US 12,466,085 B2 · Robot operating device and robot

Abstract

A robot operating device is mounted to a robot. The robot is capable of performing a motion by means of lead-through control in which a force applied by an operator is detected and a position and an orientation are changed in accordance with the detected force and the robot operating device including: a bracket that is secured to a flange at a distal end of the robot and with which an elongated tool is attached at a decentered position with respect to a rotation axis of the flange so as to be parallel to a plane containing the rotation axis; and two handles that are secured to the bracket and that are respectively grasped by two hands of the operator, wherein the handle is disposed in the plane so as to extend in a direction along a longitudinal axis of the tool, and the handle is disposed in a vicinity of the tool so as to extend in a direction intersecting the plane.

Claims20

Dependent claims

A robot operating device mounted to a robot,

the robot being capable of performing a motion by means of lead-through control in which a force applied by an operator is detected and a position and an orientation are changed in accordance with the detected force,
the robot operating device comprising:
a bracket that is secured to a flange at a distal end of the robot and with which an elongated tool is attached at a decentered position with respect to a rotation axis of the flange so as to be parallel to a plane containing the rotation axis;
and
two handles that are secured to the bracket and that are respectively grasped by two hands of the operator, wherein
one of the handles is disposed in the plane so as to extend in a direction along a longitudinal axis of the tool, and
the other handle is disposed in a vicinity of the tool so as to extend in a direction intersecting the plane.

4 more elements

A robot operating device mounted to a robot,

the robot being capable of performing a motion by means of lead-through control in which a force applied by an operator is detected and a position and an orientation are changed in accordance with the applied force and
the robot operating device comprising a bracket that is secured to a flange at a distal end of the robot and with which an elongated tool is attached at a decentered position with respect to a rotation axis of the flange so as to be parallel to a plane containing the rotation axis,
wherein a first handle portion that can be grasped by one of hands of the operator so as to surround the rotation axis is provided in a vicinity of the position at which the bracket is secured to the flange, and a second handle portion that can be grasped by the other hand of the operator so as to surround a longitudinal axis of the tool is provided in a vicinity of the position at which the tool is attached to the bracket,
wherein the second handle portion is provided with at least one of operation switches, namely, a position teaching switch and a motion-mode changing switch, that is operated by the other hand in a state of grasping the second handle portion.

1 more element

Dependencies are inferred from the claim text.

Robot operating device and robot

Life of this patent

Robot operating device and robot

Life of this patent

Abstract

Claims20