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WO2018173951A1 - Commutateur d'activation et unité d'actionnement - Google Patents

Commutateur d'activation et unité d'actionnement Download PDF

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Publication number
WO2018173951A1
WO2018173951A1 PCT/JP2018/010462 JP2018010462W WO2018173951A1 WO 2018173951 A1 WO2018173951 A1 WO 2018173951A1 JP 2018010462 W JP2018010462 W JP 2018010462W WO 2018173951 A1 WO2018173951 A1 WO 2018173951A1
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WIPO (PCT)
Prior art keywords
unit
holding force
enable
upper limit
limit value
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2018/010462
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English (en)
Japanese (ja)
Inventor
延廣　正毅
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Idec Corp
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Idec Corp
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Priority to JP2018514913A priority Critical patent/JP6846411B2/ja
Publication of WO2018173951A1 publication Critical patent/WO2018173951A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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  • the present invention relates to an enable switch that permits operation of an operation target by the operation unit, and an operation unit including the enable switch.
  • JP 2002-42606 discloses a teaching pendant having an enable switch. Teaching to a robot is often performed over a long period of time. Meanwhile, it is necessary to keep pressing the enable switch with a certain amount of force in an operation unit such as a teaching pendant, and the operator's fingers and hands get tired. For this reason, for example, when the operator grips the operation unit again or presses the button on the operation unit, the force to press the enable switch for a short time is weakened, and the robot operation permission is canceled unintentionally. There was a problem. In addition, there is a problem that the force to push the enable switch gradually loosens and the operation permission of the robot is canceled unintentionally. If the unintended cancellation of the operation permission occurs, the efficiency of the teaching operation to the robot is lowered.
  • the present invention is directed to an enable switch that is provided in an operation unit and permits operation of an operation target by the operation unit. According to the present invention, it is possible to suppress a decrease in operation efficiency.
  • An enable switch includes a holding force detection unit that detects whether or not the holding force of the operation unit by the operator or the pushing amount by holding is within a predetermined enable range; A circuit unit that outputs an enable signal that permits operation of the operation target by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range; Prepare.
  • the circuit unit maintains the output of the enable signal until a predetermined signal output maintenance time elapses after the holding force or the pushing amount falls below a lower limit value of the enable range during the output of the enable signal. To do.
  • the circuit unit stops outputting the enable signal.
  • the enable switch includes a receiving unit that receives an input of a speed of a specific part of the operation target being operated or a relative position of the operator with respect to the operation target, and a speed of the specific part or the operation target
  • a maintenance time changing unit that changes the signal output maintenance time according to the relative position of the operator
  • the enable switch further includes a warning unit for notifying the operator of a warning when the holding force or the push-in amount approaches the lower limit value of the enable range.
  • a lower limit warning range that is larger than the lower limit value and smaller than a lower limit warning value that is a predetermined holding force or pushing amount is defined in the enable range.
  • An enable switch is a holding force detection unit that detects whether or not the holding force of the operation unit by the operator or the pushing amount by holding is within a predetermined enable range. And a circuit unit that outputs an enable signal that permits operation of the operation target by the operation unit while the holding force detection unit detects that the holding force or the push-in amount is within the enable range; .
  • the circuit unit maintains the output of the enable signal until a predetermined signal output maintaining time elapses after the holding force or the pushing amount exceeds the upper limit value of the enable range during the output of the enable signal. To do.
  • an auxiliary upper limit value larger than the upper limit value of the enable range is set, and when the holding force or the pushing amount exceeds the auxiliary upper limit value, regardless of the signal output maintenance time, The circuit unit stops outputting the enable signal.
  • the enable switch is more preferably a receiving unit that receives an input of a speed of the specific part of the operation target being operated or a relative position of the operator with respect to the operation target, and a speed of the specific part or the operation target
  • a maintenance time changing unit that changes the signal output maintenance time according to the relative position of the operator
  • the enable switch further includes a warning unit for notifying the operator of a warning when the holding force or the push-in amount approaches the upper limit value of the enable range.
  • a warning unit for notifying the operator of a warning when the holding force or the push-in amount approaches the upper limit value of the enable range.
  • an upper limit warning range that is smaller than the upper limit value and larger than an upper limit warning value that is a predetermined holding force or pushing amount is defined in the enable range.
  • the warning unit notifies the operator of a warning.
  • the above embodiment is particularly suitable when the holding force detection unit is substantially free from the amount of pushing by the operator holding the operation unit.
  • the present invention is also directed to an operation unit including the enable switch.
  • FIG. 1 It is a figure which shows an operation part. It is a perspective view of an enable switch. It is a side view of an enable switch. It is a figure which shows a circuit part and its periphery structure. It is a figure which shows the operation example of an enable switch. It is a figure which shows the operation example of an enable switch. It is a figure which shows the other example of a circuit part and its periphery structure. It is a figure which shows the other example of a holding force detection part. It is a figure which shows the example by which the lower limit setting part was added with the upper limit setting part. It is a figure which shows the other example of an enable switch. It is a rear view which shows the other example of arrangement
  • FIG. 1 It is a rear view which shows the operation part of a two-hand holding type. It is a figure which shows the further another example of a circuit part and its periphery structure. It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. It is a figure which shows the operation example of the enable switch containing the structure shown in FIG. It is a top view which shows the other example of an enable switch. It is a figure which shows the further another example of a circuit part and its periphery structure. It is a figure which shows the further another example of a circuit part and its periphery structure. FIG.
  • FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19.
  • FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19.
  • FIG. 20 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 19. It is a figure which shows the further another example of a circuit part and its periphery structure.
  • FIG. 24 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 23.
  • FIG. 24 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 23. It is a figure which shows the further another example of a circuit part and its periphery structure.
  • FIG. 27 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG.
  • FIG. 29 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 28.
  • FIG. 29 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 28.
  • FIG. 32 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 31.
  • FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34.
  • FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG.
  • FIG. 35 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 34. It is a figure which shows the example which added the warning part. It is a figure which shows the operation example of an enable switch including the structure shown in FIG. It is a figure which shows the other example which added the warning part.
  • FIG. 41 is a diagram illustrating an operation example of an enable switch including the configuration illustrated in FIG. 40.
  • FIG. 1 is a diagram showing the operation unit 8.
  • An operator operates a robot, a machine, equipment, and the like using the operation unit 8.
  • the operation unit 8 is, for example, a teaching pendant used when teaching an operation to an industrial robot.
  • the left hand 9 of the operator is indicated by a two-dot chain line.
  • the operation unit 8 includes a main body unit 81, a display unit 82, a plurality of operation buttons 83, and the enable switch 1.
  • Input is performed via the operation button 83 with the right hand while the operation unit 8 is held by the left hand 9 of the operator.
  • the input means is not limited to buttons, and dials, sliders, switches, etc. may be used.
  • the display unit 82 displays input information and information indicating a state of an operation target.
  • the enable switch 1 exists at a position where the finger touches the operator while holding the operation unit 8. In the case of FIG. 1, the index finger 91, middle finger, ring finger and little finger of the left hand 9 of the operator touch the enable switch 1.
  • FIG. 2 is a perspective view of the enable switch 1.
  • the enable switch 1 is a safety device for ensuring the safety of an operator when performing an operation teaching work near an operation target such as a robot arm.
  • the enable switch 1 is a so-called three-position enable switch.
  • FIG. 3 is a side view of the enable switch 1.
  • the operation of the operation target by the operation unit 8 is permitted by the enable switch 1. That is, a signal for operating the operation target is output toward the operation target.
  • the enable switch 1 includes a main body 11, an authentication unit 12, a holding detection unit 14, a holding force detection unit 15, and a circuit unit described later.
  • the authentication unit 12 authenticates the operator by detecting the operator's fingerprint.
  • Various methods may be employed for authentication, and in general, the authentication unit 12 authenticates the operator based on a part of the operator's body or an article worn by the operator.
  • the authentication unit 12 recognizes the characteristics of the operator's finger or hand. As features to be authenticated, not only fingerprints but also wrinkles, veins, and other various features may be used. The configuration of the authentication unit 12 is appropriately changed according to the characteristics to be used.
  • the authentication unit 12 is preferably provided on the side surface of the operation unit 8 as shown in FIG. As will be described later, the authentication unit 12 is also preferably provided on the back surface of the operation unit 8. Accordingly, authentication can be easily performed when the operation unit 8 is held in a state that the operator can easily hold.
  • the holding detection unit 14 is a pair of electrodes in the present embodiment. Although various devices can be used as the holding detection unit 14, a device that detects substantially the amount of pushing by holding the operation unit 8 by the operator and detects the holding of the operation unit 8 by the operator is preferably used. Is done.
  • positioned at the lower part of the main body 11 detects whether the holding force of the operation part by an operator is larger than a predetermined upper limit.
  • the circuit unit After the authentication by the authentication unit 12, the circuit unit outputs an enable signal that is a signal for permitting the operation of the operation target while the holding detection unit 14 detects holding by the operator. Details of the circuit section will be described later.
  • the circuit unit cancels the enable signal.
  • the enable switch 1 may be provided with an upper limit setting unit that sets an upper limit value of the holding force.
  • the upper limit setting unit determines the upper limit value according to the authentication result by the authentication unit 12.
  • the circuit unit includes a storage unit for performing authentication by the authentication unit 12 and storing an upper limit value determined according to the authentication result. By storing information for each operator in the storage unit, the information for each operator can be used by the circuit unit and the authentication unit 12.
  • the authentication unit 12 is disposed on the upper surface of the main body 11.
  • the authentication unit 12 authenticates the operator's fingerprint at the imaging unit. When held as shown in FIG. 1, the authentication unit 12 authenticates the fingerprint of the index finger 91 of the left hand of the operator.
  • two electrodes 13 arranged in the direction in which the finger extends are arranged. The electrode 13 detects the presence of the operator's finger in the authentication unit 12.
  • the authentication unit 12 may be another biometric authentication unit that acquires biometric information of an operator such as vein authentication or iris authentication.
  • the authentication unit 12 may employ object fingerprint authentication technology.
  • the object fingerprint authentication technology can identify individual differences even for objects having the same shape by recognizing individual features appearing on the surface of the object. Thereby, for example, even if the operator is wearing gloves, authentication is possible.
  • the operator may be authenticated, that is, specified by an identification card or the like worn by the operator.
  • the enable switch 1 includes the authentication unit 12, it is possible to prevent operation by a person who is not permitted to operate, or to change the authority that can be operated according to the skill of the operator. The characteristics can be changed. The characteristics of the enable switch 1 for each operator are stored in the storage unit.
  • the holding detector 14 is disposed on the upper surface of the main body 11.
  • the holding detection unit 14 is an electrode, for example.
  • the holding detection unit 14 is a switch having substantially no pushing amount, any one may be adopted.
  • a capacitive switch may be used, and a capacitive touch panel may be used.
  • the holding detection unit 14 detects the presence of a finger or hand, that is, the contact of the finger or hand. In the case of the example in FIG. 1, the holding detection unit 14 detects contact of the index finger, middle finger, ring finger, or little finger of the left hand of the operator.
  • the holding force detection unit 15 detects a pressing state with a finger or a hand.
  • the holding force detection unit 15 is preferably a switch having a mechanical push-in amount. If the holding force and the upper limit value can be compared, the holding force detection unit 15 may be a switch that does not substantially push in.
  • a piezoelectric element may be used for the holding force detection unit 15.
  • the holding force detection unit 15 may be a device that detects a contact area of a finger or a hand with a two-dimensional detection sensor.
  • the position becomes 1 when the hand is released or the hand or finger is lightly touched, and the operation is not permitted.
  • the switch is lightly pressed, the position becomes 2, and the operation by the operation unit is permitted.
  • the operator feels danger, is surprised by the malfunction of the operation target, or feels fear, the position 3 is entered, and the operation is not permitted. Further, when returning from position 3 to position 1, it mechanically passes through position 2, but the operation is not permitted.
  • the enable switch 1 of FIG. 2 the state where the finger is not touching the holding detection unit 14 is the position 1.
  • an operator is specified by authentication by the authentication unit 12.
  • the operation unit 8 determines work authority.
  • the holding detection unit 14 starts detecting the presence of the finger.
  • the enable switch 1 outputs an enable signal, and an operation signal can be output from the operation unit 8.
  • the enable switch 1 determines the position 2 unless the holding force detection unit 15 detects a pushing force exceeding the upper limit value, that is, a holding force exceeding the upper limit value. When the holding force detection unit 15 detects a holding force exceeding the upper limit value, the enable switch 1 determines that the position is 3, and the operation permission is canceled. That is, the circuit unit 2 stops outputting the enable signal. As long as the enable signal is not output, no operation signal is output from the operation unit 8 to the operation target even if the operator inputs to the operation unit 8. After the enable signal is not output, the position 3 is maintained until the operator releases the finger. When the operator releases the finger, the enable switch 1 is determined to be the position 1 and is in a reset state. Thereafter, the enable switch 1 requests biometric authentication again. The enable switch 1 does not output an enable signal unless an operator is specified by authentication by the authentication unit 12.
  • the holding detection unit 14 detects the presence of a finger after the permission, that is, once the enable signal is output. Is detected, position 2 is determined and the output of the enable signal is continued. Once the enable signal is output, the position 2 may be determined if the presence of the finger is detected by either the authentication unit 12 or the holding detection unit 14.
  • FIG. 4 is a diagram showing the circuit unit 2 and its peripheral configuration.
  • “signal output” means that the signal indicates “1” or a positive value
  • “stop of signal” means that the signal indicates “0”.
  • the circuit unit 2 includes an AND circuit 21 and an OR circuit 22.
  • the authentication unit 12 includes an imaging unit 121 and an authentication circuit 122 that is a logic circuit including an authentication algorithm 123. An image such as a fingerprint acquired by the imaging unit 121 is input to the authentication circuit 122, and an operator is specified.
  • the holding detection unit 14 which is a pair of electrodes
  • the authentication signal and the holding detection signal are input to the AND circuit 21, and an AND signal of these signals is output as an enable signal.
  • the enable signal and the authentication signal are input to the OR circuit 22, and the OR signal of these signals is returned to the AND circuit 21.
  • the holding force detector 15 is located on the output path of the enable signal from the AND circuit 21.
  • the holding force detection unit 15 blocks the enable signal when the holding force becomes strong. That is, permission for the operation to be operated is cancelled. Since the holding force detection unit 15 is mainly operated in an emergency, it is preferable that the holding force detection unit 15 is a switch having an operational feeling depending on the amount of pressing. In addition, the presence of the push-in amount can increase the reliability of detecting the operation.
  • the holding force detector 15 is preferably a switch that is pushed at least when the holding force exceeds the upper limit value.
  • the output from the authentication unit 12 is “authentication signal”
  • the output from the holding detection unit 14 is “holding signal”
  • the holding force detection unit 15 detects whether the holding force is larger than the upper limit value. It is a figure which shows the relationship between these signals at the time of expressing a result as “holding force upper limit signal”, and an enable signal. The horizontal axis shows the passage of time toward the right. In FIG. 5, the holding force upper limit signal is always “1”, and the holding force upper limit signal falls when the holding force exceeds the upper limit value.
  • an enable signal is output. That is, the enable signal becomes “1”.
  • the output of the enable signal continues even after the authentication is completed.
  • the output of the enable signal also stops.
  • the output of the enable signal is Stop. That is, the enable signal becomes “0”.
  • FIG. 7 is a diagram showing another example of the circuit unit 2 and its peripheral configuration.
  • the circuit unit 2 includes an AND circuit 21, an OR circuit 22, AND circuits 23 and 24, and an OR circuit 25.
  • the electrode 13 omitted in FIG. 4 is also shown. Signals from the pair of electrodes 13 are input to the AND circuit 23.
  • the output of the AND circuit 23 is used as an authentication start signal of the authentication unit 12 and is input to the OR circuit 25.
  • signals from the two electrodes of the holding detector 14 are input to the AND circuit 24, and the output of the AND circuit 24 is input to the OR circuit 25.
  • the output of the OR circuit 25 is input to the AND circuit 21.
  • the image acquired by the imaging unit 121 of the authentication unit 12 is input to the authentication circuit 122, and the operator is specified.
  • an AND signal of the authentication signal and the holding signal is output from the AND circuit 21 as an enable signal.
  • the OR signal of the enable signal and the authentication signal is returned to the AND circuit, and once the authentication is completed, the input from the OR circuit 22 to the AND circuit 21 is continued.
  • the signal from the electrode 13 is input to the OR circuit 25 via the AND circuit 23, two kinds of permission are realized. That is, while the holding detection unit 14 or the electrode 13 detects the presence of a finger, the output of the enable signal continues. As a result, the enable signal is output as long as it is detected that any finger of the operator holds the enable switch 1. Even if the operation unit 8 is held by the index finger and the thumb and all other fingers are separated from the operation unit 8, the output of the enable signal continues, and the unintentional cancellation of the enable signal can be suppressed.
  • FIG. 8 is a diagram illustrating another example of the holding force detection unit 15.
  • the upper limit of the holding force determined by the holding force detector 15 can be changed for each operator.
  • an upper limit setting unit 161 is provided as a peripheral configuration of the circuit unit 2.
  • the upper limit setting unit 161 includes a storage unit that stores an upper limit value suitable for each operator.
  • the holding force detection unit 15 includes a comparison circuit 152, and the switch 151 is operated according to the result of the comparison circuit 152.
  • the comparison circuit 152 is provided with a storage unit that stores the upper limit value.
  • the upper limit setting unit 161 determines the upper limit value of the operator corresponding to the authentication result by the authentication unit 12, and sets the upper limit value in the storage unit of the comparison circuit 152.
  • a higher upper limit value is set for an operator who often mistakes a general upper limit value with a force larger than the upper limit value.
  • a lower upper limit value is set for an operator who has a weak holding force and is uneasy about safety at a general upper limit value.
  • the operation of the circuit unit 2 is the same as in FIG. 4 except that the upper limit value is set individually. After authentication, the presence of the finger is detected, and an enable signal is output while the holding force is smaller than the set upper limit value. When the holding force is lost, it is determined as position 1, and when the holding force exceeds the upper limit value, it is determined as position 3 and the permission is revoked.
  • the upper limit value of the holding force is automatically set when the operator is specified by the authentication unit 12. It is not necessary for the operator to determine the upper limit every time the operation starts.
  • the upper limit is fixed as shown in FIG. 4, the upper limit is determined by the mechanical characteristics of the switch.
  • the holding force detection unit 15 is shown only by a switch symbol in consideration of this point.
  • an electrical comparison between the holding force by the comparison circuit and the upper limit value Thus, the switch may be operated.
  • a lower limit setting unit 162 may be provided together with the upper limit setting unit 161. Only the lower limit setting unit 162 may be provided without providing the upper limit setting 161.
  • the storage unit of the lower limit setting unit 162 stores the lower limit value of the holding force for each operator.
  • the enable signal is output while the holding force is between the upper limit value and the lower limit value.
  • a range between the upper limit value and the lower limit value is referred to as an “enable range”.
  • the enable signal is output, if the holding force becomes smaller than the lower limit value, it is determined as position 1, and if the holding force becomes larger than the upper limit value, it is determined as position 3 and the permission is canceled. .
  • the configuration in which the upper limit value or the lower limit value is set for each operator is particularly suitable when the holding force detection unit 15 is not mechanical and has substantially no pushing amount.
  • the non-mechanical holding force detection unit 15 is suitable, for example, when a touch panel is provided as the holding detection unit 14 in the enable switch 1 and the holding force is detected by the contact area between the touch panel and the finger.
  • the holding detection unit 14 also serves as the holding force detection unit 15.
  • the operator holds the operation unit as usual after authentication, and then holds the holding unit strongly or weakly. Detect force.
  • the upper limit value setting unit 161 or the lower limit value setting unit 162 determines the upper limit value or the lower limit value based on the detection result.
  • the upper limit value or the lower limit value may be set based on the holding force immediately after the authentication.
  • the holding force may be obtained by changing the shape of the blood vessel.
  • the holding force may be obtained from the shape change of the contact surface of the hand or finger.
  • a relatively large imaging unit may be provided, and authentication, holding detection, and holding force detection may be performed by an image acquired by the imaging unit.
  • the functions of the authentication unit 12, the holding detection unit 14, and the holding force detection unit 15 are realized by the imaging unit and its peripheral circuits.
  • the authentication unit 12 and the holding detection unit 14 may be realized by a common device, the authentication unit 12 and the holding force detection unit 15 may be realized by a common device, and the holding detection unit 14 and the holding force detection unit. 15 may be realized by a common device.
  • FIG. 10 is a diagram illustrating another example of the enable switch 1.
  • the enable switch 1 includes a main body 11, an authentication unit 12, a holding detection unit 14, and a holding force detection unit 15, as in the case of FIGS. 2 and 3.
  • the holding detection unit 14 is a planar switch provided on the surface of the operation button 17, and there is substantially no pushing amount due to holding of the operation unit 8 by the operator.
  • the holding force detection unit 15 is a mechanical switch including an operation button 17. In normal gripping of the operation unit 8, the operation button 17 is not pushed. It can be said that a switch (or sensor) having substantially no pushing amount is a switch having no repulsive force.
  • the enable switch 1 includes a lock mechanism 18.
  • the engagement between the lever 181 of the lock mechanism 18 and the operation button 17 is released, and the lock of the operation button 17 is released.
  • the holding detection unit 14 detects the holding of the operation unit 8 by the operator, it is determined as the position 2.
  • the operation button 17 is pushed in and the holding force detection unit 15 is operated, so that the position 3 is determined.
  • Other operations are the same as those in FIGS.
  • the enable switch 1 by making the surface of the holding detection unit 14 and the surface of the authentication unit 12 substantially the same height, the operation unit 8 can be easily held, and the enable switch 1 can be thinned and designed to change its shape. It becomes.
  • the arrangement position of the holding detection unit 14 is also the upper surface of the holding force detection unit 15 that is a mechanical switch. It can be understood that the upper surface of the portion 15 is located at substantially the same height.
  • the operator needs to hold the operation unit in accordance with the installation location of the enable switch on the operation unit.
  • the holding detection unit 14 can be easily provided in various places, so that the operation unit 8 can be easily held.
  • the authentication by the authentication unit 12 can change the work authority for each operator, and can prevent an undesired erroneous operation by an unskilled operator.
  • by setting an upper limit value or a lower limit value of the holding force for each operator it is possible to detect three positions suitable for the operator.
  • the enable switch may be invalidated by fixing it with a wire or a string, for example, so that the enable switch becomes position 2 (operation permission state). By using the authentication, invalidation of the enable switch can be prevented.
  • the enable switch 1 can be thinned and the shape can be easily changed.
  • FIG. 11 is a rear view of the operation unit 8 showing another arrangement example of the authentication unit 12.
  • the authentication unit 12 is disposed on the back surface of the operation unit 8.
  • FIG. 11 shows an example in which the electrode 13 that detects the finger placed on the authentication unit 12 is one.
  • the operation unit 8 is the same as that shown in FIG. 1 except that the authentication unit 12 is separated from the main body 11 of the enable switch 1 and arranged on the back surface of the operation unit 8.
  • the tip of the index finger 91 is naturally positioned at the authentication unit 12.
  • the other finger is positioned on the holding detection unit 14 of the enable switch 1.
  • FIG. 12 is a rear view illustrating a two-hand holding type operation unit 8.
  • the authentication unit 12 is located on the back surface of the operation unit 8 as in the case of FIG.
  • the index finger 91 of the left hand 9 is naturally positioned on the authentication unit 12. Fingers other than the index fingers of both hands are positioned on the holding detection unit 14 on the left and right sides of the recess 84.
  • the operation unit 8 is the same as the operation unit 8 of FIG. 11 except for the shape and the point that two main bodies 11 of the enable switch 1 are provided.
  • an enable signal is output while one of the two holding detection units 14 detects holding.
  • one of the two holding force detectors 15 detects a holding force larger than the upper limit value, the output of the enable signal is stopped. Thereby, even if one hand is separated from the operation unit 8, the enable signal is continuously output, and the fatigue of the operator's hand 9 can be further reduced.
  • the enable switch 1 having the form shown in FIG. 2 may be employed in the two-hand holding type operation unit 8.
  • FIG. 13 is a diagram showing still another example of the circuit unit 2 and its peripheral configuration.
  • the circuit unit 2 includes a lower limit falling delay circuit 311 in addition to the circuit unit 2 of FIG.
  • the lower limit falling delay circuit 311 is located between the holding detection unit 14 and the AND circuit 21, and delays the falling of the signal from the holding detection unit 14 by a predetermined time. Rise is not delayed.
  • the enable signal is not output from the AND circuit 21, or the lower limit value of the holding force is 0, and at least the holding force is If the enable signal is not output from the AND circuit 21 unless the lower limit value is exceeded, the enable switch 1 shifts from position 1 to position 2 simply by touching the enable switch 1 by the operator.
  • the holding detection unit 14 can be regarded as having a function having a function of comparing the holding force and the lower limit value substantially.
  • the switch 151 detects whether or not the holding force is larger than the upper limit value. Therefore, it can be said that the holding detection unit 14 and the switch 151 detect whether the holding force is within the enable range between the predetermined upper limit value and lower limit value. Therefore, in the description of FIG. 13, the holding detection unit 14 is regarded as a part of the holding force detection unit 15, and the holding force detection unit 15 includes the holding detection unit 14 and the switch 151. The holding force detection unit 15 detects whether or not the holding force of the operation unit by the operator is within a predetermined enable range.
  • the circuit unit 2 When the authentication by the authentication unit 12 is performed while the holding force detection unit 15 detects that the holding force is within the enable range, the circuit unit 2 enables the operation of the operation target by the operation unit 8. Output a signal. While the holding force detector 15 detects that the holding force is within the enable range, the enable signal is continuously output. In the case of the enable switch 1 in which the authentication unit 12 is omitted, the circuit unit 2 operates the operation target by the operation unit 8 while the holding force detection unit 15 detects that the holding force is within the enable range. It functions as a circuit that outputs an enable signal for permitting.
  • FIG. 14 is a diagram illustrating an operation example of the enable switch 1 including the configuration illustrated in FIG.
  • the expressions “authentication signal”, “holding signal”, “holding force upper limit signal” and “enable signal” in FIG. 14 are the same as those in FIG.
  • the holding signal indicates that the holding force is substantially larger than the lower limit value, and can also be referred to as a “holding force lower limit signal”.
  • the “lower limit falling delay signal” is a signal in which the falling edge of the holding signal from the holding detection unit 14, that is, the change timing from “1” to “0” is delayed.
  • the signal indicating that the holding force is greater than the lower limit value is a signal obtained by delaying the falling edge indicating that the holding force is lower than the lower limit value.
  • the boundary between the positions 1 and 2 is between a state where the finger does not touch the holding detection unit 14 and a state where the finger is slightly touched.
  • the lower limit falling delay circuit 311 delays the falling of a signal indicating a transition from position 2 to position 1. The representation of each signal is the same for the following similar figures.
  • an enable signal is output.
  • the enable signal continues to be output during time ⁇ t12, and the enable signal is output even after time ⁇ t12 has elapsed.
  • the enable signal stops after the time ⁇ t11 has elapsed since the operator removed the finger from the holding detection unit 14.
  • the time ⁇ t11 is a sufficiently short time for ensuring safety.
  • ⁇ t11 is set in the range of 0.2 to 0.5 seconds.
  • the circuit unit 2 does not enable the enable signal until the predetermined time ⁇ t 11 has elapsed after the holding force falls below the lower limit value of the enable range during the output of the enable signal. Maintain output.
  • the time ⁇ t11 is referred to as “signal output maintenance time”.
  • FIG. 15 is a diagram illustrating the output of the enable signal when the time when the operator temporarily removes his / her finger from the holding detection unit 14 is the time ⁇ t13 longer than the signal output maintaining time ⁇ t11. Since the lower limit falling delay signal from the lower limit falling delay circuit 311 falls before the time ⁇ t13 elapses, the output of the enable signal stops at that time. Even if the operator's finger touches the holding detection unit 14 again, authentication is not performed, so that the output of the enable signal is stopped.
  • the operation shown in FIG. 14 can prevent unnecessary operation stop when the holding force becomes weaker than the lower limit value only for a short time. For example, the stop of the enable signal can be suppressed when the operation unit 8 is picked up. As a result, a decrease in operation efficiency can be suppressed.
  • FIG. 16 is a diagram illustrating a case where the operator strongly holds the enable switch 1 while the enable signal is output, and the switch 151 of the holding force detection unit 15 detects a holding force larger than the upper limit value. Note that FIG. 16 also shows the manner in which the output of the enable signal continues even when the holding is released for the time ⁇ t12 as in FIG. When the holding force exceeds the upper limit value, the urgency may be high. Therefore, when the holding force upper limit signal falls, the output of the enable signal stops without delay at that moment. Thereby, the safety of the operator is ensured.
  • the switch 151 of the holding force detector 15 since the switch 151 of the holding force detector 15 is positioned on the output of the AND circuit 21, the switch 151 stops outputting the enable signal. However, the switch 151 is positioned on the input side of the AND circuit 21, and the switch 151 The same operation can also be realized by inputting the output 151 to the AND circuit 21. Therefore, in FIG. 13, the holding force detection unit 15 does not stop the enable signal when the holding force exceeds the upper limit value, but the circuit unit 2 including the arrangement structure of the switch 151 causes the holding force to exceed the upper limit value. In this case, it can be understood that the output of the enable signal is stopped according to the detection result by the holding force detection unit 15.
  • the signal output maintenance time ⁇ t11 may be changeable.
  • the enable switch 1 receives the input of the speed of a specific part of the operation target 90 being operated or the relative position of the operator with respect to the operation target, and the maintenance time change Part 192.
  • the specific part of the operation target 90 is, for example, the tip of the robot arm when the operation target 90 is a robot arm. In general, the specific part is the most movable part.
  • the relative position of the operator with respect to the operation target 90 is measured by, for example, a robot that is the operation target 90 or a three-dimensional scanner provided in the vicinity thereof.
  • a device for detecting the position of the operator may be provided in a room where the operator exists.
  • the maintenance time changing unit 192 changes the signal output maintenance time ⁇ t11 set in the lower limit falling delay circuit 311 according to the speed of a specific part of the operation object 90 or the relative position of the operator with respect to the operation object. Thereby, for example, when the speed of a specific part is slowed or the distance between the operator and the operation target 90 is increased, the signal output maintenance time is lengthened, and unnecessary operation stop is suppressed more effectively. Safety can be ensured. Further, the signal output maintenance time ⁇ t11 may be set to 0, and the signal output maintenance time greater than 0 may be set when the speed of a specific part becomes slow or the distance between the operator and the operation object 90 becomes large. .
  • FIG. 17 is a plan view showing still another example of the enable switch 1.
  • a holding force detector 15 is provided at the position of the hold detector 14 of the enable switch 1 of FIGS. 2 and 3.
  • the holding force detection part 15 provided in the lower part of the main body 11 of FIG. 3 is omitted.
  • the holding force detection unit 15 in FIG. 17 is a touch panel, that is, a two-dimensional touch sensor, and also serves as the holding detection unit 14. The same applies to the holding force detector 15 in the following description.
  • Other configurations are the same as those of the enable switch 1 shown in FIGS.
  • FIG. 18 is a diagram illustrating an example of the circuit unit 2 of the enable switch 1 and its peripheral configuration.
  • the circuit unit 2 includes an OR circuit 22 to which an output from the authentication unit 12 is input, and an AND circuit 21.
  • the holding force detection unit 15 includes a comparison circuit 153.
  • FIG. 18 also shows a case where an upper limit setting unit 161 is provided.
  • the comparison circuit 153 includes a comparator that compares the holding force with a predetermined lower limit value, and a comparator that compares the holding force with a predetermined upper limit value.
  • a line indicating the output from the comparator that compares the holding force and the lower limit value is denoted by reference numeral 321, and a line that indicates the output from the comparator that compares the holding force and the upper limit value is denoted by reference numeral 322.
  • Signals indicating the comparison results are individually input to the AND circuit 21.
  • An enable signal is output from the AND circuit 21 only when the holding force is larger than the lower limit value and smaller than the upper limit value. Note that outputs from the two comparators, that is, signals may be input to other circuits in the operation unit 8.
  • the lower limit value is set to a value very close to 0 or 0.
  • a value of a certain size may be set as the lower limit value.
  • an upper limit value setting unit 161 is provided in the circuit unit 2.
  • the upper limit value setting unit 161 sets the upper limit value in the comparison circuit 153 according to the holding force detected by the holding force detection unit 15. Set.
  • the lower limit value may be set in the comparison circuit 153 for each operator in the same manner as the setting of the upper limit value by providing a lower limit value setting unit.
  • the authentication unit 12 authenticates the operator.
  • the signals input to the AND circuit 21 are all “1”, and an enable signal is output. That is, if the authentication unit 12 performs authentication while the holding force detection unit 15 detects that the holding force is within the enable range, the circuit unit 2 allows the operation unit 8 to operate the operation target. An enable signal is output.
  • the holding force is smaller than the lower limit value or larger than the upper limit value, one of the two signals input from the comparison circuit 153 to the AND circuit 21 becomes “0”, and the output of the enable signal is stopped.
  • An AND circuit that obtains the logical product of the two comparison results from the comparison circuit 153 may be provided in the holding force detection unit 15.
  • the enable signal is continuously output while the holding force detection unit 15 detects that the holding force is within the enable range.
  • the circuit unit 2 operates the operation target by the operation unit 8 while the holding force detection unit 15 detects that the holding force is within the enable range. It functions as a circuit that outputs an enable signal for permitting.
  • FIG. 19 is a diagram illustrating an example in which a lower limit falling delay circuit 311 is provided in the circuit unit 2 of FIG. FIG. 19 also shows a reception unit 191 and a maintenance time change unit 192.
  • the functions of the receiving unit 191 and the maintenance time changing unit 192 are the same as in the case of FIG.
  • An accepting unit 191 and a maintenance time changing unit 192 may be provided for the lower limit falling delay circuit 311 of other figures.
  • the lower limit falling delay circuit 311 is provided on a line denoted by reference numeral 321 between the comparison circuit 153 and the AND circuit 21, and delays the falling of the comparison result between the holding force and the lower limit value by the signal output maintaining time.
  • the comparison result between the holding force and the upper limit value is input to the AND circuit 21 as it is, as indicated by the line denoted by reference numeral 322. That is, only when the holding force falls below the lower limit and the output from the comparison circuit 153 changes from “1” to “0”, the change is delayed by a predetermined signal output maintenance time.
  • FIG. 20 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG.
  • the lower limit value of the holding force is a positive value very close to 0 or 0.
  • the holding force lower limit signal rises, and when the holding force becomes 0, the holding force lower limit signal falls. Therefore, the holding force lower limit signal corresponds to the holding signal in FIG.
  • the authentication signal and the enable signal are the same as in FIG. 14, and the lower limit falling delay signal is obtained by delaying the falling of the holding power lower limit signal by the lower limit falling delay circuit 311.
  • the stop time ⁇ t 12 when the holding force lower limit signal becomes “0” is maintained as the signal output.
  • the time is shorter than ⁇ t11, the output of the enable signal continues.
  • the stop time ⁇ t13 of the holding power lower limit signal is longer than the signal output maintaining time ⁇ t11, the signal from the lower limit falling delay circuit 311 becomes “0”, that is, the falling, enable signal Output is stopped.
  • the circuit unit 2 maintains the output of the enable signal until the predetermined signal output maintaining time ⁇ t11 elapses after the holding force falls below the lower limit value of the enable range.
  • FIG. 22 is a diagram showing an enable signal when the holding force exceeds the upper limit value.
  • the holding force upper limit signal in FIG. 22 indicates a comparison result between the holding force and the upper limit value in the comparison circuit 153, and falls when the holding force exceeds the upper limit value.
  • FIG. 22 omits the description of the holding force lower limit signal, and also shows a state in which the holding force lower limit signal stops for the time ⁇ t12. If the holding power upper limit signal falls while authentication is performed and the enable signal is output, the output of the enable signal is stopped regardless of the operation of the lower limit falling delay circuit 311. Thus, the circuit unit 2 stops outputting the enable signal when the holding force exceeds the upper limit value of the enable range.
  • FIG. 23 is a diagram illustrating an example in which an upper limit falling delay circuit 312 is provided in the circuit unit 2 of FIG.
  • FIG. 23 also shows an upper limit value setting unit 161 and a lower limit value setting unit 162.
  • the upper limit value setting unit 161 and the lower limit value setting unit 162 indicate the upper limit value of the holding force for each operator according to the authentication result in the authentication unit 12.
  • the lower limit value is set in the comparison circuit 153.
  • FIG. 23 also shows a reception unit 191 and a maintenance time change unit 192 that are the same as those in FIG.
  • the reception unit 191 and the maintenance time changing unit 192 change the signal output maintenance time set in the lower limit falling delay circuit 311 and also change the signal output maintenance time set in the upper limit falling delay circuit 312.
  • the reception unit 191 and the maintenance time changing unit 192 change the signal output maintenance time set in the lower limit falling delay circuit 311 and also change the signal output maintenance time set in the upper limit falling delay circuit 312.
  • the upper limit falling delay circuit 312 is provided on the line denoted by reference numeral 322 between the comparison circuit 153 and the AND circuit 21, and delays the falling of the comparison result between the holding force and the upper limit value by the signal output maintaining time.
  • the comparison result between the holding force and the lower limit value is input to the AND circuit 21 via the lower limit falling delay circuit 311 as in the case of FIG.
  • the circuit unit 2 changes the change to a predetermined signal output maintenance time (hereinafter referred to as “output time”).
  • first signal output maintenance time when the holding power exceeds the upper limit value and the other output from the comparison circuit 153 changes from “1” to “0”, the change is preliminarily determined. It is delayed by a predetermined signal output maintenance time (hereinafter referred to as “second signal output maintenance time”).
  • FIG. 24 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force lower limit signal and the lower limit falling delay signal is omitted.
  • the circuit unit 2 maintains the output of the enable signal until the predetermined second signal output maintaining time ⁇ t21 elapses after the holding force exceeds the upper limit value of the enable range.
  • the second signal output maintenance time ⁇ t21 is set to a very short time so as not to cause a safety problem. Thereby, for example, even if the holding force exceeds the upper limit value immediately after the finger touches the holding force detection unit 15 having no pushing amount, unnecessary stop of the operation is suppressed. As a result, a decrease in operation efficiency is suppressed. Note that the delay in falling of the holding force upper limit signal is effective depending on the structure even when the holding force detector 15 is mechanical. Usually, the second signal output maintenance time ⁇ t21 is shorter than the first signal output maintenance time ⁇ t11.
  • the receiving unit 191 and the maintenance time changing unit 192 When the receiving unit 191 and the maintenance time changing unit 192 are provided, the receiving unit 191 receives an input of a speed of a specific part of the operation target 90 being operated or an operator's relative position with respect to the operation target 90. Then, the maintenance time changing unit 192 changes the second signal output maintenance time ⁇ t21 according to the speed of the specific part or the relative position of the operator with respect to the operation target 90. As described above, the same applies to the first signal output maintaining time ⁇ t11.
  • FIG. 26 is a diagram showing an example in which three comparators are provided in the comparison circuit 153 of FIG. Description of some peripheral components is omitted. 23, a comparator that compares the holding force and the upper limit value and a comparator that compares the holding force and the lower limit value are provided. In FIG. 26, a comparator that compares the holding force and the auxiliary upper limit value. Is added. That is, the auxiliary upper limit value that is larger than the upper limit value of the enable range is set in the circuit unit 2. A state where the comparison result between the holding force and the auxiliary upper limit value is input to the AND circuit 21 is indicated by a line denoted by reference numeral 323. When the holding force exceeds the auxiliary upper limit value, the auxiliary upper limit signal as a comparison result falls from “1” to “0”. Therefore, the output of the enable signal is stopped.
  • FIG. 27 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force upper limit signal, the holding force lower limit signal, and the like is omitted.
  • the upper limit falling delay circuit 312 maintains the output of the enable signal during the second signal output maintaining time even if the holding force exceeds the upper limit value. However, if the holding force exceeds the auxiliary upper limit value before the second signal output maintenance time elapses, the auxiliary upper limit signal falls and the output of the enable signal is forcibly stopped.
  • ⁇ t24 is given to the time from when the holding force exceeds the upper limit value until it exceeds the auxiliary upper limit value. As described above, when the holding force exceeds the auxiliary upper limit value, the circuit unit 2 stops outputting the enable signal regardless of the second signal output maintaining time ⁇ t21.
  • An auxiliary upper limit value setting unit that sets the auxiliary upper limit value according to the authentication result may be provided according to the upper limit value setting unit 161 and the lower limit value setting unit 162 shown in FIG. Thereby, the auxiliary upper limit value of the holding power for each operator is set according to the authentication result in the authentication unit 12.
  • the holding force detection unit 15 is a device having substantially no pushing amount, the holding force may momentarily fall below the lower limit value or exceed the upper limit value at the moment when the holding force is re-holded. It is particularly suitable for such a holding force detection unit 15 to delay the lower limit signal and the holding force upper limit signal or to provide an auxiliary upper limit value.
  • FIG. 28 is a diagram showing an example in which a warning unit 4 is added to the configuration of FIG.
  • the warning unit 4 notifies the operator of a warning when the holding force approaches the lower limit value of the enable range.
  • the warning unit 4 also notifies the operator of a warning when the holding force approaches the upper limit value of the enable range. Note that only one of the warning on the lower limit value side and the warning on the upper limit value side may be performed.
  • the warning can suppress unnecessary operation stop and suppress a decrease in operation efficiency.
  • the lower limit falling delay circuit 311 may be omitted.
  • the upper limit falling delay circuit 312 may be omitted.
  • the warning by the warning unit 4 that alerts the operator includes, for example, vibration of the operation unit 8, display of the operation unit 8, flashing of indicator lights provided outside the operation unit 8 or the operation unit 8, sound, warning sound Etc.
  • vibration of the operation unit 8 is most preferable because the operation place is often noisy.
  • the warning method when the holding force approaches the lower limit value of the enable range may be different from the warning method when the holding force approaches the upper limit value of the enable range.
  • a lower limit warning value slightly larger than the lower limit value and an upper limit warning value slightly smaller than the upper limit value are set in advance.
  • a range that is larger than the lower limit value and smaller than the lower limit warning value is referred to as a “lower limit warning range”.
  • a range smaller than the upper limit value and larger than the upper limit warning value is referred to as an “upper limit warning range”.
  • the comparison circuit 153 is further provided with a comparator that compares the holding force and the lower limit warning value, and a comparator that compares the holding force and the upper limit warning value.
  • the output from the comparator that compares the holding force with the lower limit warning value changes from “0” to “1” when the holding force becomes smaller than the lower limit warning value.
  • This output is input to the AND circuit 273 as indicated by reference numeral 271.
  • An output from a comparator that compares the holding force with the lower limit value is also input to the AND circuit 273 as indicated by reference numeral 321.
  • an enable signal is also input to the AND circuit 273. Therefore, the output of the AND circuit 273 becomes “1” when the holding force enters the lower limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
  • the output from the comparator that compares the holding force with the upper limit warning value changes from “0” to “1” when the holding force becomes larger than the upper limit warning value.
  • This output is input to the AND circuit 274 as indicated by reference numeral 272.
  • An output from a comparator that compares the holding force with the upper limit value is also input to the AND circuit 274 as indicated by reference numeral 322.
  • an enable signal is also input to the AND circuit 274. Accordingly, the output of the AND circuit 274 becomes “1” when the holding force enters the upper limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
  • FIG. 29 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG. Description of the holding force upper limit signal, the holding force lower limit signal, and the like is omitted.
  • an enable signal when the lower limit falling delay circuit 311 and the upper limit falling delay circuit 312 are not present is shown.
  • the lower limit warning range is denoted by reference symbol R1
  • the upper limit warning range is denoted by reference symbol R2.
  • the “lower limit warning signal” indicates an output from the AND circuit 273. While the holding force is within the lower limit warning range R1, the lower limit warning signal is “1”, and the warning unit 4 notifies the operator of the warning.
  • FIG. 30 is a diagram illustrating another operation example of the enable switch 1 including the configuration of FIG.
  • the enable signal when the lower limit falling delay circuit 311 and the upper limit falling delay circuit 312 are not present is shown.
  • the “upper limit warning signal” indicates an output from the AND circuit 274. While the holding force is in the upper limit warning range R2, the upper limit warning signal is “1”, and the warning unit 4 notifies the operator of the warning.
  • the warning prevents the holding force from unintentionally falling below the lower limit value or exceeding the upper limit value, thereby suppressing a decrease in operating efficiency.
  • FIG. 31 is a diagram showing an example in which a lower limit rising delay circuit 281 and an upper limit rising delay circuit 282 are added to the configuration of FIG.
  • the lower limit rising delay circuit 281 is located between the AND circuit 273 and the warning unit 4.
  • Upper limit rising delay circuit 282 is located between AND circuit 274 and warning unit 4.
  • the lower limit rise delay circuit 281 delays the rise of the lower limit warning signal from the AND circuit 273 by a predetermined warning stop time. Thereby, when the time when the warning signal from the AND circuit 273 is “1” is shorter than the warning stop time, the warning is not performed.
  • the upper limit rising delay circuit 282 delays the rising of the upper limit warning signal from the AND circuit 274 by a predetermined warning stop time. Thus, when the warning signal from the AND circuit 274 is “1” is shorter than the warning stop time, no warning is given.
  • the warning unit 4 notifies the operator of a warning.
  • the warning unit 4 notifies the operator of a warning.
  • Only one of the lower limit rising delay circuit 281 and the upper limit rising delay circuit 282 may be provided. Further, the warning stop times of these delay circuits 281 and 282 may be different.
  • FIG. 32 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG.
  • the upper warning signal is also operated according to the lower warning signal. That is, when the holding force is in the upper limit warning range R2 is longer than the warning delay time, the upper limit warning signal rises after the warning delay time has elapsed since the holding force entered the upper limit warning range R2. On the other hand, if the holding force is within the upper warning range R2 is shorter than the warning delay time, the upper warning signal does not rise. Thereby, it is possible to suppress notification of an unnecessary warning immediately after the operator holds the enable switch 1 or the like.
  • This operation is also particularly suitable when the holding force detection unit 15 includes a switch that makes it difficult for the operator to grasp the holding force with the pushing amount because the pushing amount is practically absent.
  • FIG. 33 is a diagram illustrating the operation unit 8 including the enable switch 1 including the mechanical holding force detection unit 15.
  • the holding force detector 15 is a so-called three-position switch.
  • Position 1 is a state in which the switch operating bar of the holding force detector 15 is not pushed.
  • the position 2 is a state where the enable switch 1 is lightly held together with the operation unit 8 and the operation bar is pushed in a little.
  • the enable switch 1 is strongly held together with the operation unit 8, the operation bar is further pushed in, and the holding force detection unit 15 is in the position 3.
  • FIG. 34 is a diagram showing the circuit unit 2 of the enable switch 1 together with its peripheral configuration.
  • the circuit unit 2 includes an AND circuit 21 and a lower limit falling delay circuit 311.
  • the holding force detection unit 15 includes a comparison unit 154.
  • the comparison unit 154 compares the pushing amount of the holding force detection unit 15 with a predetermined lower limit value and upper limit value.
  • the comparison unit 154 may measure the push amount itself and compare it with the lower limit value and the upper limit value, or may be a sensor or mechanism that detects the magnitude relationship between the push amount and each of the lower limit value and the upper limit value.
  • the comparison result between the push amount and the lower limit value is input to the lower limit falling delay circuit 311 as indicated by reference numeral 341.
  • An output from the lower limit falling delay circuit 311 is input to the AND circuit 21.
  • the comparison result between the push amount and the upper limit value is input to the AND circuit 21 as indicated by reference numeral 342.
  • the holding force detection unit 15 determines that the push amount by the holding of the operation unit 8 by the operator is within a predetermined enable range. Detect whether or not there is.
  • the circuit unit 2 outputs an enable signal while detecting that the push-in amount is within the enable range.
  • the circuit unit 2 allows the first signal to be determined in advance after the push amount falls below the lower limit value of the enable range during the output of the enable signal. The output of the enable signal is maintained until the output maintenance time elapses. Thereby, unnecessary stop of the enable signal is suppressed.
  • 35 to 37 are diagrams showing an operation example of the enable switch 1 including the configuration of FIG.
  • the pushing amounts “POS1”, “POS2”, and “POS3” indicate position 1, position 2, and position 3 of the operation bar, respectively.
  • the lower limit falling delay circuit 311 realizes substantially the same operation as in FIG. As shown in FIG. 35, even if the holding force detection unit 15 changes from the position 2 to the position 1 only for a short time due to re-handling of the operation unit 8, the time ⁇ t12 when the pushing amount falls below the lower limit value is the first time. When it is shorter than the signal output maintaining time ⁇ t11, the lower limit falling delay signal is not interrupted by the lower limit falling delay circuit 311 and the output of the enable signal is continued. On the other hand, as shown in FIG. 36, when the time ⁇ t13 when the pushing amount falls below the lower limit value is longer than the first signal output maintaining time ⁇ t11, the output of the enable signal is stopped.
  • the enable signal when the pushing amount exceeds the upper limit value, the enable signal is immediately stopped regardless of the first signal output maintaining time ⁇ t11. Although details are omitted, once the position 3 is reached, the enable signal cannot be output again unless the position 1 is returned.
  • an upper limit falling delay circuit may be provided for the comparison result between the pushing amount and the upper limit value, that is, on the line denoted by reference numeral 342.
  • the circuit unit 2 maintains the output of the enable signal until the predetermined second signal output maintenance time elapses after the push amount exceeds the upper limit value of the enable range during the output of the enable signal.
  • an auxiliary upper limit value in which the pushing amount is larger than the upper limit value may be provided. A connection similar to the line denoted by reference numeral 323 in FIG. 26 is provided in FIG. 34, and when the pushing amount exceeds the auxiliary upper limit value, the circuit unit 2 Stop output.
  • Only the upper limit falling delay circuit 312 may be provided without providing the lower limit falling delay circuit 311.
  • the reception unit 191 and the maintenance time changing unit 192 may be provided, and the first signal output maintenance time and the second signal output maintenance time may be changed.
  • FIG. 38 is an example in which the warning unit 4 is provided in the configuration of FIG. 33 according to FIG.
  • the warning unit 4 notifies the operator of a warning when the holding force approaches the lower limit value of the enable range.
  • the warning can suppress unnecessary operation stop.
  • the lower limit falling delay circuit 311 may be omitted.
  • the comparison unit 154 is preset with a lower limit warning value slightly larger than the lower limit value. A range larger than the lower limit value and smaller than the lower limit warning value is a “lower limit warning range”.
  • the output of the AND circuit 273 becomes “1” when the push amount enters the lower limit warning range while the enable signal is output, and the warning unit 4 notifies the operator of the warning.
  • FIG. 39 is a diagram illustrating an operation example of the enable switch 1 including the configuration of FIG.
  • the enable signal when the lower limit falling delay circuit 311 does not exist is shown.
  • the lower limit warning range is denoted by reference symbol R1.
  • the lower limit warning signal output from the AND circuit 273 is “1” while the push-in amount is within the lower limit warning range R1, and the warning unit 4 notifies the operator of the warning. For example, when the holding by the operator gradually loosens, the operator is notified by the warning that the holding is becoming insufficient. As a result, the holding force is prevented from unintentionally falling below the lower limit value, and the operation efficiency is improved.
  • an upper limit warning range may be set near the upper limit value of the push amount, and a warning may be issued when the push amount gradually approaches the upper limit value. Only the upper limit warning range may be provided without providing the lower limit warning range.
  • a lower limit rising delay circuit 281 may be added to the configuration of FIG. 38 according to FIG.
  • the warning unit 4 notifies the operator of a warning only when the rising edge of the lower limit warning signal is delayed and the amount of push-in exceeds the lower limit warning range R1 exceeds a predetermined warning stop time.
  • FIG. 41 unnecessary warnings are suppressed when the operator removes his / her finger from the enable switch 1 or the like.
  • an upper limit rising delay circuit 282 may be added, or only the upper limit rising delay circuit 282 may be provided without providing the lower limit rising delay circuit 281.
  • the enable switch 1 and the operation unit 8 can be variously changed.
  • the operation unit 8 provided with the enable switch 1 is not limited to the teaching pendant, and can be used for various operation units such as an operation unit of a heavy machine such as a hoist, an operation unit of a vehicle, and an operation unit of an electric wheelchair.
  • various parts of the operator's body may be used, and face authentication may be used. It may be authenticated by what the operator wears, and is not limited to a card in which an IC chip is embedded, and may be recognized by reading a two-dimensional code or a face photograph.
  • the enable switch 1 may be an independent operation device.
  • a device that is within a predetermined range of the operation target or attached to the operation unit or the like to be operated may be linked with various operation units as a device that permits operation by the operation unit.
  • the holding detection unit 14 various devices can be adopted as long as the detection device has substantially no pushing amount. “Substantially no push-in amount” means that when the operation unit is held with a normal holding force, it does not feel push-in, and does not necessarily mean that there is no push-in amount in a strict sense. .
  • Various types of touch panels, pressure sensors, light reflection type object detection sensors, and the like can be used for the holding detection unit 14.
  • the holding force detection unit 15 can employ a detection unit or a mechanical switch that is substantially free from the pushing amount, but various other devices can also be used. For example, various touch panels, pressure sensors, switches in which the pressing force gradually increases according to the pressing amount, switches in which the pressing force changes in a complicated manner according to the pressing amount, and the like can be used.
  • the configuration of the circuit unit 2 may be variously modified as long as substantially the same function is realized.
  • a microcomputer may be used for the circuit unit 2.
  • the authentication unit 12, the holding detection unit 14, the holding force detection unit 15, the upper limit value setting unit 161, the lower limit value setting unit 162, the receiving unit 191, the maintenance time changing unit 192, etc. are partially or entirely in common with the circuit unit 2. This circuit may be used.
  • the various circuit configurations shown in the above embodiment are merely expressed separately according to main functions.
  • the authentication unit 12, the holding detection unit 14, and the holding force detection unit 15 may be provided at various places on the operation unit 8.
  • the authentication unit 12 may be provided at a position on the operation unit 8 different from the main body 11 in which the holding detection unit 14 and the holding force detection unit 15 are provided.
  • various methods may be employed for authentication, and the authentication unit 12 is arranged at an appropriate position according to the authentication method.
  • the authentication unit 12 can also be provided outside the operation unit 8.
  • the authentication result by the authentication circuit 122 is also output to the operation unit 8, and the operation authority of the operation target 90 by the operation unit 8 is changed.
  • the circuit unit 2 may be provided not in the main body 11 of the enable switch 1 but in the operation unit 8. Furthermore, a part of the circuit unit 2 may be provided outside the operation unit 8.
  • the signal falling and rising described in the above embodiment are merely examples.
  • the same function can be realized by replacing the falling and rising in the above description and changing the logic circuit accordingly. is there.
  • the enable switch 1 may be added with a component for changing the upper limit warning value and the lower limit warning value according to the authentication result.
  • a configuration for changing the warning stop time according to the authentication result may be added.
  • a deceleration signal for decelerating the operation of the operation target is output from the enable switch 1 or the operation unit 8. May be. Thereby, it is possible to prevent the enable signal from being canceled unintentionally in a situation where the safety of the operator is further ensured, and it is possible to suppress a decrease in operation efficiency.
  • the present invention can be used as an enable switch for an operation unit that is used for operations on a wide variety of operation objects such as industrial robots, hoists, and wheelchairs.

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Abstract

Selon la présente invention, un commutateur d'activation est disposé sur une unité d'actionnement et délivre un signal d'activation qui permet à l'unité d'actionnement d'actionner une cible d'actionnement. Le commutateur d'activation comprend une partie de détection (15) de force de préhension et une partie circuit (2). La partie de détection (15) de force de préhension détecte si la force avec laquelle un opérateur tient l'unité d'actionnement se trouve dans une plage d'activation prédéfinie. Si la force de préhension chute au-dessous de la limite inférieure de la plage d'activation pendant que le signal d'activation est délivré, la partie circuit (2) maintient la sortie du signal d'activation jusqu'à ce qu'une période de maintenance de sortie de signal prédéfinie soit écoulée.
PCT/JP2018/010462 2017-03-21 2018-03-16 Commutateur d'activation et unité d'actionnement Ceased WO2018173951A1 (fr)

Priority Applications (1)

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