1. An operation device for a robot, comprising: a sensor attached to a distal end portion of an arm portion of an industrial robot controlled by a control device, the sensor detecting a force or a moment; and a handle support portion provided at a distal end portion of the arm portion with the sensor interposed therebetween, the robot operating device transmitting a force or a moment detected by the sensor to the control device as an electric signal, and moving the distal end portion of the arm portion in accordance with a direction and a magnitude of the force or the moment detected by the sensor,

the handle support portion supports the annular handle via the extension member,

the handle support portion is provided at the center of the annular handle.

2. An operation device for a robot, comprising: a sensor attached to a distal end portion of an arm portion of an industrial robot controlled by a control device, the sensor detecting a force or a moment; and a handle support portion provided at a distal end portion of the arm portion with the sensor interposed therebetween, the robot operating device transmitting a force or a moment detected by the sensor to the control device as an electric signal, and moving the distal end portion of the arm portion in accordance with a direction and a magnitude of the force or the moment detected by the sensor,

the handle support portion supports four bar-shaped handles so as to protrude to the side of the handle support portion,

two of the four handles are arranged in a row, and the other two handles are arranged in a row,

the two handles are disposed orthogonally to the other two handles.

Background

In an industrial robot, in order to secure safety of a person, a safety fence is provided around a movable area of the robot to restrict the person from entering the movable area of the robot. However, in recent years, industrial robots that perform some kind of processing that can sufficiently ensure the safety of people in place of safety fences have become able to perform work while sharing a work space with people.

Therefore, in an industrial robot cooperating with a human, it is desirable that the human operates an arm portion of the robot as necessary in order to improve the efficiency of the cooperation work. In order to satisfy such a demand, a robot manipulator for operating a robot by a person has been proposed to be attached to the distal end portion of the arm (see, for example, japanese patent No. 3188953).

Fig. 8 is a perspective view showing an example of a robot including a conventional robot operating device, and fig. 9 is an enlarged perspective view showing the robot operating device shown in fig. 8.

As shown in fig. 8, a robot manipulator 103 is attached to the tip end of an arm 102 of a robot 101.

Specifically, as shown in fig. 9, the robot manipulator 103 includes a force sensor 105 attached to the distal end portion of the arm 102, and a handle 106 connected to the force sensor 105. When the operator grips the handle 106 and applies a force to the handle 106 in a direction to move the arm 102, the direction and magnitude of the force are detected as an electric signal by the force sensor 105 and transmitted to a robot control device (not shown). Thereby, the robot controller moves the distal end portion of the arm 102 in accordance with the direction and magnitude of the detected force.

However, the conventional robot operating device 103 shown in fig. 9 has a structure in which one bar-shaped hand grip 106 to which a force is applied by an operator protrudes laterally from the force sensor 105. In the case of such a configuration, it is difficult for the operator to apply a force (see fig. 9) in the direction around the axis X of the handle 106 to the arm 102 by gripping the handle 106.

Therefore, the conventional robot manipulator 103 has a problem that it is difficult to move the distal end portion of the arm 102 as desired by the operator.

Disclosure of Invention

Problems to be solved by the invention

The invention provides a robot manipulator which can move the top end of an arm part as desired by a worker.

Means for solving the problems

According to a first aspect of the present invention, there is provided an operation device for a robot, comprising: a sensor attached to a distal end portion of an arm portion of an industrial robot controlled by a control device, the sensor detecting a force or a moment; and a handle support portion provided at a distal end portion of the arm portion with a sensor interposed therebetween, the robot operating device transmitting a force detected by the sensor to the control device as an electric signal to move the distal end portion of the arm portion in accordance with a direction and a magnitude of the force detected by the sensor,

the robot operating device is provided with a handle support portion supporting at least one handle, a handle structure including at least one handle having at least two force points for gripping with both hands to apply force, and a sensor capable of detecting a resultant force of forces applied to the two force points.

A second aspect of the present invention provides the robot operating device according to the first aspect, wherein a switch is provided on the handle, and the distal end portion of the arm portion is allowed to move only when the switch is pressed.

A third aspect of the present invention provides the robot operating device according to the first or second aspect, wherein switches are provided in the vicinity of at least two points of force, respectively, and the distal end portions of the arm portions are allowed to move only when the two switches are simultaneously pressed.

A fourth aspect of the present invention provides the robot operating device according to the first to third aspects, wherein a length of a perpendicular line drawn from one of the two force points to an extension line of the force input shaft of the sensor is substantially equal to a length of a perpendicular line drawn from the other of the two force points to the extension line of the force input shaft of the sensor. In the present specification and claims, "substantially equal" means that the lengths of the two perpendicular lines may not be completely equal.

A fifth aspect of the present invention provides the robot manipulator according to the first to fourth aspects, wherein the robot manipulator includes a speed changing switch for changing a speed of the distal end portion of the arm when the distal end portion of the arm is moved, and the robot manipulator transmits a predetermined speed command value to the control device when the speed changing switch is pressed.

A sixth aspect of the present invention provides the robot operating device according to the first to fifth aspects, wherein the robot operating device includes an operation mode changeover switch for changing an operation mode when moving the distal end portion of the arm portion, and when the operation mode changeover switch is pressed, the robot operating device sends a command for changing the operation mode to the translational operation, the rotational operation, or the translational-rotational operation to the control device.

A seventh aspect of the present invention is the robot operating device according to the first to sixth aspects, wherein the robot operating device includes a teaching switch for teaching an operation of the arm to the control device, and the teaching switch is configured to transmit a command for teaching the operation of the arm to the control device when the teaching switch is pressed.

An eighth aspect of the present invention provides the robot operating device according to the first to seventh aspects, comprising: a hand attached to the sensor and configured to hold a workpiece; and a hand opening/closing switch for opening or closing the hand, and for sending a manual operation command to the hand when the hand opening/closing switch is pressed.

Drawings

These and other objects, features and advantages of the present invention will become more apparent from the detailed description of exemplary embodiments of the present invention shown in the accompanying drawings.

Fig. 1 is a perspective view showing an example of a robot including a robot operating device according to a first embodiment.

Fig. 2 is an enlarged perspective view of the robot manipulator shown in fig. 1.

Fig. 3 is a diagram for explaining switches provided respectively in the two handles and the handle support portion shown in fig. 2.

Fig. 4 is a perspective view showing an example of a configuration in which the robot operating device according to the first embodiment includes a hand.

Fig. 5 is a perspective view showing a robot manipulator according to a second embodiment.

Fig. 6 is a perspective view showing a robot manipulator according to a third embodiment.

Fig. 7 is a perspective view showing a robot manipulator according to a third embodiment.

Fig. 8 is a perspective view showing an example of a robot including a conventional robot operating device.

Fig. 9 is an enlarged perspective view of the robot manipulator shown in fig. 8.

Detailed Description

Next, embodiments of the present invention will be described with reference to the drawings. In the following drawings, the same reference numerals are given to the same members. In addition, the members denoted by the same reference numerals in different drawings refer to components having the same functions. In addition, the drawings are appropriately modified in scale for easy understanding.

First embodiment

Fig. 1 is a perspective view showing an example of a robot including a robot operating device according to a first embodiment. Fig. 2 is an enlarged perspective view of the robot manipulator shown in fig. 1.

As shown in fig. 1, a detachable robot manipulator 13 is attached to a distal end portion of an arm portion 12 of a robot 11. The robot 11 is an industrial robot such as a vertical articulated robot.

As shown in fig. 2, the robot operating device 13 according to the first embodiment includes: a force sensor 15 attached to a distal end portion of the arm portion 12; and a handle support portion 17 provided at the distal end portion of the arm portion 12 with the force sensor 15 interposed therebetween.

Specifically, the handle support portion 17 supports two handles 16A and 16B in a bar shape. Preferably, each of the handles 16A and 16B is provided integrally with the handle support portion 17. Further, the handle structure including the two handles 16A, 16B has two points of force S1, S2 at which the two hands respectively hold the two handles 16A, 16B to apply force.

As shown in fig. 2, the handle support portion 17 is engaged with a side surface 15a of the force sensor 15 attached to the distal end portion of the arm portion 12.

When the worker holds the two handles 16A and 16B with both hands and applies a force in a direction in which the arm portion 12 is to be moved, the resultant force of the forces acting on the two handles 16A and 16B is input to the force sensor 15 via the handle support portion 17. The force sensor 15 detects the direction and magnitude of the input resultant force, and transmits the detected direction and magnitude of the resultant force as an electric signal to the robot control device 18. Then, the robot controller 18 moves the distal end portion of the arm portion 12 in the direction of the resultant force detected by the force sensor 15, and changes the moving speed of the distal end portion of the arm portion 12 in accordance with the magnitude of the resultant force detected by the force sensor 15.

In the first embodiment, as shown in fig. 2, two bar-shaped handles 16A and 16B are provided on both sides of the handle support portion 17. The two bar-shaped handles 16A and 16B are arranged at substantially right angles to each other. As shown in fig. 2, when the handle 16A is oriented in the horizontal direction, the handle 16B is oriented in the vertical direction. That is, the handle structure shown in fig. 2 including the two bar-shaped handles 16A and 16B is formed in a substantially L-shaped handle form.

Since the two handles 16A, 16B are arranged as described above, the operator can easily apply a force in the direction around the axis of the bar-shaped handle 16A to the arm portion 12 by gripping the two handles 16A, 16B with both hands. Such an effect is not limited to the substantially L-shaped grip form shown in fig. 2, and can be obtained by other grip forms (see fig. 5 to 7) described later.

The force sensor 15 of the present embodiment is a normal strain gauge type force sensor (not shown), and the force sensor 15 includes a cylindrical housing, a cylindrical body that deforms when receiving a force applied to the cylindrical housing, and a plurality of strain gauges attached to the cylindrical body. In order to deform the cylindrical body as the cylindrical housing is deformed, the cylindrical body is provided in the cylindrical housing such that a central axis of the cylindrical body coincides with a central axis of the cylindrical housing. In addition, such a general strain gauge force sensor is used to detect the direction and magnitude of force applied to the cylindrical housing from the torsional deformation of the cylindrical body around the central axis and the bending deformation of the cylindrical body with the central axis as a reference. As described above, when a force is detected by a strain type force sensor, it is necessary to join a force generation source to be detected to the top surface portion or the bottom surface portion of the cylindrical housing in the central axis direction of the cylindrical body.

In the case of the present embodiment, as shown in fig. 2, the side surface 15a of the force sensor 15 to which the handle support portion 17 is engaged corresponds to the top surface portion or the bottom surface portion of the cylindrical housing in the central axis direction of the cylindrical body. In the present specification, the center axis of the cylindrical body is referred to as a "force input axis", and an extended line a of the force input axis of the force sensor 15 is indicated by a dashed-dotted line a shown in fig. 2.

In the present embodiment, when the operator moves the arm 12 by holding both the handles 16A and 16B with both hands, the operator mainly applies a force from one hand to a position S1 (i.e., a force point S1) on the one handle 16A and applies a force from the other hand to a position S2 (i.e., a force point S2) on the other handle 16B, as is clear from fig. 2.

In the two grips 16A and 16B, it is preferable that the length of the perpendicular line to the extension line a of the force input shaft from the force point S1 to the force sensor 15 and the length of the perpendicular line to the extension line a of the force input shaft from the force point S2 to the force sensor 15 are substantially equal to each other (see the broken line in fig. 2). Thus, since the force point S1 and the force point S2 are arranged on the circumference around the extension line a of the force input shaft of the force sensor 15, the resultant force of the forces acting on the force point S1 and the force point S2 of the two handles 16A and 16B can be accurately input to the force input shaft of the force sensor 15.

Further, it is preferable that the two handles 16A and 16B and the handle support portion 17 are provided with switches for executing various operations of the robot 11.

Such a switch is described below with reference to fig. 3 and 4.

Fig. 3 is a diagram for explaining switches provided respectively in the two handles 16A and 16B and the handle support portion 17 shown in fig. 2.

As shown in fig. 3, the handle support portion 17 is provided with a speed change switch 22, an operation mode changeover switch 23, a teaching switch 24, an emergency stop switch 25, and the like.

The speed change switch 22, the operation mode changeover switch 23, and the teaching switch 24 are located at positions that can be pressed by the operator while holding the handle 16A.

The speed change switch 22 shown in fig. 3 is a switch for changing the speed of the distal end portion of the arm portion 12 when the operator moves the distal end portion of the arm portion 12 while gripping the two handles 16A and 16B. For example, when the speed change switch 22 is pressed, a predetermined speed command value is transmitted to the robot control device 18, and the distal end portion of the arm portion 12 moved by the operator moves at a predetermined speed.

Further preferably, the speed command value is switched every time the speed change switch 22 is pressed. For example, three different speed command values, i.e., a low speed, a medium speed, and a high speed, may be prepared as the speed command values, and the speed command values may be sequentially switched according to the speed command values, i.e., the low speed, the medium speed, and the high speed, each time the speed change switch 22 is pressed.

The operation mode switch 23 shown in fig. 3 is a switch for changing the operation mode when the operator moves the distal end portion of the arm portion 12 while gripping the two handles 16A and 16B. For example, the above-described operation mode includes a translational operation mode, a rotational operation mode, or a translational and rotational operation mode. When the operation mode switch 23 is pressed, a command for changing the operation mode to the translational operation, the rotational operation, or the translational and rotational operation is transmitted to the robot controller 18. Thus, robot control device 18 limits the operation of the distal end portion of arm 12 moved by the operator to the translational operation, the rotational operation, or the translational and rotational operation.

Further, each time the operation mode switch 23 is pressed, the operation mode may be switched in the order of the panning operation mode, the rotating operation mode, and the panning rotating operation mode.

In the present embodiment, the operation of the distal end portion of the arm 12 is fixed to the translational-only operation, the rotational-only operation, or the translational-only rotational operation unless the above-described operation mode is switched. This is because of the following reason. For example, when a workpiece is moved from a flat table to another flat table, if the posture of the workpiece rotates during the movement, stability of the workpiece may be poor when the workpiece is placed on the table, which may affect workability. In this case, the operation of the distal end portion of the arm 12 is fixed to the translational operation alone, and the operation is easy. Therefore, the operation of the distal end portion of the arm portion 12 can be switched between only the translational operation, only the rotational operation, or only the translational and rotational operation depending on the use application of the robot 11.

The teaching switch 24 shown in fig. 3 is a switch for permitting teaching of the operation of the robot 11 to the robot control device 18. For example, when the teaching switch 24 is pressed, a command for teaching the operation of the robot 11 is transmitted to the robot control device 18. Further, the position and the operation of the distal end portion of the arm portion 12 moved by the operator may be stored in the robot control device 18. For example, in the robot control device 18, it is preferable to store the position of the distal end portion of the arm 12 when the teaching switch 24 is pressed. Further, the operation of the distal end portion of the arm 12 while the teaching switch 24 is pressed may be stored in the robot control device 18.

The emergency stop switch 25 shown in fig. 3 is a switch for emergency stop of the operation of the robot 11.

In the present embodiment, it is preferable that two operation permission switches 21A and 21B are provided on the two handles 16A and 16B, respectively. In fig. 3, the operation permission switch 21A on the handle 16A is not shown, and therefore, refer to fig. 4 described later. Further, it is preferable that the operation permission switches 21A and 21B are also located at positions that can be pressed by the operator in a state of holding the handles 16A and 16B.

It is preferable that the operation of moving the arm portion 12 is set to be performed only when the operation permission switches 21A and 21B are pressed. More preferably, the operation of moving the arm portion 12 is set to be performed only when both the operation permission switches 21A and 21B are simultaneously pressed. Thus, when the operator operates the arm 12 of the robot 11 and there is a danger, the movement of the arm 12 can be immediately stopped by stopping the push switches 21A and 21B.

Fig. 4 is a perspective view showing an example of a configuration in which a hand is provided in the robot operating device 13. Fig. 2 and 3 show the robot operating device 13 as viewed obliquely from the front of the front surface of the robot operating device 13 facing the operator, while fig. 4 shows the robot operating device 13 as viewed obliquely from the rear.

In the robot 11 of the present embodiment, as shown in fig. 4, a hand 27 for gripping the workpiece 26 may be attached to the distal end portion of the arm portion 12 via a bracket 30. In the case where the hand 27 is provided in this manner, it is preferable that a hand opening/closing switch 28 for opening or closing the hand 27 is provided on the handle 16A of the robot operating device 13. For example, when the hand opening/closing switch 28 is pressed, a hand operation command is transmitted to the robot controller 18, and the hand 27 is opened or closed.

Further, the hand 27 may be closed to hold the workpiece 26 when the hand switch 28 is pressed, or the hand 27 may be opened to release the workpiece 26 when the hand switch 28 is pressed. Further, the opening operation and the closing operation of the hand 27 may be alternately switched each time the hand opening/closing switch 28 is pressed.

Further, the hand switch 28 is also preferably located at a position where the operator can press the hand while holding the handle 16A. In order to prevent the operator from pressing the hand switch 28 by mistake, a wall is preferably provided around the hand switch 28.

Second embodiment

Next, a second embodiment will be described. However, the same reference numerals are used for the same components as those of the first embodiment, and the description thereof is omitted. Therefore, only the differences from the components of the first embodiment will be described below.

Fig. 5 is a perspective view showing a robot manipulator according to a second embodiment.

As shown in fig. 5, in the second embodiment, the ring-shaped handle 16C is supported by the handle support portion 17. The handle support portion 17 is disposed at the center of the annular handle 16C. The annular handle 16C is provided integrally with the handle support portion 17 via an extension member 29.

The one-dot chain line a shown in fig. 5 represents an extension line a of the force input shaft of the force sensor 15, as in the first embodiment.

In the second embodiment, the two operation permission switches 21A and 21B are provided at two locations on the ring-shaped handle 16C. It is preferable that the operation of moving the arm portion 12 is performed only when one of the two operation permission switches 21A and 21B is pressed, or only when both the two operation permission switches 21A and 21B are pressed at the same time. When the operator presses the operation permission switches 21A and 21B with both hands to move the arm 12, as shown in fig. 5, a force is mainly applied to a position S3 (i.e., a force point S3) near the operation permission switch 21A on the handle 16C and a position S4 (i.e., a force point S4) near the operation permission switch 21B on the handle 16C.

In the annular handgrip 16C, it is preferable that the length of the perpendicular line to the extension line a of the force input shaft from the force point S3 to the force sensor 15 and the length of the perpendicular line to the extension line a of the force input shaft from the force point S4 to the force sensor 15 are substantially equal to each other (see the broken line in fig. 5). Thus, since the force point S3 and the force point S4 are arranged on the circumference around the extension line a of the force input shaft of the force sensor 15, the resultant force of the forces of the force point S3 and the force point S4 acting on the annular handgrip 16C can be accurately input to the force input shaft of the force sensor 15. In the present embodiment, the two operation permission switches 21A and 21B and the two force points S3 and S4 are disposed at positions that are point-symmetrical about the extension line a of the force input axis of the force sensor 15.

In the above-described annular handgrip 16C, the operator can easily apply a force to the arm 12 in a direction around the axis connecting the force point S3 and the force point S4 by grasping the positions near the operation permission switches 21A and 21B on the annular handgrip 16C with both hands.

Third embodiment

Next, a third embodiment will be described. Here, the same reference numerals are used for the same components as those of the first embodiment, and the description thereof is omitted. Therefore, only the differences from the components of the first embodiment will be described below.

Fig. 6 is a perspective view showing a robot manipulator according to a third embodiment.

In the third embodiment, as shown in fig. 6, four bar-shaped handles 16D, 16E, 16F, and 16G are provided integrally with the handle support portion 17 so as to protrude laterally from the handle support portion 17.

Further, the two rod-shaped handles 16D and 16E are arranged in a row, and the two rod-shaped handles 16F and 16G are arranged in a row. The two handles 16D, 16E and the two handles 16F, 16G are arranged orthogonally to each other. That is, the structure shown in fig. 6 including the four handles 16D, 16E, 16F, 16G in the shape of a bar forms a substantially + shaped handle configuration.

The one-dot chain line a shown in fig. 6 indicates an extension line a of the force input shaft of the force sensor 15, as in the first embodiment.

In the third embodiment, the four operation permission switches 21A, 21B, 21C, and 21D are provided on the four handles 16D, 16E, 16F, and 16G, respectively. It is preferable that the operation of moving the arm portion 12 is set to be performed only when at least one of the four operation permission switches 21A, 21B, 21C, and 21D is pressed. Alternatively, the operation of moving the arm portion 12 is preferably set to be performed only when the two operation permission switches 21A and 21B or the two operation permission switches 21C and 21D are simultaneously pressed. When the operator presses the operation permission switches 21A and 21B with both hands to move the arm 12, a force is applied mainly at a position S5 (i.e., a force point S5) near the operation permission switch 21A on the handle 16D as shown in fig. 6. Then, a force is applied mainly at a position S6 (i.e., a force point S6) near the operation permission switch 21B on the handle 16E.

When the operator presses the operation permission switches 21C and 21D with both hands to move the arm 12, as shown in fig. 6, a force is applied mainly to a position S7 (i.e., a force point S7) near the operation permission switch 21C on the handle 16F and a position S8 (i.e., a force point S8) near the operation permission switch 21D on the handle 16G.

In the above-described substantially + -shaped grip form, it is also preferable that the length of the perpendicular line from the force point S5 (or the force point S7) to the extension line a of the force input shaft of the force sensor 15 and the length of the perpendicular line from the force point S6 (or the force point S8) to the extension line a of the force input shaft of the force sensor 15 are substantially equal to each other (see the broken line in fig. 6). Thus, the force points S5 and S6 (or the force points S7 and S8) are arranged on the circumference around the extension line a of the force input shaft of the force sensor 15. Therefore, the resultant force of the forces acting on the force point S5 and the force point S6 of the two handles 16D and 16E, or the resultant force of the forces acting on the force point S7 and the force point S8 of the two handles 16F and 16G can be accurately input to the force input shaft of the force sensor 15. In the present embodiment, the two operation permission switches 21A and 21B and the two force points S5 and S6 are disposed at positions that are point-symmetrical about the extension line a of the force input axis of the force sensor 15. The two operation permission switches 21C and 21D and the two force points S7 and S8 are disposed at positions that are point-symmetric about an extension line a of the force input shaft of the force sensor 15.

In the above-described substantially + shaped handle form, the operator can easily apply a force in a direction around the axis connecting the force point S5 and the force point S6 to the arm portion 12 by gripping the two handles 16F and 16G with both hands.

Fourth embodiment

Next, a fourth embodiment will be described. Here, the same reference numerals are used for the same components as those of the first embodiment, and the description thereof is omitted. Therefore, only the differences from the components of the first embodiment will be described below.

Fig. 7 is a perspective view showing a robot operating device according to a fourth embodiment.

In the fourth embodiment, as shown in fig. 7, two L-shaped handles 16H and 16I are provided on both sides of the handle support portion 17. The two handles 16H, 16I extend parallel to each other and in the same direction. The handles 16H and 16I are provided integrally with the handle support portion 17 so as to form a substantially U-shaped handle form.

The one-dot chain line a shown in fig. 7 represents an extension line a of the force input shaft of the force sensor 15, as in the first embodiment.

In the fourth embodiment, the two operation permission switches 21A and 21B are provided on the two handles 16H and 16I, respectively. The operation of moving the arm portion 12 is preferably set to be performed only when one of the two operation permission switches 21A and 21B is pressed, or only when both the two operation permission switches 21A and 21B are pressed at the same time. When the operator presses the operation permission switches 21A and 21B with both hands to move the arm 12, as shown in fig. 7, a force is mainly applied to a position S9 (i.e., a force point S9) near the operation permission switch 21A on the handle 16H and a position S10 (i.e., a force point S10) near the operation permission switch 21B on the handle 16I.

In the two grips 16H and 16I, it is also preferable that the length of the perpendicular line to the extended line a of the force input shaft from the force point S9 to the force sensor 15 and the length of the perpendicular line to the extended line a of the force input shaft from the force point S10 to the force sensor 15 are substantially equal to each other (see the broken line in fig. 7). Thus, since the force point S9 and the force point S10 are arranged on the circumference around the extension line a of the force input shaft of the force sensor 15, the resultant force of the forces acting on the force point S9 and the force point S10 of the two handles 16H and 16I can be accurately input to the force input shaft of the force sensor 15.

In the two L-shaped handles 16H and 16I, the operator can easily apply a force to the arm 12 in a direction around the axis connecting the force point S9 and the force point S10 by grasping the two handles 16H and 16I with both hands.

In each of the second, third, and fourth embodiments, the handle support portion 17 is preferably provided with the speed change switch 22, the operation mode changeover switch 23, the teaching switch 24, the emergency stop switch 25, and the like, which are similar to those of the first embodiment.

According to the embodiments described above, when the operator moves the distal end portion of the arm portion 12, the operator can apply force from at least two points of force (S1 to S10) by holding the handle structure with both hands. Thus, in a direction in which it is difficult to apply a force to the arm portion 12 by applying a force from one force point, a force can be easily applied to the arm portion 12 by applying a force from the other force point. Therefore, the distal end portion of the arm portion 12 can be easily moved as desired by the operator.

In each embodiment, a strain gauge force sensor is used as the force sensor 15, but the present invention is not limited to this. For example, a capacitive force sensor or a force sensor that detects displacement due to an applied force may be used as the force sensor 15. In the robot operating device 13 according to each embodiment, a torque sensor or a torque detector may be used instead of the force sensor 15 as a device for detecting the force, torque, or moment applied to the robot operating device 13 by the operator.

While the exemplary embodiments have been described above, the present invention is not limited to the above embodiments, and the above embodiments may be modified into various shapes, structures, materials, and the like without departing from the scope of the present invention.

ADVANTAGEOUS EFFECTS OF INVENTION

In the first aspect of the present invention, since the operator grips the handle structure with both hands and applies a force to the arm portion, the distal end portion of the arm portion can be easily moved as desired by the operator even in a direction in which it is difficult to apply a force to the arm portion by applying a force from one force point.

According to the second or third aspect of the present invention, when the push switch is stopped when a danger is generated in the operation of the arm portion of the robot by the operator, the movement of the arm portion can be immediately stopped.

In accordance with the fourth aspect of the present invention, since the two force points are arranged on the circumference around the extension line of the input shaft of the force of the sensor for detecting the force or the moment, the resultant force of the forces acting on the two force points can be input to the input shaft of the force of the sensor with high accuracy.

In accordance with the fifth aspect of the present invention, since the robot operating device includes the speed change switch, the speed at which the distal end portion of the arm portion is moved can be defined as a predetermined speed.

In accordance with the sixth aspect of the present invention, since the robot operating device includes the operation mode changeover switch, the operation when moving the distal end portion of the arm portion can be fixed to the translational operation, the rotational operation, or the translational and rotational operation.

In accordance with the seventh aspect of the present invention, since the robot operating device includes the teaching switch, the movement of the arm by the robot operating device can be taught to the control device.

In accordance with the eighth aspect of the present invention, when the hand is provided at the distal end portion of the arm via the bracket, the hand can be opened or closed by the hand opening/closing switch.