Manipulation unit and robot

Abstract

A manipulation unit includes a body, a tool holder, and a plurality of manipulated switches. The body has a first end, a second end opposite to the first end, and a cylindrical circumferential outer surface that extends from the first end to the second end and which is configured to be held to perform direct teaching to a robot. The first end is attachable to a leading end of a robot arm of the robot. The tool holder is connected to the second end and configured to hold a tool. The plurality of manipulated switches are configured to send signal to a robot controller to perform the direct teaching. The plurality of manipulated switches are provided on the body to be aligned along a circumferential direction of the cylindrical circumferential outer surface so that the direct teaching is performed with a hand which holds the cylindrical circumferential outer surface.

What is claimed as new and desired to be secured by Letters Patent of the United States is: 
     
         1 . A manipulation unit comprising:
 a body having a first end, a second end opposite to the first end, and a cylindrical circumferential outer surface that extends from the first end to the second end and which is configured to be held to perform direct teaching to a robot, the first end being attachable to a leading end of a robot arm of the robot;   a tool holder connected to the second end and configured to hold a tool; and   a plurality of manipulated switches configured to send signal to a robot controller to perform the direct teaching, the plurality of manipulated switches being provided on the body to be aligned along a circumferential direction of the cylindrical circumferential outer surface so that the direct teaching is performed with a hand which holds the cylindrical circumferential outer surface.   
     
     
         2 . The manipulation unit according to  claim 1 , further comprising:
 a connector provided on the body to be aligned with the plurality of manipulated switches along the circumferential direction of the cylindrical circumferential outer surface.   
     
     
         3 . The manipulation unit according to  claim 1 , wherein a distance between the first end and the second end is shorter than a diameter of the cylindrical circumferential outer surface. 
     
     
         4 . A robot comprising:
 a wrist having a leading end; and   a manipulation unit comprising:
 a body having a first end, a second end opposite to the first end, and a cylindrical circumferential outer surface that extends from the first end to the second end and which is configured to be held to perform direct teaching to a robot, the first end being attached to the leading end of the wrist; 
 a tool holder connected to the second end and configured to hold a tool; and 
 a plurality of manipulated switches configured to send signal to a robot controller to perform the direct teaching, the plurality of manipulated switches being provided on the body to be aligned along a circumferential direction of the cylindrical circumferential outer surface so that the direct teaching is performed with a hand which holds the cylindrical circumferential outer surface. 
   
     
     
         5 . The robot according to  claim 4 , wherein the plurality of manipulated switches comprise a teaching button via which a posture of the robot is registered as a teaching position. 
     
     
         6 . The robot according to  claim 4 , wherein the plurality of manipulated switches comprise an enabling button via which a lead-through operation is validated, the lead-through operation comprising changing a posture of the robot using a manipulation force with which a user manipulates the robot. 
     
     
         7 . The robot according to  claim 4 , wherein the plurality of manipulated switches comprise a tool button via which the tool is configured to be controlled. 
     
     
         8 . The robot according to  claim 4 , wherein the plurality of manipulated switches comprise a mode button via which coordinate mode is switched or interpolation mode is switched. 
     
     
         9 . The robot according to  claim 4 , wherein the plurality of manipulated switches comprise a light emitting device which shows an operation state of the robot. 
     
     
         10 . The robot according to  claim 1 , wherein the plurality of manipulated switches are recessed within the cylindrical circumferential outer surface.