US 12,466,085 B2
Robot operating device and robot
Toshihiko Inoue, Yamanashi (JP); Tomoyuki Motokado, Yamanashi (JP); and Morio Oowaki, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/037,477
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Dec. 21, 2021, PCT No. PCT/JP2021/047153
§ 371(c)(1), (2) Date May 17, 2023,
PCT Pub. No. WO2022/138596, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2020-216089 (JP), filed on Dec. 25, 2020; and application No. 2021-028278 (JP), filed on Feb. 25, 2021.
Prior Publication US 2024/0009858 A1, Jan. 11, 2024
Int. Cl. B25J 13/08 (2006.01)
CPC B25J 13/085 (2013.01) 20 Claims
OG exemplary drawing
 
1. 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.