JP2015217477A - Operation input device and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to extremely easily perform a movement control mode selection and an operation to change/adjust an amount of movement in an operation input device that controls movement of a control target member by using an operation key.SOLUTION: A keyboard 104, on which operation keys for controlling movement of a control target member are disposed, is displaceably supported with respect to an operation input device body. During operation of the operation key on the keyboard 104, a movement control mode for the control target member is determined on the basis of a displacement direction of the keyboard 104, and an amount of movement of the control target member is determined on the basis of an amount of displacement of the keyboard 104.

Description

  The present invention relates to an operation input device having operation keys for controlling movement of a controlled member.

  In recent years, industrial robots are used in production lines for various industrial products. A typical structure of this type of robot has an articulated (for example, six-axis) arm having a tool such as a robot hand for manipulating a workpiece attached to the tip. When teaching a specific operation to this type of robot, an operation input device called a teaching pendant or the like is used.

  FIG. 9 shows a simplified example of the operation surface of the teaching pendant 110 used in the conventional robot system. On the operation surface of the teaching pendant 110 shown in FIG. 9, for example, a key group 111 used to indicate the three-dimensional coordinates of teaching points X, Y, and Z, the joint of the robot arm that is a controlled member, and the direction of movement. Is provided. In the example of FIG. 9, the key group 111 includes two forward and reverse keys (+ X, −X, + Y, −Y, + Z, −Z) corresponding to the three-dimensional coordinates of X, Y, and Z. Using these key groups 111, the operator can move the robot arm toward the teaching point to be set, for example. In this case, depending on the selection of the key, the movement amount along or around the three-dimensional coordinate axis. It is possible to control the rotational movement of the.

  These key groups 111 are often configured to be operated by, for example, continuous (JOG) operation or step operation. Here, the continuous (JOG) operation is an operation in which a drive means to be operated (for example, a servo motor that drives a joint of a robot arm) continuously operates while a key is pressed. Further, the step operation is an operation in which the driving means is operated by a certain driving amount each time the key is pressed once.

  When viewed from the teaching pendant 110 side, the above operation and control specifications can be considered as an operation mode of the operation input device such as a continuous operation mode or a step operation mode. Further, the operation mode of the robot (as a controlled member) controlled by these operation modes can be considered as a continuous movement mode or a step movement mode.

  In order to specify the continuous movement mode or the step movement mode, or to control the continuous movement speed (so-called JOG speed) or the step feed amount in these modes, a key group 112 is arranged in the teaching pendant 110 of FIG. For example, a key 1121 having a CONT mark in the key group 112 sets a continuous operation (JOG operation) mode. A key 1122 having a STEP mark sets a step operation mode. Then, the keys 1123 and 1124 marked with the up and down arrows on the left side of the key group 112 can be used to change the continuous movement speed in the continuous movement mode and the step feed amount in the step movement mode.

  In the teaching pendant 110 of FIG. 9, the programmed setting value and the current robot state can be displayed on the display unit 102 constituted by an LCD panel or the like. In addition, an emergency stop key 131 is provided in the upper right part of the operation surface of the teaching pendant 110 to emergency stop the entire robot apparatus. In addition, a key group 1033 mainly related to the control of the entire taught program is arranged at the lower part. With these key group 1033, functions such as starting, stopping, execution speed control, return to origin, step execution, and continuous operation of the entire taught program can be designated. Note that a key group 1034 mainly having a number stamp on the lower part of the operation surface is a function key group used as, for example, a programmable key for calling a teaching point or assigning a specific operation function.

  In the configuration of FIG. 9, for example, a reference position (for example, a flange portion on which a tool is mounted) of the robot arm is set by continuous operation or step operation of the key group 111 that indicates coordinates (or joints and movement directions) during robot teaching. Move to the desired teaching point position. During operation by the key group 111, the movement control mode of continuous movement or step movement is changed, and the continuous movement speed or step feed amount of each mode is controlled to a desired state by simultaneously operating the key group 112. can do.

  For example, when the distance from the current position of the robot to a desired teaching point is far, the key 1123 for switching the continuous movement speed or the step feed amount is operated so as to move at a high speed or with a large step feed amount. When the teaching point approaches, the key 1124 for switching the continuous movement speed or the step feed amount is operated so as to move at a low speed or with a small step feed amount. Further, the keys 1121 and 1122 can be switched so that the continuous operation mode is selected when the distance to the teaching point is far and the step operation mode is selected when the teaching point is approached. Conventionally, switching of the operation mode (movement control mode) by the key group 112 and adjustment of the movement amount (continuous movement speed or step feed amount) are performed by the operator during the operation of the key group 111, for example, the current state of the robot. We had to do it at the same time while viewing the condition.

  As described above, conventionally, an operator performs mode switching and movement (operation) amount adjustment by the key group 112 arranged at different positions on the operation surface simultaneously with continuous (JOG) operation or step operation by the key group 111. There was a need to perform key operations. In addition, the operator needs to perform these operations while confirming the posture and position of the robot at the same time, and must frequently move a large fingertip and change the focus of eyes and eyes.

  Therefore, the conventional teaching operation of the teaching pendant 110 requires frequent finger movement for changing keys and switching of the line of sight and eye focus in order to change the speed and operation amount. For this reason, the conventional teaching pendant 110 has a problem that the operation efficiency is poor, the operation time is long, fatigue is involved, and an operation error is likely to occur. From such a viewpoint, in order to improve the operation input system of the teaching pendant used for robot teaching, conventionally, configurations such as the following Patent Document 1 and Patent Document 2 have been proposed.

JP 2002-292583 A JP 2012-024848 A

  As described above, in a conventional robot teaching operation input device, a specific operation (JOG feed operation, step feed operation) and an operation amount (continuous moving speed or step feed amount) change operation are performed on the same operation surface. With separate keys spaced apart. For this reason, the problem that the movement of the line of sight is frequently required, the operation is difficult, and the operation error is likely to occur is also recognized in Patent Document 1.

  However, in Patent Document 1, a specific operation (JOG feed operation) and an operation direction are designated by a jog dial and operation keys, respectively (FIG. 1 of the same document). In this configuration, some of the operation functions realized by operation keys (FIG. 5 of the same document) assigned operation directions such as X + and Y− are both operated (moving) direction and operation (moving) amount. It is just something that is done by a jog dial that can specify. In the configuration of Patent Document 1, the jog dial and the operation keys are still spaced apart on the same operation surface, and the problems of fingertip movement and line-of-sight movement for performing the above-described operations can hardly be solved.

  In the configuration of Patent Document 2, the operation amount of the enable (deadman) switch, in particular, the operation amount in a range in which the device can be operated is assigned to the operation amount of the speed or the step amount related to the specific operation. . However, the configuration of Patent Document 2 uses an enable (deadman) switch. For example, the operator's one hand is blocked by the enable (deadman) switch. There is a problem of not becoming.

  In view of the above-described problems, an object of the present invention is to make it extremely easy to select a movement control mode and change or adjust a movement amount in an operation input device that controls movement of a controlled member using an operation key. There is to be able to do it.

  In order to solve the above problems, in the present invention, in an operation input device having an operation key for controlling the movement of a controlled member, a keyboard on which the operation key is arranged, and a housing that supports the keyboard so as to be displaceable. A displacement direction detection unit that detects a displacement direction of the keyboard relative to the housing; a displacement amount detection unit that detects a displacement amount of the keyboard relative to the housing; and the controlled member according to an operation of the operation key. A control device that generates control information for controlling movement, and the control device is designated by the control information based on the displacement direction detected through the displacement direction detection unit during operation of the operation key. The controlled member that determines the movement control mode of the controlled member to be specified and that is designated by the control information based on the displacement amount detected through the displacement amount detection unit It characterized an arrangement for determining the amount of movement.

  With the above configuration, according to the present invention, the movement control mode and the movement amount of the controlled member can be designated by the displacement direction and the displacement amount of the keyboard when operating the operation keys. According to the present invention, in addition to the operation keys for controlling the movement of the controlled member, there is no need to separately arrange the operation keys for specifying the movement control mode and the movement amount of the controlled member as in the prior art. Therefore, it is not necessary to move the finger on the keyboard, move the line of sight for that purpose, or switch the focus of the eyes as in the conventional case. For example, the operation can be input smoothly and efficiently by blind operation while looking only at the controlled member. Can be done. For example, the operation input device of the present invention can be suitably implemented as a teaching device of a robot system, and in that case, teaching work can be performed very easily without erroneous operation. Therefore, the time required for teaching the robot can be shortened, and the loss of damaging the robot or workpiece due to an erroneous operation can be prevented.

It is explanatory drawing which showed the structure of the operation surface of the teaching pendant which concerns on the Example of this invention. It is explanatory drawing which showed the teaching pendant of FIG. 1 from the downward direction. It is explanatory drawing which showed the structure of the robot system using the teaching pendant of FIG. It is the block diagram which showed the circuit structure of the teaching pendant which concerns on the Example of this invention. It is explanatory drawing which showed the mode of the operation input in the teaching pendant of FIG. (A), (b) is explanatory drawing which showed the structure of the teaching pendant which concerns on the Example from which this invention differs, and the mode of operation input. (A), (b) is explanatory drawing which showed the structure of the teaching pendant based on the further different Example of this invention, and the mode of operation input. It is the flowchart figure which showed the control procedure of the teaching pendant which employ | adopted this invention. It is explanatory drawing which showed the structure of the operation surface of the conventional teaching pendant.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments that suitably implement the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 shows a configuration of an operation surface of a teaching pendant 101 configured as a robot teaching device as an embodiment of the present invention, and FIG. 2 shows the teaching pendant 101 of FIG. 1 from the lower side of FIG. 3 shows the overall configuration of the robot system using the teaching pendant 101 of FIG. 1, and FIG. 4 shows the configuration of the control system of the teaching pendant 101 of FIG.

  When used in a robot system, the teaching pendant 101 of this embodiment is connected to a robot control device 201 that controls a robot device (robot arm 301, hand 401) by a cable 132, as shown in FIG. The teaching pendant 101 transmits control information for controlling the operation of the robot apparatus to the robot control apparatus 201. For example, the robot arm 301 operates each joint according to the control of the robot control apparatus 201. The robot arm 301 is disposed on a work space 3011 via a support mechanism such as a gantry, and grips the workpiece W1 with a hand 401 attached to the tip, and performs operations such as assembly or processing under the control of the robot controller 201. . In FIG. 3, the work W <b> 2 is another work assembled with W <b> 1 by the hand 401.

  As shown in FIG. 1, the teaching pendant 101 of this embodiment has a display unit 102 for displaying various information relating to the operation and program state of the robot apparatus (the robot arm 301 and the hand 401 in FIG. 3). Further, in the teaching pendant 101 of FIG. 1, an emergency stop key 131 is disposed on the upper left of the display unit 102. A cable 132 for connecting to the robot control device 201 is led out from the lower part of the teaching pendant 101.

  In the present embodiment, the display unit 102 includes, for example, a touch panel using a liquid crystal display and a touch sensor. Therefore, the display unit 102 constitutes (part of) operation input means for performing a teaching operation of the robot by operating a touch key defined on the display in addition to displaying information on the robot operation and the program state. The display unit 102 can display information on the robot operation including the current position or posture of the robot, the speed of movement at the time of robot teaching or the amount of movement at the time of step feed, the position or posture of the taught operation point, and the like. it can.

  The display area 1024 of the display unit 102 includes three-dimensional coordinate values (or movement amounts on each axis) of X, Y, and Z at teaching points (P) that have been set (or will be set), Used to display the amount of rotational movement (RX, RY, RZ) around the three-dimensional coordinate axis. In addition, the display area 1022 includes, in particular, a currently set teaching point or three-dimensional coordinate values (or movement amounts on each axis) of X, Y, and Z corresponding to the current robot state and the three-dimensional coordinate axes. This is used to display the amount of rotational movement (RX, RY, RZ) around the vehicle. The upper and lower display areas 1021 and 1025 are, for example, function key sections, and a plurality of function keys defined in the display areas 1021 and 1025 are switched to different setting inputs according to the operation state. The central display area 1023 is used for displaying the current continuous (JOG) moving speed (or step operation amount, etc.), the current operation target part of the robot, and the like. In the state of FIG. 1, a registration key used for registering a teaching point or the like is displayed on the right side of the display area 1023.

  Note that the display state of the display unit 102 in FIG. 1 is merely an example corresponding to the state of the robot apparatus or a specific operation state of the teaching pendant 101. When the display unit 102 is configured by a touch panel or the like, naturally, all or a part of the display on the display unit 102 is controlled to a state different from that in FIG. 1 according to the state of the robot apparatus or the specific operation state of the teaching pendant 101. There is a case. A person skilled in the art can arbitrarily change the display style of the display unit 102 and the operation method when the display unit 102 is configured by a touch panel or the like.

  In the teaching pendant 101 of FIG. 1, a group of keys used for instructing the three-dimensional coordinates of the teaching point X, Y, Z, or the joint and direction of the robot arm to be operated when moving to the teaching point. Are arranged on the keyboard 104 on the right side of the main body. The keyboard 104 has keys 103a (X +, Y +, Z +, RX +, RY +, RZ +) for designating a positive direction input and keys 103b (X-, Y-, Z-, RX) for designating a negative (reverse) direction input. -, RY-, RZ-) are arranged. These key groups correspond to positions in the three-dimensional coordinate system of X, Y, and Z (of the robot reference part) and operation amounts related to rotation around the three-dimensional coordinate axes of X, Y, and Z (thus, in the robot apparatus). Used to increase / decrease (movement amount).

  The keys 103a and 103b are controlled by a control system, which will be described later, so that the keys 103a and 103b can be operated by either the above-described continuous operation (JOG) mode or the step operation mode. As described above, when viewed from the teaching pendant 110 side, these modes can be considered as operation modes of the operation input device such as the above-described continuous operation mode or step operation mode. On the other hand, the operation mode of the robot arm 301 (or hand 401) controlled by the operation mode of the teaching pendant 110 is considered as a continuous movement mode or a step movement mode from the viewpoint of movement as a controlled member. Can do. In the following description, terms such as continuous (or stepped) operating mode and continuous (or stepped) moving mode will focus on either the operation in the context or the movement of the controlled member controlled thereby, for example. Any of these shall be used.

  In the present embodiment, switching of the operation mode of the keyboard 104 or the movement mode of the corresponding robot (controlled member) is not performed by operation keys on the operation surface (or function keys of the display unit 102) as in the past. . For example, a key such as CONT and STEP shown in FIG. 9, that is, a continuous operation (continuous movement) mode or a step operation (step movement) mode is provided on the operation surface constituted by the keyboard 104 and the display unit 102 of FIG. There are no operation keys to switch.

  In this embodiment, the operation amount (continuous movement speed or step feed amount) of the keys 103a and 103b of the keyboard 104 is changed by physically displacing the entire keyboard 104 as will be described later. For example, a continuous operation (continuous movement) mode or a step operation (step movement) mode is designated in the direction of displacement of the keyboard 104, and a continuous movement speed or a step operation (feed) amount is designated by the displacement amount. This eliminates the need for switching between continuous (JOG) operation or step operation during the operation of one of the keys 103a and 103b. Further, there is no need to move the fingertip to another operation key for changing the operation amount (continuous movement speed or step feed amount) or to move the line of sight for that purpose.

  One configuration example for displacing the keyboard 104 is to slide the entire keyboard 104 up and down with respect to the main body of the teaching pendant 101 as shown in FIGS. 1, 2, and 5.

  FIG. 2 shows the teaching pendant 101 of FIG. 1 from below in FIG. As shown in the figure, rail-like protrusions 1041 and 1041 are formed on the left and right sides of the keyboard 104, and these protrusions 1041 and 1041 can slide with the guide part 105 formed on the main body of the teaching pendant 101, respectively. Is engaged. The entire teaching pendant 101 and keyboard 104, or at least the portion of the slide engagement mechanism, is made of a metal material or a plastic material.

  In the present embodiment, the keyboard 104 can be slid upward or downward (arrows SPD and STP) as shown in FIG. Here, the arrows SPD and STP correspond to the continuous operation (continuous movement) mode and the step operation (step movement) mode, respectively, and the slide displacement amount corresponds to the continuous movement speed and the step feed (operation) amount. Yes.

  For example, when the keyboard 104 is slid upward (arrow SPD), a JOG operation (JOG movement) mode, that is, a continuous operation (continuous movement) operation mode is set. If the keyboard 104 is slid largely upward, a large continuous movement speed is designated, and if the amount of sliding upward is small, a small continuous movement speed is designated. When the keyboard 104 is slid downward (arrow STP), a step operation (step movement) mode is set. At this time, a large step feed (operation) amount is designated if the keyboard 104 is slid largely downward, and a small step feed (operation) amount is designated if the downward slide amount is small. Switching between the continuous operation (continuous movement) mode or the step operation (step movement) mode can be performed instantaneously by changing the sliding direction of the keyboard 104 upward (arrow SPD) or downward (arrow STP). .

  Switching between the above-described continuous operation (continuous movement) mode or step operation (step movement) mode and changing the operation amount (continuous movement speed or step feed amount) in each mode is performed by operating the key 103a or 103b of the keyboard 104. This can be done with only one hand. In addition, while operating at least one key 103a or 103b, it is not necessary to move the fingertip or move the line of sight for operating other keys, and the above operation input can be performed by a blind operation. .

  The displacement direction and displacement amount of the keyboard 104 are detected by a displacement direction detection unit 121 and a displacement amount detection unit 122 provided inside the teaching pendant 101. The displacement direction detection unit 121 and the displacement amount detection unit 122 can be configured by a potentiometer, a magnetic sensor, an optical encoder, or the like. In some cases, these two detection units can be configured by one sensor device. it can.

  Note that the upper limit (lower limit) of the slide displacement amount of the keyboard 104 can be limited by providing a stopper member (not shown) or the like in the slide mechanism.

  Also, what is the specification of the operation when the operator releases the finger from the key or releases the hand holding the part of the keyboard 104 after sliding the keyboard 104 while pressing the keys 103a and 103b? There are alternatives. One of the structures is a structure in which the keyboard 104 maintains the amount of displacement with respect to the main body when a finger is released from the keys 103a and 103b or a hand holding the keyboard 104 is released. For this purpose, for example, the current displacement amount is maintained in the keyboard 104 between the keyboard 104 and the main body (housing), apart from the engagement structure of the protruding portion 1041 and the guide portion 105, even if the external force to the keyboard 104 is released. Provide a mechanism to allow it to fall. For example, a structure in which a ratchet type engagement mechanism or a means for generating a frictional force is provided between the keyboard 104 and the main body can be considered.

  Another structure is that when the finger is released from the keys 103a and 103b or the hand holding the keyboard 104 part is released, the keyboard 104 is moved, for example, at the center initial position by a spring mechanism (not shown). It is a structure which returns to a position (FIG. 1). In this case, the keyboard 104 is automatically returned to an initial (default) position in the center by an urging force such as a spring. Alternatively, it may be possible not to take over.

  FIG. 4 is a circuit diagram showing the configuration of the control system of the teaching pendant 101, and includes the displacement direction detection unit 121 and the displacement amount detection unit 122 described above. In FIG. 4, a CPU 120 is configured by a general-purpose microprocessor or the like, and controls overall operations such as operation input of the teaching pendant 101, information display, and communication with the robot control device 201. The ROM 124 is a memory for storing a control program for the CPU 120 described later, and constitutes a computer-readable recording medium according to this embodiment. When the CPU 120 executes the control program stored in the ROM 124, the entire operation input control of the teaching pendant 101, information display control, communication control with the robot control device 201, and the like are realized.

  The RAM 125 is a memory used as a work area during the control operation of the CPU 120 described above. The display unit 102 is a display unit configured by the above-described touch panel using, for example, a liquid crystal display and a touch sensor, and is used for the above-described display or further operation input. The interface circuit 126 is an interface unit for communicating with the robot control apparatus 201 using, for example, various serial port communication methods, and controls communication with the robot control apparatus 201 via the previous cable 132. A command is sent to the robot controller 201 and information is received from the robot controller via the interface circuit 126.

  The CPU 120 can detect an operation input from the keys 103a and 103b on the keyboard 104 or another key (group) 1031 via an interface circuit (not shown). The key (group) 1031 in the figure is assumed to be a software key defined by the touch panel function of the display unit 102, and another hardware key (not shown) is added to the teaching pendant 101. It is assumed and illustrated. Further, the CPU 120 can read the detection amounts of the displacement direction detection unit 121 and the displacement amount detection unit 122 via an interface circuit (not shown).

  Then, the CPU 120 operates according to the operation state of the keys 103a and 103b on the keyboard 104 and the detection state of the displacement direction detection unit 121 and the displacement amount detection unit 122, for example, according to a control program (FIG. 8) described later. Control the whole. Thus, control information to be transmitted to the robot control apparatus 201 is generated according to the operation information of the keys 103a and 103b on the keyboard 104, the displacement direction and the displacement amount of the keyboard 104. That is, as shown in the control procedure described later, the CPU 120 specifies control information that designates the continuous movement mode or the step movement mode as the movement control mode of the robot according to the displacement direction of the keyboard 104 during the operation of the keys 103a and 103b. Is generated. Further, the CPU 120 generates control information for designating a movement amount (continuous movement speed or step movement amount) in each of the movement control modes according to the displacement amount of the keyboard 104 during operation of the keys 103a and 103b.

  FIG. 8 shows an example of the flow of a control program for the CPU 120 to execute the above control. The illustrated procedure is stored in the ROM 124 as a control program for the CPU 120, for example. The control procedure of FIG. 8 designates the JOG (continuous) movement or step feed mode according to the operation of the keys 103a and 103b, the displacement direction of the keyboard 104 and the detection state of the displacement amount, and the movement speed at that time. Alternatively, the step feed amount is controlled. Note that the key 103 in FIG. 8 corresponds to one of the keys 103 a and 103 b of the keyboard 104. That is, the key 103 is a key 103a, 103b that is operated to designate a specific operation (movement in the direction of the three-dimensional coordinate axis or rotational movement of the robot arm 301 (predetermined part thereof) around the three-dimensional coordinate axis) to the robot apparatus. It corresponds to any one key.

  Step S101 in FIG. 8 is a step of waiting for a key to be pressed, and the CPU 120 determines whether or not the key 103 for instructing the moving direction has been pressed. If it has been pressed, the process proceeds to the next step.

  In step S <b> 102, the CPU 120 detects the displacement direction of the keyboard 104 via the displacement direction detection unit 121 in a state where the key 103 indicating the movement direction is pressed. As a result of detecting the displacement direction, it is determined in step S103 whether the keyboard 104 is displaced upward (arrow SPD in FIG. 5) or downward (arrow STP in FIG. 5). If the keyboard 104 is displaced upward (arrow SPD in FIG. 5), the process proceeds to step S104. If the keyboard 104 is displaced downward (arrow STP in FIG. 5), the process proceeds to step S108.

  If the keyboard 104 is displaced upward (arrow SPD in FIG. 5), the JOG (continuous) feed mode is set. In this case, the keyboard 104 is moved upward (arrow in FIG. 5) via the displacement detection unit 122 in step S104. The amount of displacement to SPD) is detected. In step S105, if the displacement amount above the keyboard 104 (arrow SPD in FIG. 5) detected in step S104 is small, the process proceeds to step S106, and if the displacement amount is large, the process proceeds to step S107.

  In step S <b> 106, the CPU 120 generates control information instructing low-speed continuous (JOG) movement in the operation (movement) direction specified by the key 103 being operated, and transmits the control information to the robot control apparatus 201. In step S107, control information for instructing high-speed continuous (JOG) movement in the operation (movement) direction specified by the key 103 being operated is generated and transmitted to the robot control apparatus 201.

  In steps S105 to S107, for convenience of illustration of the flowchart, the continuous (JOG) moving speed specified by the control information transmitted to the robot controller 201 is illustrated as if it is controlled to a low speed or a high speed binary value. Yes. However, the continuous (JOG) moving speed specified by the control information depends on the analog value of the displacement amount above the keyboard 104 (arrow SPD in FIG. 5) detected via the displacement amount detection unit 122 in step S104. You may control to determine.

  On the other hand, if the keyboard 104 is displaced downward (arrow STP in FIG. 5) in step S103, the process proceeds to step S108 and the step feed mode is set. In that case, in step S108, a displacement amount below the keyboard 104 (arrow STP in FIG. 5) is detected via the displacement amount detection unit 122. In step S109, if the amount of displacement below the keyboard 104 (arrow STP in FIG. 5) detected in step S108 is small, the process proceeds to step S110. If the amount of displacement is large, the process proceeds to step S111.

  In step S <b> 110, the CPU 120 generates control information instructing step feed with a small step amount in the operation (movement) direction specified by the key 103 being operated, and transmits the control information to the robot control device 201. In step S111, control information for instructing step feed with a large step amount in the operation (movement) direction specified by the key 103 being operated is generated and transmitted to the robot control apparatus 201.

  In steps S110 and S111, the step feed amount does not necessarily need to be a large or small binary control. That is, the step feed amount can be controlled to be determined according to the analog value of the displacement amount below the keyboard 104 (arrow SPD in FIG. 5) detected via the displacement amount detection unit 122 as described above. it can.

  After step S106, S107, or S110, S111, in step S112, the CPU 120 determines whether or not the key 103 corresponding to the specific operation (movement) direction detected in step S101 has been released (pressed or ended). To detect. If the key 103 is released in step S112, the process returns to step S101. If the key 103 is not released and the operation (pressing) continues, the process returns to step S102. The above control is repeated. In particular, in continuous (JOG) operation, the operation of the same key 103 (103a, 103b) and the operation input control by the displacement direction and displacement amount of the keyboard 104 are continued by repeating the transition from step S112 to S102. . In the meantime, the JOG (continuous) speed can be continuously changed by the blind operation of one hand without the need for special line-of-sight movement or the like by selecting the displacement amount of the keyboard 104.

  As described above, according to this embodiment, during the operation of the key 103 (103a, 103b) on the keyboard 104, the continuous operation (continuous movement) mode or the step operation (step Move) mode can be selected. Moreover, the operation amount (continuous movement speed or step feed amount) at that time can be continuously variably controlled by the amount of displacement (sliding displacement in the vertical direction) of the keyboard 104 itself.

  According to the present embodiment, in addition to the keys 103a and 103b for controlling the movement of the robot (predetermined part) which is the controlled member, the operation keys for specifying the conventional movement control mode and movement amount (for example, FIG. There is no need to separately arrange the keys 1121 to 1124). Therefore, it is not necessary to move the finger on the keyboard, move the line of sight for that purpose, or switch the focus of the eyes as in the prior art. For example, it is smooth and efficient and extremely easy by blind operation of one hand while looking only at the controlled member. Operation input can be performed. Therefore, the teaching pendant 101 of the present embodiment can be suitably used for teaching operation of the robot apparatus, and teaching work can be performed very easily without erroneous operation. According to the teaching pendant 101 of the present embodiment, it is possible to reduce the time required for teaching the robot, and it is possible to prevent a loss that damages the robot or workpiece due to an erroneous operation.

  As described above, in FIGS. 1 to 5, the keyboard 104 is configured to be slidable in the vertical direction with respect to the main body of the teaching pendant 101. However, the structure for displacing the keyboard 104 is not limited to the linear slide method as described above in order to specify the operation mode related to the key operation of the keyboard 104 or the change or adjustment operation of the operation amount. For example, the manner in which the keyboard 104 is displaced for the above purpose may be a swing (rotation) displacement around the axes (1051, 1052) as shown in FIGS.

  For example, FIG. 6A shows the operation surface side of the teaching pendant 101 from the front as in FIG. FIG. 6B shows the operation surface side of the teaching pendant 101 of FIG. 6A from the right side. In FIGS. 6A and 6B, the keyboard 104 is supported by the shaft 1051 so as to be able to swing and displace with respect to the main body of the teaching pendant 101. The displacement direction and displacement amount around the axis 1051 of the keyboard 104 can be detected by a displacement direction detection unit 121 and a displacement amount detection unit 122 (both not shown) similar to those described above. Further, the assignment of the displacement direction and the displacement amount around the axis 1051 of the keyboard 104 can be performed as indicated by arrows SPD and STP in FIGS. 6A and 6B, for example. That is, in the example of FIG. 6, the continuous feed mode and its speed (SPD) are designated clockwise with respect to the main body of the teaching pendant 101, and the step feed mode and its step amount (STP) are designated counterclockwise.

  The circuit configuration and control procedure of the teaching pendant 101 in FIG. 6 can be performed in the same manner as that shown in FIGS. In that case, the displacement direction detection unit 121 and the displacement amount detection unit 122 are configured to detect not the linear slide displacement direction and displacement amount of the keyboard 104 but the rotation direction and rotation amount (angle) around the shaft 1051. Just do it. Further, the control of FIG. 8 can be applied to the hardware configuration of FIG. 6 as long as the display of SPD and STP corresponds to the display in FIG. 6 instead of the upper and lower displays in the determination of step S103.

  In the configuration of FIG. 7, the arrangement direction of the shaft for swinging the keyboard 104 is different from that of FIG. As shown in FIGS. 7A and 7B, the shaft 1052 for swinging the keyboard 104 is arranged along the longitudinal direction of the keyboard 104 in the drawing. In such a configuration, the keyboard 104 can be swung and displaced so as to be bent in the front direction (SPD) or the back direction (STP) of the operation surface, whereby the continuous feed mode, the step feed mode, and the speed at that time, respectively. Or you can specify the step feed amount. 7A and 7B, the displacement direction detection unit 121 and the displacement amount detection unit 122 are not the linear slide displacement direction and displacement amount of the keyboard 104, but the rotation direction and rotation around the shaft 1052. What is necessary is just to be comprised so that quantity (angle) may be detected. The circuit configuration and control procedure shown in FIGS. 4 and 8 can be applied as in the case of FIG.

  1 to 5, 6, and 7 described above, the keyboard 104 is shown to be supported so as to be linearly slidable or swingably displaceable with respect to the main body (housing). Regarding the displacement of each of these keyboards 104, in three different structures, each of the axes related to linear displacement and swing (rotation) displacement is one axis. However, a structure is also conceivable in which the keyboard 104 is supported by the main body (housing) so that it can be displaced along or around two or more displacement axes.

  For example, if the swing shaft shown in FIG. 6 or 7 is supported via a slide mechanism as shown in FIG. 1, the keyboard 104 can be used in such a manner that both linear displacement and swing displacement can be performed by the operator's operating force. It can be supported by the main body (housing). In this case, it is possible to further increase variations such as a control mode that can be selected according to a displacement direction or a variation amount, and a movement amount (movement speed or step amount) in the mode.

DESCRIPTION OF SYMBOLS 101 ... Teaching pendant, 102 ... Display part, 103a, 103b ... Key, 104 ... Keyboard, 105 ... Guide part, 120 ... CPU, 121 ... Displacement direction detection part, 122 ... Displacement amount detection part, 124 ... ROM, 201 ... Robot Control device 301 ... Robot arm 401 ... Hand

Claims (8)

In an operation input device having an operation key for controlling movement of a controlled member,
A keyboard on which the operation keys are arranged;
A housing that supports the keyboard in a displaceable manner;
A displacement direction detector for detecting a displacement direction of the keyboard relative to the housing;
A displacement amount detector for detecting a displacement amount of the keyboard relative to the housing;
A control device that generates control information for controlling movement of the controlled member in accordance with an operation of the operation key;
Have
The control device determines a movement control mode of the controlled member specified by the control information based on the displacement direction detected through the displacement direction detection unit during operation of the operation key, and the displacement amount An operation input device that determines an amount of movement of the controlled member specified by the control information based on the amount of displacement detected through a detecting unit.   2. The operation input device according to claim 1, wherein the movement control mode determined based on the displacement direction is a continuous movement mode in which the controlled member is continuously moved while the operation key is operated, or the operation. The operation input device is a step movement mode in which the controlled member is moved step by step in response to an operation of a key.   The operation input device according to claim 2, wherein the movement amount determined based on the displacement amount is a movement when the controlled member is continuously moved while the operation key is operated in the continuous movement mode. An operation input device that is a speed and is a step movement amount when the controlled member is step-moved in accordance with an operation of the operation key in the step movement mode.   4. The operation input device according to claim 1, wherein the keyboard is supported so as to be linearly displaceable with respect to the housing. 5.   4. The operation input device according to claim 1, wherein the keyboard is supported so as to be swingable and displaceable with respect to the housing. 5.   In the robot system using the operation input device according to any one of claims 1 to 5 as a teaching operation device for performing a teaching operation on a robot device, the control information generated by the control device according to the operation of the operation key A robot system characterized by controlling movement of a predetermined part of a robot apparatus based on the above.   The robot system according to claim 6, wherein movement of the predetermined part of the robot apparatus along a three-dimensional coordinate axis is controlled based on control information generated by the control apparatus in response to an operation of the operation key. Robot system to do.   8. The robot system according to claim 6 or 7, wherein a rotational movement of a predetermined part of the robot apparatus around a three-dimensional coordinate axis is controlled based on control information generated by the control apparatus in response to an operation of the operation key. Characteristic robot system.

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