embodiment, the operator who performs the teaching operation of the robot 2 can operate the operation unit 24a, the operation unit 25a, and the operation unit 26a using the thumb that operates the operation unit 20a of the operation member 20. Become. Therefore, in this embodiment, even if the slide switches 24 and 25 and the push button 26 are provided in the teaching operation terminal 1, the operator who performs the teaching operation of the robot 2 teaches with one hand holding the teaching operation terminal 1. The operation terminal 1 can be easily operated.
  • the radius of curvature of the upper surface 27e of the grip portion 27a formed in a convex curved surface is equal to the radius of curvature of the lower surface 27f of the grip portion 27a formed in a concave curved surface. Therefore, in this embodiment, the operator can easily grip the grip portion 27a with one hand. Further, in this embodiment, when the teaching operation of the robot 2 is performed, the tablet terminal 5 installed with the robot teaching software is used together with the teaching operation terminal 1, so that the general-purpose tablet terminal 5 is used. The teaching operation of the robot 2 can be performed using
  • a vibration motor 31 for notifying the abnormality of the robot 2 is built in the teaching operation terminal 1. Therefore, in the present embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, the gripper 27a that is gripped by the operator who performs the teaching operation of the robot 2 by vibrating the vibration motor 31 built in the teaching operation terminal 1 is vibrated. Can be vibrated. Therefore, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible to promptly recognize the abnormality of the robot 2 by the operator who performs the teaching operation of the robot 2.
  • the vibration motor 31 since the vibration motor 31 is built in the grip portion 27 a, the vibration motor 31 directly vibrates the grip portion 27 a gripped by the operator when an abnormality occurs in the robot 2 during the teaching operation. Can be made. Therefore, in this embodiment, when an abnormality occurs in the robot 2 during the teaching operation, the gripping unit 27a can be vibrated more greatly or more strongly by the vibration motor 31. As a result, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible for the operator to recognize the abnormality of the robot 2 more quickly.
  • the buzzer 30 for notifying the abnormality of the robot 2 since the buzzer 30 for notifying the abnormality of the robot 2 is built in the teaching operation terminal 1, the buzzer 30 built in the teaching operation terminal 1 when an abnormality occurs in the robot 2 during the teaching operation. Can generate an alarm. Therefore, in this embodiment, when an abnormality occurs in the robot 2 that is performing the teaching operation, it is possible for the operator to recognize the abnormality of the robot 2 more quickly.
  • the operation member 20, the enable switch 21, the emergency stop switch 22, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 are electrically connected, the buzzer 30, and the vibration motor 31.
  • the circuit board 33 to be mounted is formed separately. Therefore, in this embodiment, the vibration generated by the buzzer 30 and the vibration motor 31 is not easily transmitted to the circuit board 32. As a result, the vibration generated by the buzzer 30 and the vibration motor 31 is controlled by the operation member 20, the enable switch 21, and the emergency switch. Transmission to the stop switch 22, the light emitting unit 23, the slide switches 24 and 25, and the push button 26 becomes difficult. Therefore, in this embodiment, it is possible to reduce the influence of vibration generated by the buzzer 30 and the vibration motor 31 on the operation member 20, the light emitting unit 23, the slide switches 24 and 25, and the push button 26.
  • the housing 27 can be reduced in size.
  • the operation member 20 may be a cross key.
  • the operation portion 21a of the enable switch 21 is arranged on the axis of the operation member 20 (that is, the axis of the cross key), and the pushing direction V of the enable switch 21 and the axis of the cross key are The formed angle ⁇ is 60 ° or more and 90 ° or less. Even in this case, the operator who performs the teaching operation of the robot 2 can easily operate the teaching operation terminal 1 with one hand holding the teaching operation terminal 1 in the same manner as described above. .
  • the radius of curvature of the upper surface 27e of the grip portion 27a and the radius of curvature of the lower surface 27f of the grip portion 27a may be different. Further, at least one of the upper surface 27e and the lower surface 27f may be formed in a planar shape.
  • the robot 2 may be a vertical articulated robot other than six axes, or a horizontal articulated robot. The robot 2 may be a robot other than the vertical articulated robot and the horizontal articulated robot.
  • the operation unit 21 a of the enable switch 21 can be disposed on the left and right side surfaces of the teaching operation terminal 1. Further, using a teaching operation terminal formed in a substantially U shape (a U-shape) and having the same function as the teaching operation terminal 1 and a tablet terminal 5 fitted in the teaching operation terminal 1, the robot 2 It is also possible to perform a teaching operation.
  • the circuit board 33 may be built in the switch arrangement portion 27b.
  • the buzzer 30 and the vibration motor 31 may be built in the switch arrangement portion 27b.
  • either the buzzer 30 or the vibration motor 31 may be built in the switch arrangement portion 27b.
  • either one or both of the buzzer 30 and the vibration motor 31 may be mounted on the circuit board 32.
  • the teaching operation terminal 1 may not include the buzzer 30.
  • the operation member 20 may be a cross key.
  • the robot 2 may be a vertical articulated robot other than six axes, or a horizontal articulated robot.
  • the robot 2 may be a robot other than the vertical articulated robot and the horizontal articulated robot.
  • the robot 2 includes the teaching operation terminal that is formed in a substantially U shape (U-shape) and has the same function as the teaching operation terminal 1 and the tablet terminal 5 that is fitted in the teaching operation terminal.
  • the teaching operation may be performed.
  • the teaching operation terminal 1 may include a display device such as a liquid crystal display and an input device such as a touch panel. In this case, the teaching operation terminal 1 may be held with both hands of the operator. In this case, the tablet terminal 5 becomes unnecessary.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un terminal d'apprentissage destiné à être utilisé dans une opération d'apprentissage pour robot, avec lequel un opérateur effectuant une opération d'apprentissage pour robot peut facilement effectuer l'opération à l'aide d'une main tenant le terminal d'apprentissage, et qui permet à l'opérateur de s'apercevoir rapidement de l'apparition d'une anomalie affectant le robot. Un terminal d'apprentissage (1) est pourvu d'une partie de préhension (27a) saisie par une main de l'opérateur, d'un élément d'actionnement (20) qui est actionné par le pouce de l'opérateur et qui actionne le robot, et d'un commutateur de validation (21). Une partie d'actionnement (20a) de l'élément d'actionnement (20) actionnée par l'opérateur est disposée davantage vers le côté de l'extrémité distale du terminal d'apprentissage (1) que la partie de préhension (27a) et du côté supérieur du terminal d'apprentissage (1), et une partie d'actionnement (21a) du commutateur de validation (21) actionnée par l'opérateur est disposée du côté opposé du terminal d'apprentissage et sur une ligne axiale L de l'élément d'actionnement (20). Un moteur vibrant (31) destiné à informer l'opérateur d'une anomalie affectant le robot est intégré dans le terminal d'apprentissage (1).
PCT/JP2018/004143 2017-02-24 2018-02-07 Terminal d'apprentissage et système d'apprentissage Ceased WO2018155181A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2017033015A JP2018138316A (ja) 2017-02-24 2017-02-24 教示操作端末および教示操作システム
JP2017033016A JP2018138317A (ja) 2017-02-24 2017-02-24 教示操作端末
JP2017-033015 2017-02-24
JP2017-033016 2017-02-24

Publications (1)

Publication Number Publication Date
WO2018155181A1 true WO2018155181A1 (fr) 2018-08-30

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PCT/JP2018/004143 Ceased WO2018155181A1 (fr) 2017-02-24 2018-02-07 Terminal d'apprentissage et système d'apprentissage

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WO (1) WO2018155181A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0146271B2 (fr) * 1982-03-03 1989-10-06 Shin Meiwa Ind Co Ltd
WO2006103838A1 (fr) * 2005-03-25 2006-10-05 Kabushiki Kaisha Yaskawa Denki Systeme de machine automatique et procede de communication sans fil
WO2007025928A1 (fr) * 2005-08-29 2007-03-08 Abb Research Ltd. Dispositif de conduite portable pour robot industriel
US20100292814A1 (en) * 2009-05-12 2010-11-18 Foxnum Technology Co., Ltd. Cnc machine control apparatus
JP2012110995A (ja) * 2010-11-24 2012-06-14 Kyokko Denki Kk 指接触により動作教示可能となる動作教示装置
JP2014050950A (ja) * 2012-09-06 2014-03-20 Fanuc Robotics America Inc 触覚教示ペンダント

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0146271B2 (fr) * 1982-03-03 1989-10-06 Shin Meiwa Ind Co Ltd
WO2006103838A1 (fr) * 2005-03-25 2006-10-05 Kabushiki Kaisha Yaskawa Denki Systeme de machine automatique et procede de communication sans fil
WO2007025928A1 (fr) * 2005-08-29 2007-03-08 Abb Research Ltd. Dispositif de conduite portable pour robot industriel
US20100292814A1 (en) * 2009-05-12 2010-11-18 Foxnum Technology Co., Ltd. Cnc machine control apparatus
JP2012110995A (ja) * 2010-11-24 2012-06-14 Kyokko Denki Kk 指接触により動作教示可能となる動作教示装置
JP2014050950A (ja) * 2012-09-06 2014-03-20 Fanuc Robotics America Inc 触覚教示ペンダント

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