JP7186498B2 - Input/Output Devices - Google Patents

Description

This invention relates to an input/output device installed in a robot arm.

Direct teach has traditionally been used as a teaching method for robot arms (see, for example, Patent Documents 1 and 2).

Japanese Patent Application Publication No. 5-192885 Japanese Patent Application Publication No. 10-156772

In addition, the robot arm may be provided with an input device having an operation button or the like at a specific location on the periphery for the purpose of enabling direct teach, for example. Since an increase in the number of operation buttons leads to an increase in costs, typically only one operation button is provided for one or more functions. However, in this configuration, depending on the position and posture of the hand of the robot arm, the operation button may face away from the user or in a direction or position that is difficult to operate, making it difficult for the user to operate the operation button.
Similarly, the robot arm may be provided with an output device having a light-emitting element or the like at a specific location on the periphery that outputs information indicating the state of the robot arm, such as whether or not direct teach is enabled. However, in this configuration, depending on the position and posture of the hand of the robot arm, the light-emitting element may face away from the user, making it impossible for the user to reliably confirm whether or not direct teach is enabled.

There is also a method in which an operating device and a display are provided at the base side (fixed part) of the robot arm, and the positional relationship between the operating device and the display and the user is maintained regardless of the position and orientation of the tip side of the robot arm. However, with this method, the same problem as above occurs when the user works away from the operating device and the display, such as when the user operates near the robot hand during teaching, etc.

On the other hand, direct teaching of a robot arm is an important task that determines the movement of the robot arm, so there is a demand for further improvements in convenience.

This invention was made to solve the above problems, and aims to provide an input/output device that allows the input point operated by the user to be visible and operated regardless of the position and posture of the robot arm, and also allows the output point that outputs information to be visible.

The input/output device of the present invention comprises an input device provided on a robot arm, the input device having one or more input points arranged around an axis and operated by a user, the interval around the axis during which the input points are not present being less than 180 degrees, the output device provided on the robot arm, the output device having one or more output points arranged at the same position around the axis and in the axial direction as the input device and outputting information, the interval around the axis during which the output points are not present being less than 180 degrees, and a control unit for controlling the output device in response to an operation on the input point , the input device having an electrode having a groove provided around the axis, and the output device being arranged closer to the axis than the electrode .

With the above-mentioned configuration, this invention makes it possible to visually confirm and operate the input point operated by the user regardless of the position and posture of the robot arm, and also makes it possible to visually confirm the output point that outputs information.

1 is a perspective view showing a configuration example of an input/output device according to a first embodiment of the present invention; 1 is a schematic diagram showing a configuration example of an input/output device according to a first embodiment of the present invention; 1 is an exploded perspective view showing an assembly example of an input/output device according to a first embodiment of the present invention; 10 is an exploded perspective view showing another assembly example of the input/output device according to the first embodiment of the present invention; FIG.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
Embodiment 1.
1 is a perspective view showing a configuration example of an input/output device 1 according to a first embodiment of the present invention. In addition to the input/output device 1, a robot arm 2, a robot hand (end effector) 3, and a robot controller 4 are also shown in FIG.
The input/output device 1 is provided on the robot arm 2, and receives input to the robot arm 2 (e.g., input of a request to enable direct teach), and outputs information (e.g., information indicating whether the direct teach is enabled). In the following, a case will be shown in which the input/output device 1 is provided between the robot arm 2 and the robot hand 3. In addition, a robot controller 4 that controls the operation of the robot arm 2 is connected to the input/output device 1.

As shown in FIG. 2, the input/output device 1 includes an electrostatic sensor (input device) 11, a light-emitting unit (output device) 12 such as an LED, and a control unit 13. The input/output device 1 shown in FIG. 2 also includes a mounting unit 14 for mounting the input/output device 1 to a robot arm 2, and a mounting unit 15 for mounting a robot hand 3 to the input/output device 1.

The electrostatic sensor 11 has one or more electrodes (input points) 111 that are touched (operated) by a user, and a capacitance detection unit 112 that detects the electrostatic capacitance of the electrodes 111. The input/output device 1 shown in FIG. 2 shows a case where one electrode 111 is provided.
The electrodes 111 are provided around the axis of the input/output device 1. The input device is configured such that the interval around the axis of the input/output device 1 where no electrodes 111 are present is less than 180 degrees.

Here, when there is a single electrode 111, the electrode 111 is provided in a planar shape extending over 180 degrees or more around the axis of the input/output device 1. When there are a plurality of electrodes 111, the electrodes 111 are provided at intervals of 180 degrees or less around the axis of the input/output device 1.
Furthermore, the input/output device 1 shown in FIG. 2 is provided with an insulating member 16 for electrically insulating the electrodes 111 from the mounting portions 14 and 15 .

The light-emitting unit 12 has one or more light-emitting elements (output points) 121 that emit light. Depending on the type of the light-emitting element 121, the light-emitting unit 12 may also have a drive circuit 122 that receives an output signal from the control unit 13 and drives the light-emitting element 121. The input/output device 1 shown in Fig. 2 shows a case in which two light-emitting elements 121 and a drive circuit 122 are provided.
The light emitting elements 121 are provided around the axis of the input/output device 1. The output device is configured such that the interval around the axis of the input/output device 1 where no light emitting elements 121 are present is less than 180 degrees.

Here, when there is a single light-emitting element 121, the light-emitting element 121 is provided in a planar shape extending over 180 degrees or more around the axis of the input/output device 1. In this case, for example, a planar light-emitting LED can be used as the light-emitting element 121. Also, when there are multiple light-emitting elements 121, the light-emitting elements 121 are provided at intervals of 180 degrees or less around the axis of the input/output device 1. In this case, for example, a normal point-emitting LED can be used as the light-emitting element 121.

The control unit 13 controls the light emitting unit 12 in response to contact (operation) with the electrode 111 of the electrostatic sensor 11. This control unit 13 has a comparison unit 131, a determination unit 132, and an output unit 133. The control unit 13 is realized by a processing circuit such as a system LSI, or a CPU that executes a program stored in a memory, etc.

The comparison unit 131 compares the capacitance detected by the capacitance detection unit 112 of the electrostatic sensor 11 with a preset threshold value. In this way, the comparison unit 131 detects whether an object is in contact with the electrode 111 of the electrostatic sensor 11.

The determination unit 132 determines whether or not the input state (a state in which the user is in contact with the electrode 111) is present based on the comparison result by the comparison unit 131, and determines whether or not the operation or state of the robot arm 2 needs to be changed, such as whether or not direct teaching to the robot arm 2 needs to be enabled, and whether or not the state of the output unit 133 needs to be changed. At this time, for example, the determination unit 132 may be configured to determine that the user is in contact with the electrode 111 and to determine that the input state is present when the comparison unit 131 detects that an object is in contact with the electrode 111 a specified number of times in succession or for a specified period of time. Also, for example, the determination unit 132 may be configured to perform an alternate operation in which, after the user has contacted the electrode 111, the determination unit 132 continues to determine that the input state is present even after the contact is no longer present. Also, for example, the determination unit 132 may be configured to perform a momentary operation in which the determination unit 132 determines that the input state is present only while the user's contact with the electrode 111 is continuing.
Furthermore, for example, the judgment unit 132 may detect an operation in which the user touches the electrode 111 twice in succession (double tap) from the comparison result by the comparison unit 131, and determine whether or not there is a need to change the operation or state of the robot arm 2, or whether or not there is a need to change the state of the output unit 133, depending on this operation.

The output unit 133 controls the light emitting unit 12 based on the result of the determination by the determination unit 132. The output unit 133 also notifies the robot controller 4 of information indicating the result of the determination by the determination unit 132.

3 is an exploded perspective view showing an assembly example of the input/output device 1 according to the first embodiment of the present invention. In addition to the input/output device 1, a robot hand 3 is also shown in FIG.
In the input/output device 1 shown in Fig. 3, a unit 17 is attached to the lower surface of the attachment portion 14. The unit 17 has a capacitance detection portion 112 of the electrostatic sensor 11, a light-emitting portion 12, and a control portion 13. The upper surface of the attachment portion 14 is attached to the tip of the robot arm 2. As a result, the input/output device 1 is disposed on the same axis as the robot arm 2 (including the meaning of approximately the same axis).

3, the insulating member 16 is divided into an annular upper insulating member 161 and an annular lower insulating member 162. If the upper insulating member 161 is made transparent or semi-transparent, it is possible to confirm from the outside that the light emitting element 121 is emitting light from inside even if the light emitting element 121 is mounted inside the unit 17. The unit 17 is covered by this upper insulating member 161.
Further, the electrode 111 of the electrostatic sensor 11 is disposed on the outside of the upper insulating member 161. FIG. 3 shows a case where the electrode 111 is annular. Further, the electrode 111 is provided with grooves 113 at intervals of 180 degrees or less around the axis of the input/output device 1. A part of the upper insulating member 161 is exposed to the outside by the grooves 113, and light emitted by the light emitting unit 12 can be emitted to the outside through the transparent or semi-transparent upper insulating member 161. Further, the electrode 111 is sandwiched together with the upper insulating member 161 by the lower insulating member 162, so that the electrode 111 is electrically insulated from the mounting portion 14 and the mounting portion 15. As a result, when the electrostatic sensor 11 is used, the electrostatic capacitance of the electrode 111 is stable without being affected by the electrostatic capacitance of the robot arm 2 or the robot hand 3.

The upper surface of the mounting part 15 is attached to the lower insulating member 162. The robot hand 3 is attached to the lower surface of the mounting part 15.

Next, an operation example of the input/output device 1 according to the first embodiment will be described with reference to Figures 1 to 3. The following describes a case where the input/output device 1 receives an input of a request to enable direct teach for the robot arm 2, and outputs information indicating whether the direct teach is enabled.
First, when a user touches the electrode 111 of the electrostatic sensor 11, the capacitance of the electrode 111 changes, and the comparison unit 131 compares the capacitance detected by the capacitance detection unit 112 with a threshold value to determine that an object is in contact with the electrode 111. Then, the determination unit 132 determines whether or not an input state is being established based on the comparison result by the comparison unit 131, and determines whether or not direct teach for the robot arm 2 is to be enabled.

When the determination unit 132 determines that direct teach is to be enabled, the output unit 133 causes the light-emitting unit 12 to emit light so that the user can recognize that direct teach is enabled, and also outputs information indicating the determination result to the robot controller 4. At this time, the output unit 133 may, for example, switch the light-emitting unit 12 from an off state to an emitting state, or, if the light-emitting unit 12 is capable of emitting light of multiple colors, may change the color of light emitted by the light-emitting unit 12. This causes the light-emitting unit 12 to emit light, and the robot controller 4 enables direct teach. The user then executes direct teach on the robot arm 2.

Here, in the input/output device 1 according to the first embodiment, the input unit has one or more electrodes 111 arranged around the axis of the input/output device 1, and is configured so that the interval around the axis of the input/output device 1 where no electrode 111 is present is less than 180 degrees. Therefore, regardless of the position and posture of the robot arm 2, the electrode 111 of the electrostatic sensor 11 is visible from the user's position. This makes it easy for the user to operate the electrostatic sensor 11.
Furthermore, in the input/output device 1 according to the first embodiment, the output device has one or more light-emitting elements 121 arranged around the axis of the input/output device 1, and is configured so that the interval around the axis of the input/output device 1 where no light-emitting element 121 is present is less than 180 degrees. Therefore, regardless of the position and posture of the robot arm 2, the light-emitting element 121 of the light-emitting unit 12 can be seen from the user's position. Therefore, the user can reliably check whether or not direct teach is enabled.

3 shows a case where the input/output device 1 is provided on the tip side of the robot arm 2. However, the present invention is not limited to this, and the input/output device 1 may be provided at any position from the base to the tip of the robot arm 2.
On the other hand, in direct teaching to the robot arm 2, the user often touches the vicinity of the robot hand 3. Therefore, as shown in Fig. 3, by providing the input/output device 1 on the tip side of the robot arm 2, operability can be improved and work efficiency can be improved.

3 shows a configuration in which there is a single electrode 111. On the other hand, when there are a plurality of electrodes 111, for example, a configuration as shown in FIG.
Furthermore, the determination unit 132 may determine that the input state is present only when the user touches the multiple electrodes 111. This makes it possible to suppress erroneous operations by the user, and when a user performs an operation that spans multiple electrodes 111 over time, it can determine that the operation is an operation such as a swipe on a smartphone, and change the state of the robot arm 2 according to the operation.

In the above, as shown in FIG. 1, the input/output device 1 is configured to have a cylindrical shape. However, the shape of the input/output device 1 is not limited to this, and for example, the input/output device 1 may be configured to have a rectangular prism shape.

In the above, the electrostatic sensor 11, the light-emitting unit 12, and the control unit 13 are configured as an integrated unit. However, this is not limiting, and the capacitance detection unit 112, the drive circuit 122, and the control unit 13 may be separate from the electrode 111 and the light-emitting element 121, and may be built into the robot controller 4, for example.

As described above, according to this embodiment 1, the robot arm 2 is provided with an input device (electrostatic sensor 11) having one or more input points (electrodes 111) arranged around the axis, the interval around the axis at which the input points are not present is less than 180 degrees, the robot arm 2 is provided with an output device (light-emitting unit 12) having one or more output points (light-emitting element 121) arranged around the axis, the interval around the axis at which the output points are not present is less than 180 degrees, and the robot arm 2 is provided with a control unit 13 that controls the output device in response to an operation (contact) on the input point. Therefore, the input point can be viewed and operated, and the output point can be viewed, regardless of the position and posture of the robot arm 2.

In the above, a case where an electrostatic sensor 11 is used as an input device is shown. However, the input device is not limited to this and may be any device that is provided around an axis, has one or more input points that are operated by a user, and has an interval around the axis where no such input point is present that is less than 180 degrees. For example, a pressure sensor or a push button switch may be used.

In addition, when a pressure sensor is used as the input device, the above-mentioned electrode 111 is replaced with a pressure-sensitive sheet or the like, and the above-mentioned capacitance detection unit 112 is replaced with a detection unit that detects changes in electrical resistance or capacitance in the pressure-sensitive sheet or the like.
Furthermore, when a push button switch is used as the input device, the comparison unit 131 becomes unnecessary.

The above describes a case where the light-emitting unit 12 is used as the output device. However, the output device is not limited to this and may be any device that is arranged around the axis, has one or more output points that output information, and has an interval around the axis where no such output point exists that is less than 180 degrees. For example, a sounder or speaker that outputs information to the user's hearing may be used.

In addition, any of the components of the embodiments of the present invention may be modified or omitted within the scope of the invention.

1 Input/Output Device 2 Robot Arm 3 Robot Hand 4 Robot Controller 11 Electrostatic Sensor (Input Device)
12 Light emitting unit (output device)
13 Control unit 14 Mounting unit 15 Mounting unit 16 Insulating member 17 Unit 111 Electrode (input point)
112 Capacitance detection portion 113 Groove portion 121 Light emitting element (output point)
122 Drive circuit 131 Comparison section 132 Determination section 133 Output section 161 Upper insulating member 162 Lower insulating member

Claims (6)

an input device provided on a robot arm, the input device having one or more input points arranged around an axis and operated by a user, the interval around the axis at which no input point is present being less than 180 degrees;
an output device provided on the robot arm, the output device being provided at the same position as the input device around the axis and in the axis direction, the output device having one or more output points for outputting information, the interval around the axis at which no output point is present being less than 180 degrees;
a control unit that controls the output device in response to an operation on the input point ,
the input unit has an electrode having a groove provided around an axis thereof,
The output device is disposed closer to the axis than the electrode.
1. An input/output device comprising : 2. The input/output device according to claim 1, wherein the input point is a single point and is provided in a plane extending over 180 degrees or more around an axis. 2. The input/output device according to claim 1, wherein the input points are a plurality of input points provided at intervals of 180 degrees or less around the axis. 2. The input/output device according to claim 1, wherein the output point is a single point and is provided in a plane extending over 180 degrees or more around the axis. 2. The input/output device according to claim 1, wherein the output points are a plurality of output points provided at intervals of 180 degrees or less around the axis. The input/output device according to any one of claims 1 to 5, wherein the input device and the output device are provided on a tip side of the robot arm.

Images