JP2016221644A - Teaching device and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operability of an enable switch.SOLUTION: A teaching device comprises: a main body; and a holding section being provided on a first surface of the main body and having an enable switch used for control of operation of a robot. It is possible to change a relative positional relation between the first surface and the holding section.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a teaching device and a robot system.

A teaching device for teaching about a robot is known (see Patent Document 1). For example, a teaching pendant (TP) is used as the teaching device. As an example, the teaching device includes an operation unit operated by a person and a screen. The teaching device may be used by being held in a human hand, for example.

The teaching device includes an enable switch that is operated by a person when moving a robot arm (robot arm) as one of operation units. The enable switch is a switch that turns on or off a predetermined function in accordance with a state where the enable switch is pressed.

JP 2004-122243 A

With regard to the enable switch of the teaching device, for example, if it is in a form dedicated to either right-handed or left-handed, it will be easy to operate for those who have a dominant arm on the enable switch, but the dominant arm is aligned with the enable switch. There were cases where it was difficult for those who did not.
In addition, regarding the enable switch of the teaching device, it may be possible to provide both a right-handed enable switch and a left-handed enable switch in order to support both right-handed and left-handed, but it is possible to reduce the size or cost. There was a case where it was difficult to realize.
Further, in the teaching device (single-handed teaching device) described in Patent Document 1, it is intended that one enable switch corresponds to both right-handed and left-handed, but the operation unit and the holding unit of the enable switch are provided. Since the arrangement at the back of the main body is fixed, it may be difficult for a person to operate.
Conventionally, in a teaching apparatus, there has been a demand for a configuration in which an enable switch can be operated without a sense of incongruity for a person regardless of whether the enable switch is operated by a right-handed person or a left-handed person.

In order to solve at least one of the above problems, one embodiment of the present invention includes a main body and a grip portion provided on a first surface of the main body and having an enable switch used for controlling the operation of the robot. And a teaching device capable of changing a relative positional relationship between the first surface and the grip portion.
With this configuration, in the teaching device, the relative positional relationship between the first surface of the main body and the grip portion having the enable switch provided on the first surface and used for controlling the operation of the robot is changed. Is possible. Thereby, in the teaching device, the operability of the enable switch can be improved.

In one embodiment of the present invention, in the teaching device, a configuration may be used in which the grip portion is rotatable.
With this configuration, in the teaching device, the grip portion can be rotated. Thereby, in the teaching device, the operability of the enable switch can be adjusted to a good state by rotating the gripping portion.

In one aspect of the present invention, in the teaching device, a configuration may be used in which the grip portion is fixable.
With this configuration, the gripping unit can be fixed in the teaching device. Thereby, in the teaching device, the operability of the enable switch can be fixed in a good state by fixing the gripping portion.

According to one aspect of the present invention, in the teaching device, the surface of the grip portion provided with the enable switch is a second surface, and the relative positional relationship between the second surface and the enable switch is changed. A configuration may be used where possible.
With this configuration, in the teaching device, it is possible to change the relative positional relationship between the second surface of the grip portion provided with the enable switch and the enable switch. Thereby, in the teaching device, the operability of the enable switch can be improved.

In one embodiment of the present invention, in the teaching device, a configuration may be used in which the grip portion can be inclined with respect to the first surface.
With this configuration, in the teaching device, the grip portion can be inclined with respect to the first surface.
Thereby, in the teaching apparatus, the operability of the enable switch can be adjusted to a good state by tilting the grip portion with respect to the first surface.

According to one aspect of the present invention, in the teaching device, a configuration in which the grip portion is detachable may be used.
With this configuration, in the teaching device, the grip portion is detachable. Thereby, in the teaching device, the detachable gripping part can be attached at the time of use or the like, and can be removed at the time of nonuse.

One aspect of the present invention is the teaching device, wherein the enable switch is detachable.
A configuration may be used.
With this configuration, the enable switch is detachable in the teaching device. Thereby, in the teaching device, a detachable enable switch can be attached when in use, and can be removed when not in use.

In order to solve at least one of the above problems, one embodiment of the present invention includes a robot, a control device that controls the robot, and a teaching device that teaches the robot, and the teaching device includes a main body, A grip portion having an enable switch provided on the first surface of the main body and used for controlling the operation of the robot, and changing a relative positional relationship between the first surface and the grip portion. It is possible to be a robot system.
With this configuration, in the robot system, in the teaching device, the first surface of the main body and the first surface
It is possible to change the relative positional relationship between the grip portion and the grip portion having an enable switch that is provided on the surface and used to control the operation of the robot. Thereby, in the robot system, the operability of the enable switch can be improved in the teaching device.

As described above, according to the teaching device and the robot system according to the present invention, the teaching device includes the first surface of the main body and the enable switch provided on the first surface and used for controlling the operation of the robot. It is possible to change the relative positional relationship with the grip portion. Thereby, in the teaching device and the robot system according to the present invention, the operability of the enable switch can be improved in the teaching device.

It is a front view which shows the structural example of the teaching apparatus of the robot which concerns on one Embodiment of this invention. It is a rear view which shows the example of a structure of the teaching apparatus of the robot which concerns on one Embodiment of this invention, and an example of arrangement | positioning of an enable switch. It is a rear view which shows the example of a structure of the teaching apparatus of the robot which concerns on one Embodiment of this invention, and another example of arrangement | positioning of an enable switch. It is a left view which shows the structural example of the teaching apparatus of the robot which concerns on one Embodiment of this invention. It is a figure showing an example of rough composition of a robot system concerning one embodiment of the present invention. It is a left view which shows the other structural example of the teaching apparatus of the robot which concerns on one Embodiment of this invention. It is a left view which shows the other structural example of the teaching apparatus of the robot which concerns on one Embodiment of this invention.

  Embodiments of the present invention will be described in detail with reference to the drawings.

[Teaching apparatus according to one embodiment]
With reference to FIGS. 1-4, the teaching apparatus 1 which concerns on this embodiment is demonstrated.
1 to 4 show a configuration example of a robot teaching apparatus 1 according to an embodiment of the present invention. In the present embodiment, the teaching device 1 is a teaching pendant (TP), and teaches the operation of the robot.
FIG. 1 is a front view showing a configuration example of a robot teaching apparatus 1 according to an embodiment of the present invention.
FIG. 2 is a rear view showing a configuration example of the robot teaching apparatus 1 and an example of the arrangement of the enable switch 131 according to the embodiment of the present invention. FIG. 3 is a rear view showing another example of the configuration of the robot teaching apparatus 1 and another example of the arrangement of the enable switch 131 according to the embodiment of the present invention.
FIG. 4 is a left side view illustrating a configuration example of the robot teaching apparatus 1 according to the embodiment of the present invention.

Here, the arrangement of the surface of the teaching apparatus 1 shown in FIG. 1 is an arrangement when a person (teacher) faces the surface of the teaching apparatus 1 during normal use. In the following, for convenience of explanation, the description will be made using the vertical and horizontal directions in the arrangement shown in FIG. For this reason, in the description of the surface of the teaching device 1 shown in FIG. 2 (the back surface when the surface in FIG. 1 is the front surface), the left and right used in the description are opposite to the left and right in FIG. That is, in FIG. 1 and FIG. 2, the upper and lower sides coincide with each other, but the left and right are reversed. The same applies to FIGS. 3 to 4.
Each of FIGS. 1 to 4 shows two coordinate axes appearing on the plane of each figure in the xyz coordinate system which is a three-dimensional orthogonal coordinate system. In this embodiment, the positive x-axis direction is the right direction, the negative x-axis direction is the left direction, the positive y-axis direction is the upward direction, and the negative y-axis direction is the downward direction. The z-axis positive direction is the direction toward the front side (positive height direction), and the z-axis negative direction is the direction toward the back side (negative height direction).

First, with reference to FIG. 1, the structure which looked at the teaching apparatus 1 from the front is demonstrated.
The teaching device 1 includes a main body 101. The main body 101 is a plate-like member. Body part 1
01, the shape of the contour when viewed from the front is close to a horizontally long rectangle, but one of the two opposing long sides (the lower side in the example of FIG. 1) is the inner side (the upper side in the example of FIG. 1). ) Curved portion (curved portion 8)
1).
The main body portion 101 includes a connector portion 41 on the right side surface. The connector unit 41 can be connected to an external device.
The main body 101 includes a cable 51 connected to a control device (not shown) at the lower right.
For example, the cable 51 may be integrated with the main body 101 or may be a separate body.

The main body 101 has a protrusion 11 at the upper right corner, a protrusion 12 at the lower right corner, a protrusion 13 at the lower left corner, and a protrusion at the upper left corner around the front surface. The unit 14 is provided. Each of the protrusions 11 to 14 protrudes on the front side with respect to the surface on the front side of the main body 101.
The protrusions 11 to 14 have the same height. The shapes of the upper two protrusions 11 and 14 are symmetric, and the shapes of the lower two protrusions 12 and 13 are symmetric.
The main body 101 has a right protrusion 21, a lower protrusion 22,
A left protrusion 23 and an upper protrusion 24 are provided. Each protrusion 21 to 24 has a main body 1.
It projects to the front side with respect to the front side surface of 01. The heights of the protrusions of these protrusions 21 to 24 are the same. The shapes of the left and right protrusions 21 and 23 are symmetrical.
Here, the height of the projections 11 to 14 at the four corners is the four projections 21 to 21 at the top, bottom, left and right.
Greater than 24 heights. Moreover, in this embodiment, all the circumference | surroundings of the surface of the front side are covered with the projection parts 11-14 of four corner | angular parts and the four projection parts 21-24 of the up-down and right-and-left.

The main body 101 includes a mode switching unit 31 at the upper left portion and an emergency stop switch 32 at the upper left and right centers on the front side surface. On the front side surface, the peripheral part of the mode switching unit 31 and the peripheral part of the emergency stop switch 32 have small steps protruding to the front side.
The main body 101 includes a touch panel 501 that extends from the left side to the vicinity of the center on the front surface that is a concave surface without a step, and includes an operation key unit 511 on the right side. A sound output unit 521 is provided, and a sound input unit 522 is provided above the operation key unit 511. The sound output unit 521 is a speaker, for example, and the sound input unit 522 is a microphone, for example.
Here, FIG. 1 shows a state in which no information is displayed on the touch panel 501,
Further, illustrations of symbols and the like displayed on the keys of the operation key unit 511 are omitted. For example, each key is displayed with a symbol or the like representing an operation assigned to the key.
Note that the position at which the operation key unit 511 is provided with respect to the touch panel 501 may be arbitrary. For example, the position is not limited to the right side, and may be the left side, the upper side, or the lower side.

Next, with reference to FIG. 2 and FIG. 3, the structure which looked at the teaching apparatus 1 from the back surface is demonstrated.
The teaching device 1 includes a disk 111, a grip part 121, and an enable switch 131.
The disc 111 is disposed on the back side surface of the main body 101. In the present embodiment, the disk 11
The center point 1001 of 1 is arranged at the center (or near the center) of the rectangle on the back surface of the main body 101 near the rectangle. And disc 111 is center point 1
A mechanism capable of rotating (rotating) around 001, and a center point 10 of the disk 111
01 and the main body 101 are connected. As an example, a rotation axis in a direction perpendicular to the disk 111 is fixedly provided at the center point 1001 of the disk 111, and the rotation axis is the main body 10.
1 is rotatably attached to the back side surface.
In the present embodiment, the surface of the disc 111 is arranged to be inside the surface on the back side of the main body 101.

In addition, the center point 1001 of the disk 111 is provided with a knob 1101 that can be turned by a person on the rear surface. When the knob 1101 is turned to one side and loosened, the disc 111
Is rotatable with respect to the rear surface of the main body 101, and when the knob 1101 is turned to the other side and tightened, the disk 111 is fixed to the rear surface of the main body 101. It becomes. With these mechanisms, the disc 111 can be rotated by an arbitrary angle with respect to the back side surface of the main body 101 and can be fixed at an arbitrary rotational position.
In the present embodiment, a rotary knob 1101 is used as a configuration for switching between a state in which the disc 111 is rotatable with respect to the rear surface of the main body 101 and a state in which the disc 111 is fixed. The following configuration may be used. As another configuration example, when a screw that penetrates the disc 111 from the back side is tightened, the screw comes into contact with the surface on the back side of the main body 101 to disable the rotation of the disc 111 and fix the screw. A configuration may be used in which the disk 111 can be rotated when the screw is loosened.

The grip portion 121 is provided on the back surface of the disc 111 at a position shifted from the center point 1001 of the disc 111. The grip part 121 has a columnar shape with a predetermined shape as a front side surface and a back side surface. The predetermined shape has a semicircular shape at the upper and lower ends and a rectangular shape between the upper and lower sides. In the present embodiment, the center point 1 of the disk 111 when viewed from the back of the grip portion 121.
The grip part 121 is provided in an arrangement in which the long-side portion of the predetermined shape is divided into two equal parts by a perpendicular drawn from 001 to the long-side line of the predetermined shape.

The enable switch 131 is provided on the side surface of the grip portion 121. In the present embodiment, the enable switch 131 is provided on the side surface opposite to the side surface facing the center point 1001 of the disc 111 among the four side surfaces of the grip portion 121. Enable switch 131
Has a columnar shape that is a rectangular surface when viewed from the side surface of the grip portion 121. In the present embodiment, the enable switch 1 is provided at the center (or near the center) of the side surface of the grip 121.
31 is provided.
In the present embodiment, when viewed from the side surface of the grip portion 121, the surface of the enable switch 131 is arranged to be inside the side surface of the grip portion 121.

Here, when the disc 111 is rotated around the center point 1001, the grip portion 12
1 and the enable switch 131 can take any arrangement within one rotation (360 degrees). Note that this rotation function may be realized by human power without using electric power, or may be realized by electric power using electric power.

FIG. 2 shows an example of the arrangement of the enable switch 131. In the arrangement shown in FIG. 2, the enable switch 131 has a diagonally right direction (when viewed from the front surface of the main body 101).
It is arranged to face outward in a direction around 45 degrees forward with respect to the right. This is, for example, an arrangement used by right-handed people.
FIG. 3 shows another example of the arrangement of the enable switch 131. In the arrangement shown in FIG. 3, the enable switch 131 is arranged so as to face outward in a diagonally left direction (a direction about 45 degrees forward with respect to the left) when viewed from the front surface of the main body 101. ing. This is, for example, an arrangement used by a left-handed person.
The right-handed arrangement and the left-handed arrangement in the present embodiment are examples, and any arrangement of the enable switch 131 may be used by each of the right-handed person and the left-handed person.

Next, with reference to FIG. 4, the structure which looked at the teaching apparatus 1 from the left surface measurement is demonstrated. Here, for convenience of explanation, FIG. 4 shows a state in which the enable switch 131 is arranged to face the left side. This arrangement is an example for description, and any other arrangement may be used.
In the present embodiment, the disk 111 can be rotated by a rotation axis 1011 that passes through the center point 1001 and is perpendicular to the main body 101 and the disk 111. In accordance with this rotation, on the back side surface of the main body 101, the grip 121 and the enable switch 1
The arrangement of 31 (the direction of the side face toward which the enable switch 131 faces) is changed.

Here, in the present embodiment, as a configuration capable of changing the relative positional relationship between the back-side surface of the main body 101 and the grip portion 121, a configuration capable of rotational movement with respect to the grip portion 121 is used. However, other configurations may be used. As another configuration example, a configuration capable of translational movement with respect to the rear surface of the main body 101 with respect to the grip portion 121 may be used.
Further, as another configuration example, a configuration in which the grip portion 121 can be inclined with respect to the surface on the back surface side of the main body portion 101 may be used, and as an example, when viewed from the back surface of the main body portion 101, The angle of inclination of the gripper 121 with respect to the back surface of the main body 101 by a mechanism that allows the gripper 121 to rotate on a rotation axis along the long side direction of the surface of the gripper 121 that contacts the disc 111. The structure which can change may be used.

In the present embodiment, in order to enable the rotational movement with respect to the grip portion 121, the disc 1
11, but as another configuration example, a configuration in which the grip portion 121 is provided directly and rotatable with respect to the rear surface of the main body 101 without the disc 111 is provided. May be used.
In the present embodiment, since the enable switch 131 is provided in the grip part 121, when the position of the grip part 121 is changed with respect to the rear surface of the main body part 101, the grip part 121. The enable switch 131 is moved as a unit.

Further, in the present embodiment, a configuration capable of changing the relative positional relationship between the surface of the grip part 121 provided with the enable switch 131 and the enable switch 131 may be used. As an example of this configuration, for example, the back side surface of the main body 101 and the grip 121.
A configuration that is the same as or similar to the configuration that can change the relative positional relationship between and may be used. Specifically, for example, a configuration capable of rotational movement, a configuration capable of translational movement, or a configuration capable of changing the angle of inclination may be used.
In one teaching apparatus 1, both the configuration in which the gripper 121 can move with respect to the back surface of the main body 101 and the configuration in which the enable switch 131 can move with respect to the surface of the gripper 121. Is applied, the configuration of each movement may be the same, or
May be different.

In addition, the grip portion 121 may be fixedly provided to the disc 111 so as not to be detachable.
Alternatively, it may be detachably provided and attached and fixed when necessary.
For example, the grip 121 may be detachable from the disk 111 and may be fixed to a plurality of locations on the surface of the disk 111. In this case, as an example, a configuration may be used in which a plurality of screw holes are provided on the surface of the disc 111 and the gripper 121 can be fastened with screws using arbitrary screw holes.
As another configuration example, a configuration in which the grip portion 121 is directly fixed to the back surface of the main body 101 without using the disc 111 may be used.

Further, the enable switch 131 may be fixedly provided so as not to be detachable with respect to the grip part 121, or may be detachably provided and attached and fixed when necessary. As a configuration for fixing the enable switch 131, for example, the same configuration as the configuration for fixing the grip portion 121 or a similar configuration may be used.
In addition, when both the configuration for fixing the gripping part 121 and the configuration for fixing the enable switch 131 are applied in one teaching device 1, the configuration for fixing each may be the same, or May be different.

Next, an overview of the functions of the teaching device 1 will be described.
The teaching device 1 has a computer function inside, for example, a CPU (Cent
ral Processing Unit) and a storage unit. In the teaching apparatus 1, the processor executes various programs by executing a program stored in the storage unit.
The connector unit 41 includes a predetermined number of connectors that can be connected to an external device.
The cable 51 is connected to the control device and supplies power to the teaching device 1.

The mode switching unit 31 can switch between a plurality of modes. In this embodiment,
The mode switching unit 31 includes a keyhole into which a predetermined key (key) is inserted, and the plurality of modes are switched according to the rotation position of the key by inserting the key into the keyhole and turning it.
When operated, the emergency stop switch 32 stops the operation of the robot. In the present embodiment, the emergency stop switch 32 includes a button (emergency stop button) pressed (an example of an operation) by a person.
Touch panel 501 displays information on its surface. The touch panel 501 inputs information based on an operation performed on the surface. This operation is performed using, for example, a human finger or a pen (for example, a stylus pen).
The operation key unit 511 includes a plurality of keys. When each key is operated, information based on the operation is input.
The sound output unit 521 outputs sound such as voice.
The sound input unit 522 inputs sound such as voice.

The holding part 121 is held by a human hand. At this time, the person can change the relative arrangement of the grip part 121 with respect to the back side surface of the main body 101 and adjust the arrangement to be convenient for the user. This arrangement may be determined based on, for example, the right-handed or left-handed hand, or may be determined based on the preference of each person.
Further, the person can stabilize the posture of the teaching device 1 by placing the bending portion 81 of the teaching device 1 around the chest or the stomach.
For example, a person can operate the enable switch 131 provided in the grip part 121 as needed while gripping the grip part 121.

Here, the predetermined key of the operation key unit 511 functions only when the enable switch 131 is pressed (an example of operation). That is, the predetermined key is the enable switch 1
If 31 is not pressed, it does not function. In the present embodiment, the predetermined key is a jog key for operating the robot. Note that the touch panel 501 functions regardless of the enable switch 131.
In more detail, the enable switch 131 turns off the function of the jog key when not pressed down to the predetermined push position, and turns on the function of the jog key when pressed down to the predetermined push position. In the state where the switch 131 is pushed down beyond the predetermined pushing position by a predetermined amount or more, the function of the jog key is turned off.
This is because there is a possibility that the enable switch 131 that is momentarily grasped when a person feels danger may be pushed all the way down.

[Robot system overview]
FIG. 5 is a diagram illustrating a schematic configuration example of a robot system 2001 according to an embodiment of the present invention.
A robot system 2001 according to this embodiment includes a robot 2011 and a robot 201.
1, and a teaching device 1 that teaches the robot 2011. Here, the teaching apparatus 1 is the same as that described with reference to FIGS. 1 to 4 and is given the same reference numerals.
As an example of the configuration, the robot 2011 and the control device 2012 are communicably connected via a line, and the control device 2012 and the teaching device 1 are communicably connected via a line. Each line may be, for example, a wired line or a wireless line.
The teaching device 1 teaches the operation of the robot 2011 to the control device 2012. In addition, the teaching apparatus 1 performs a test of the operation of the robot 2011 and the like. In this configuration example, the teaching device 1 and the control device 2012 communicate with each other. However, as another configuration example, the teaching device 1 and the robot 2011 may directly communicate with each other.
Note that various robots may be used as the robot 2011. For example, as the robot 2011, a one-arm robot may be used, a double-arm robot may be used, or a SCARA robot may be used.

[Teaching device according to first modification]
FIG. 6 is a left side view showing another configuration example of the robot teaching apparatus 2 according to the embodiment of the present invention. FIG. 6 shows the same coordinate axes as those in FIG.
Here, the teaching device 2 will be described in detail with respect to the teaching device 1 shown in FIGS. 1 to 4, and the description of similar points will be omitted or simplified.
The teaching device 2 includes a main body portion 201, an inclined portion 211, a disc 221, a grip portion 231, and an enable switch 241. Here, the teaching device 2 is configured to include an inclined portion 211 between the main body 201 and the disc 221 in the same configuration as the teaching device 1 shown in FIGS. The inclined portion 211 is a member having a thickness gradient in a certain direction on the back surface of the main body 201. Thereby, the surface on the back side of the main body 201, the surface of the disc 221 and the surface of the grip portion 231 are in a non-parallel state (a non-parallel state). In the teaching device 2, the rotation shaft 1021 when the disk 221 rotates is not perpendicular to the back surface of the main body 201.

[Teaching device according to second modification]
FIG. 7 is a left side view showing another configuration example of the robot teaching apparatus 3 according to the embodiment of the present invention. FIG. 7 shows the same coordinate axes as in FIG.
Here, the teaching device 3 will be described in detail with respect to the teaching device 1 shown in FIGS. 1 to 4, and the description of similar points will be omitted or simplified.
The teaching device 3 includes a main body portion 301, an inclination portion 311, a grip portion 321, and an enable switch 331. Here, the teaching device 3 has a configuration similar to that of the teaching device 1 shown in FIGS. 1 to 4, and includes a tilted portion 311 in which a rotatable disc portion is tilted. The inclined portion 311 is a member having a thickness gradient in a certain direction on the back surface of the main body 301. Moreover, the inclination part 311 is the disk 111 in the teaching apparatus 1 shown by FIGS.
Similarly to the above, it is possible to rotate with respect to the back surface of the main body 301. This
The back side surface of the main body 301 and the surface of the grip portion 321 are in a non-parallel state (non-parallel state). Note that in the teaching device 3, the rotation shaft 1031 when the inclined portion 311 rotates is the main body portion 30.
1 is perpendicular to the surface on the back side.

[Summary of Embodiment]
As described above, in the teaching device 1 according to the present embodiment, the operability of the enable switch 131 can be improved. In the teaching device 1 according to the present embodiment, for example, the arrangement angle of the enable switch 131 can be adjusted. As an example, in the teaching device 1 according to the present embodiment, it is possible to change the arrangement of one enable switch 131 according to right-hand gripping or left-hand gripping, and, for example, either right-handed or left-handed Even when the enable switch 131 is operated by a person, the enable switch 131 can be operated without a sense of incongruity for the person.

As a specific example, in the teaching device 1 according to the present embodiment, the operability of the enable switch 131 can be adjusted to a good state by rotating the grip portion 121. In the teaching device 1 according to the present embodiment, the enable switch 13 is fixed by fixing the grip portion 121.
1 can be fixed in a good state. In the teaching device 1 according to the present embodiment, the surface of the grip part 121 provided with the enable switch 131 and the enable switch 131.
The relative positional relationship between the enable switch 1 and the enable switch 1 can be changed.
The operability of 31 can be improved. In the teaching apparatus 1 according to the present embodiment, the grip portion 12
1 is tilted with respect to the rear surface of the main body 101 to enable the switch 131.
The operability can be adjusted to a good state. In the teaching apparatus 1 according to the present embodiment, by configuring the gripping part 121 to be detachable, the gripping part 121 can be attached at the time of use or the like, and can be detached at the time of nonuse. Teaching apparatus 1 according to the present embodiment
Then, by configuring the enable switch 131 to be detachable, the enable switch 131 can be attached at the time of use or the like, and can be removed at the time of nonuse.

In the teaching devices 2 and 3 according to the modified example, the operability of the enable switches 241 and 331 can be improved similarly to the teaching device 1.

As one configuration example, the main body (in the present embodiment, the main body portions 101, 201, and 301) and the first surface of the main body (in the present embodiment, the surface on the back side of the main body portions 101, 201, and 301) are provided. ,
A gripping part (in this embodiment, gripping parts 121, 23) having an enable switch (in this embodiment, enable switches 131, 241, 331) used for controlling the operation of the robot.
1, 321), and a teaching device (in this embodiment, teaching devices 1, 2, 3) capable of changing the relative positional relationship between the first surface and the gripping portion. .
As an example of the configuration, in the teaching device, the gripping portion is rotatable.
As one configuration example, in the teaching device, the grip portion can be fixed.
As an example of the configuration, in the teaching device, the surface of the grip portion provided with the enable switch can be the second surface, and the relative positional relationship between the second surface and the enable switch can be changed.
As an example of the configuration, in the teaching device, the grip portion can be inclined with respect to the first surface.
As one configuration example, in the teaching device, the gripping part is detachable.
As one configuration example, in the teaching device, the enable switch is detachable.
As one configuration example, a robot (the robot 2011 in the example of FIG. 5), a control device that controls the robot (the control device 2012 in the example of FIG. 5), and a teaching device that teaches the robot (FIG. 5).
The teaching device 1), the teaching device is provided on the main body and the first surface of the main body,
A grip portion having an enable switch used for controlling the operation of the robot,
This is a robot system (the robot system 2001 in the example of FIG. 5) that can change the relative positional relationship between the surface and the gripper.

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1-3 ... Teaching apparatus, 11-14, 21-24 ... Projection part, 31 ... Mode switching part, 32 ... Emergency stop switch, 41 ... Connector part, 51 ... Cable, 81 ... Bending part, 101, 201,
301... Main unit 501. Touch panel 511. Operation key unit 521. Sound output unit 52
2 ... Sound input part, 111, 221 ... Disc, 121, 231, 321 ... Grasping part, 131, 24
DESCRIPTION OF SYMBOLS 1, 331 ... Enable switch, 211, 311 ... Inclination part, 1001 ... Center point, 101
DESCRIPTION OF SYMBOLS 1,1021, 1031 ... Rotary axis, 1101 ... Knob, 2001 ... Robot system, 2
011 ... Robot, 2012 ... Control device

Claims (8)

The body,
A grip portion provided on the first surface of the main body and having an enable switch used for controlling the operation of the robot,
It is possible to change the relative positional relationship between the first surface and the grip portion.
Teaching device. The gripping part is rotatable.
The teaching device according to claim 1. The grip portion can be fixed,
The teaching device according to claim 1. It is possible to change the relative positional relationship between the second surface and the enable switch by setting the surface of the grip portion provided with the enable switch as a second surface.
The teaching device according to any one of claims 1 to 3. The grip portion can be inclined with respect to the first surface.
The teaching device according to any one of claims 1 to 4. The gripping part is detachable.
The teaching device according to any one of claims 1 to 5. The enable switch is detachable.
The teaching device according to any one of claims 1 to 6. A robot, a control device for controlling the robot, and a teaching device for teaching the robot,
The teaching device includes a main body and a grip portion provided on a first surface of the main body and having an enable switch used for controlling the operation of the robot, the first surface and the grip portion It is possible to change the relative positional relationship,
Robot system.