JPH06134685A - Hand operation equipment - Google Patents

Hand operation equipment

Info

Publication number
JPH06134685A
JPH06134685A JP4309221A JP30922192A JPH06134685A JP H06134685 A JPH06134685 A JP H06134685A JP 4309221 A JP4309221 A JP 4309221A JP 30922192 A JP30922192 A JP 30922192A JP H06134685 A JPH06134685 A JP H06134685A
Authority
JP
Japan
Prior art keywords
spring
dog
limit switch
push plate
state
Prior art date
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.)
Granted
Application number
JP4309221A
Other languages
Japanese (ja)
Other versions
JP3282683B2 (en
Inventor
Mikio Oshima
幹男 大島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP30922192A priority Critical patent/JP3282683B2/en
Publication of JPH06134685A publication Critical patent/JPH06134685A/en
Application granted granted Critical
Publication of JP3282683B2 publication Critical patent/JP3282683B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2300/00—Orthogonal indexing scheme relating to electric switches, relays, selectors or emergency protective devices covered by H01H
    • H01H2300/026—Application dead man switch: power must be interrupted on release of operating member
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2300/00—Orthogonal indexing scheme relating to electric switches, relays, selectors or emergency protective devices covered by H01H
    • H01H2300/028—Application dead man switch, i.e. power being interrupted by panic reaction of operator, e.g. further pressing down push button

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Push-Button Switches (AREA)

Abstract

PURPOSE:To provide a hand operation equipment for a robot of extremely safe fail safe by providing a deadman switch, which comes to be in an OFF state at the time when it is pressed by strong pressure due to pressing pressure when it is gripped, on a fingering part. CONSTITUTION:When a worker strongly grips a fingering part 31 in an emergency due to runaway of a robot and others, a push plate 5 is pushed into a recessed part 32 against spring pressure of a spring 9, a collar part 71 of a shaft 7 pushes up a spring presser foot 83 until a collar part 81 of the spring presser foot 83 makes contact with a collar part 91 of a spring presser foot P2, a limit switch 41 of an A contact point is released from a dog 2 and it is made to be in an OFF state. At this time, as the dog is made to engage with a limit switch 42 of a B contact point, the limit switch 42 comes to be in an OFF state in the same way, and the OFF state is certainly maintained.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、産業用ロボットへの教
示操作を行うロボット用の手持ち操作器に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand-held manipulator for a robot for teaching an industrial robot.

【０００２】[0002]

【従来の技術】従来、産業用ロボットへ教示操作する時
に、作業者が手持ち操作器を片手または両手で把持し、
両手の親指または把持していない手の指で操作器上のキ
ーを押して行っている。手持ち操作器にはロボット運転
操作上の安全のために、手で触れている間は動作し、手
を離したときに停止する、いわゆるデッドマンスイッチ
を組み込んでおり、作業者が手持ち操作器の側方から把
持した際に、各指先が同時に当接するように、手持ち操
作器の裏面にデッドマンスイッチの押し板を配置し、作
業者の手が当たる操作器裏面側縁部には傾斜面を設けた
ものが開示されている（例えば、特開昭６３−２０７５
８０号）。また、作業者が手持ち操作器を長い時間把持
しても疲れないように、手持ち操作器の裏側に指にフィ
ットする形状の指掛部を設けたものが開示されている
（例えば、実開昭６３−７０８９３号）。2. Description of the Related Art Conventionally, when teaching an industrial robot, an operator holds a hand-held operating device with one or both hands,
The user presses the keys on the controller with the thumbs of both hands or the fingers of the ungripped hands. For the safety of robot operation, the handheld controller incorporates a so-called deadman switch that operates while touching with the hand and stops when the hand is released. A push plate of a deadman switch is placed on the back surface of the handheld operation device so that the fingertips simultaneously contact each other when grasped from one side, and an inclined surface is provided on the back side edge of the operation device on which the operator's hand touches. Have been disclosed (for example, JP-A-63-2075).
No. 80). Further, there is disclosed a device in which a finger-holding portion having a shape that fits a finger is provided on the back side of the hand-held operating device so that an operator does not get tired even if the hand-held operating device is held for a long time. 63-70893).

【０００３】[0003]

【発明が解決しようとする課題】ロボットの教示作業は
ロボット本体の近くで行うため、ロボットが何らかの原
因で暴走した時に、作業者を保護するためにロボットを
急停止する必要がある。ロボットが暴走した時に、瞬間
の動作として作業者は手持ち操作器から手を離すことも
あるが、強く握り締めることもある。ところが、上記の
ように、手を離したときに停止するデッドマンスイッチ
を組み込んだ構成では、手持ち操作器から手を離す時は
効果があるが、強く握り締める時にはその目的を果たさ
ないという欠点があった。本発明は、ロボットの暴走時
に作業者が手持ち操作器から手を離す時も、強く握り締
める時も、スイッチを切るようにしたフェイルセーフの
ロボット用手持ち操作器を提供することを目的とするも
のである。Since the teaching work of the robot is performed near the robot body, when the robot runs away for some reason, it is necessary to stop the robot suddenly to protect the worker. When the robot runs out of control, the operator may release his hand from the handheld operating device as an instantaneous action, but may also squeeze it tightly. However, as described above, in the configuration incorporating the deadman switch that stops when the hand is released, it is effective when the hand is released from the handheld device, but there is a drawback that it does not serve its purpose when strongly gripped. . It is an object of the present invention to provide a fail-safe handheld controller for a robot, which is adapted to switch off the worker when the robot is out of control and when the operator releases the handheld controller, or when the operator grips it tightly. is there.

【０００４】[0004]

【課題を解決するための手段】本発明は、箱体の裏板の
少なくとも一方側縁に指掛部を設けた手持ち操作器にお
いて、前記指掛部に圧力が加わらない状態でＯＦＦ状態
となり、前記指掛部を把持した時に押し付ける圧力によ
ってＯＮ状態となり、前記把持した時の押し付ける圧力
より強い圧力で押し付けた時にＯＦＦ状態となるデッド
マンスイッチを前記指掛部に設けたものである。とく
に、前記デッドマンスイッチが、前記指掛部に設けた凹
部に出入りし得る押し板と、前記押し板に固定したシャ
フトと、前記シャフトに設けたドッグと、前記ドッグに
係合し得るリミットスイッチと、前記押し板を前記凹部
の開口部付近に維持して前記ドッグと前記リミットスイ
ッチとの係合を開放することによりＯＦＦ状態とする弱
いバネと、前記押し板を前記弱いバネのバネ圧に抗して
押し付けて前記ドッグが前記リミットスイッチと係合す
る位置に維持してＯＮ状態とし、かつ前記ドッグが前記
リミットスイッチと係合する位置より更に前記押し板を
押し付けた時に前記ドッグと前記リミットスイッチとの
係合が外れてＯＦＦ状態となるようにした強いバネとを
備えたものである。DISCLOSURE OF THE INVENTION The present invention is a hand-held operating device in which a finger-hooking portion is provided on at least one side edge of a back plate of a box body, and is in an OFF state when no pressure is applied to the finger-hooking portion. A deadman switch is provided in the finger hook portion to be turned on by a pressure applied when the finger hook portion is gripped, and turned off when pressed with a pressure stronger than the pressure applied when the finger grip portion is gripped. In particular, the deadman switch includes a push plate that can move in and out of a recess provided in the finger hook portion, a shaft fixed to the push plate, a dog provided on the shaft, and a limit switch that can be engaged with the dog. , A weak spring that keeps the push plate near the opening of the recess to release the engagement between the dog and the limit switch, and a weak spring that holds the push plate against the spring pressure of the weak spring. The dog and the limit switch when the dog is pressed to maintain the ON state by maintaining the dog in a position where the dog engages with the limit switch, and when the push plate is further pressed from the position where the dog engages with the limit switch. It is provided with a strong spring which is disengaged from and to be turned off.

【０００５】[0005]

【作用】作業者が指掛部を強く握った場合、強いバネの
バネ圧に抗して押し板を凹部の中に押し込み、弱いバネ
のバネ押えの上のツバ部が強いバネのバネ押えの上のツ
バ部に当接するまで、シャフトのツバ部が弱いバネのバ
ネ押えを押し上げ、一方のドッグからＡ接点のリミット
スイッチを開放し、ＯＦＦ状態にする。このとき、他方
のドッグはＢ接点のリミットスイッチに係合するように
してあるので、両方のリミットスイッチがＯＦＦ状態と
なる。[Operation] When the operator grips the finger rest strongly, the push plate is pushed into the concave portion against the spring pressure of the strong spring, and the brim portion above the spring retainer of the weak spring acts as the spring retainer of the strong spring. Until the upper brim contacts the upper brim, the spring retainer of the spring with the weak brim of the shaft is pushed up, and the limit switch for the A contact is opened from one dog to turn it off. At this time, since the other dog engages with the limit switch of the B contact, both limit switches are turned off.

【０００６】[0006]

【実施例】本発明を図に示す実施例について説明する。
図１は本発明の実施例の図２に示すＡ−Ａ断面に沿う断
面図、図２は平面図で、手持ち操作器１はキーボード部
２１および表示部２２を備えて操作回路部２３を覆う表
板２と、表板２と合わせて操作回路部２３を囲む裏板３
とから箱体を構成してある。裏板３の両側縁には作業者
が把持する時に親指を除く４指が力を入れない状態でフ
ィットするように裏側に突出し、曲面形状を有する指掛
部３１を設けてある。左側の指掛部３１には凹部３２を
設けて、その底部にデッドマンスイッチ４を装着してあ
る。凹部３２の開口部には、指掛部３１とほぼ同じ曲面
を有し、凹部３２の内側に入り込んで出入りし得る押し
板５を設け、指掛部３１を握る時、押し板５が押されて
凹部３２の中に入り込み、デッドマンスイッチ４を動作
させるようにしてある。表板２の側面には、ストラップ
６を設けて手持ち操作器１が不注意により落下するのを
防止している。デッドマンスイッチ４の詳細な構造は、
図３に示す。すなわち、凹部３２の底部に設けた貫通穴
３３を通るシャフト７を設け、シャフト７の裏板３の内
側に入る中間部にはツバ部７１を設けて貫通穴３３の周
辺に当接するようにし、貫通穴３３の周囲には内径がツ
バ部７１より大きい径を有し、ツバ部７１の厚さより大
きい高さを持ったリング状の突起部３４を設けてある。
裏板３の外側に出ているシャフト７の端部には押し板５
をねじによって固定してある。シャフト７の外周側には
作業者が触る程度で撓む程度のバネ圧の弱いバネ８を設
け、バネ８の外周側には上端の内側と下端の外側とにツ
バ部８１、８２を有する筒状のバネ押え８３を設けてあ
る。バネ８の上端はツバ部８１によって押え、下端はツ
バ７１部に当接させ、ツバ部８２を突起部３４の上に載
せてある。バネ押え８３の外周側にはバネ圧の強いバネ
９を設け、バネ９の外周側には上端内側にツバ部９１を
設けたバネ押え９２を設け、バネ押え９２の下端を裏板
３に固定してある。バネ９の上端はツバ部９１に当接
し、下端はバネ押え８３のツバ部８２に当接するように
してある。シャフト７の上端には二つのドッグ７２、７
３を設け、それぞれ裏板３に固定したＡ接点のリミット
スイッチ４１とＢ接点のリミットスイッチ４２に係合す
るようにしてある。シヤフト７の押し板５の取り付け部
と貫通穴３３付近との間には防塵用ゴム膜３５を設けて
ある。Embodiments of the present invention will be described with reference to the drawings.
1 is a cross-sectional view taken along the line A-A shown in FIG. 2 of the embodiment of the present invention, FIG. 2 is a plan view, and the handheld operating device 1 includes a keyboard portion 21 and a display portion 22 and covers an operating circuit portion 23. The front plate 2 and the back plate 3 surrounding the operation circuit unit 23 together with the front plate 2.
The box is constructed from the. On both side edges of the back plate 3, finger hook portions 31 having curved shapes are provided so that four fingers excluding the thumb are fitted to the back side so as to fit with no force when gripped by an operator. A recess 32 is provided in the finger hook 31 on the left side, and the deadman switch 4 is attached to the bottom of the recess 32. The opening of the recess 32 has a curved surface that is substantially the same as the finger hook 31 and is provided with a push plate 5 that can enter and exit the inside of the recess 32. When the finger hook 31 is gripped, the push plate 5 is pushed. It enters into the concave portion 32 to operate the deadman switch 4. A strap 6 is provided on the side surface of the front plate 2 to prevent the handheld operating device 1 from being inadvertently dropped. The detailed structure of the deadman switch 4 is
As shown in FIG. That is, the shaft 7 that passes through the through hole 33 provided at the bottom of the recess 32 is provided, and the flange portion 71 is provided at the intermediate portion of the shaft 7 that enters inside the back plate 3 so as to contact the periphery of the through hole 33. Around the through hole 33, a ring-shaped projection 34 having an inner diameter larger than that of the brim 71 and a height larger than the thickness of the brim 71 is provided.
At the end of the shaft 7 protruding outside the back plate 3, there is a push plate 5
Are fixed with screws. The outer peripheral side of the shaft 7 is provided with a spring 8 having a weak spring pressure that can be bent by the touch of an operator, and the outer peripheral side of the spring 8 has a brim portion 81, 82 on the inner side of the upper end and the outer side of the lower end. A spring holder 83 having a shape is provided. The upper end of the spring 8 is pressed by the brim portion 81, the lower end is brought into contact with the brim 71 portion, and the brim portion 82 is placed on the protrusion 34. A spring 9 having a strong spring pressure is provided on the outer peripheral side of the spring retainer 83, a spring retainer 92 having a flange portion 91 inside the upper end is provided on the outer peripheral side of the spring 9, and the lower end of the spring retainer 92 is fixed to the back plate 3. I am doing it. The upper end of the spring 9 is in contact with the flange 91, and the lower end is in contact with the flange 82 of the spring retainer 83. At the top of the shaft 7 are two dogs 72, 7
3 are provided so as to be engaged with the A-contact limit switch 41 and the B-contact limit switch 42 fixed to the back plate 3, respectively. A dustproof rubber film 35 is provided between the mounting portion of the push plate 5 of the shaft 7 and the vicinity of the through hole 33.

【０００７】手持ち操作器１を把持していない状態で
は、バネ８によってツバ部７１は裏板３に押し付けら
れ、シャフト７は下がった状態でドッグ７２、７３はい
ずれもリミットスイッチ４１、４２に係合していない。
したがって、Ａ接点のリミットスイッチ４１がＯＦＦ状
態となっているので、Ｂ接点のリミットスイッチ４２が
ＯＮ状態でも操作回路はＯＦＦ状態となる。手持ち操作
器１を把持して操作する場合、押し板５と共に指掛部３
１を握るが、この時は図３（ｂ）に示すように、押し板
５が凹部３２に入り込み、バネ圧の弱いバネ８がツバ部
７１がバネ押え８のツバ部８２に当接するまで撓む。こ
の状態で、シャフト７はドッグ７２、７３を上昇させ、
ドッグ７２がリミットスイッチ４１を動作させ、操作回
路を教示等の作業が可能なＯＮ状態にする。このとき、
ドッグ７３はリミットスイッチ４２に係合しないように
してあるので、Ｂ接点のリミットスイッチ４２はＯＮ状
態となり、確実にＯＮ状態を維持する。ロボットの暴走
等により緊急に停止する必要が発生して作業者が指掛部
３１を離した場合は、バネ８のバネ圧によりツバ部７１
を介してシャフト７を押し下げ、ドッグ７２をリミット
スイッチ４１から離し、図３（ａ）に示すＯＦＦ状態に
戻る。ロボットの暴走等により緊急に作業者が指掛部３
１を強く握った場合は、図３（ｂ）の状態から、バネ９
のバネ圧に抗して押し板５を凹部３２の中に押し込み、
図３（ｃ）に示すように、バネ押え８３のツバ部８１が
バネ押え９２のツバ部９１に当接するまでシャフト７の
ツバ部７１がバネ押え８３を押し上げ、ドッグ７２から
Ａ接点のリミットスイッチ４１を開放し、ＯＦＦ状態に
する。このとき、ドッグ７３はＢ接点のリミットスイッ
チ４２に係合するようにしてあるので、リミットスイッ
チ４２もＯＦＦ状態となり、確実にＯＦＦ状態を維持す
る。以上は、Ａ接点とＢ接点の２個のリミットスイッチ
を用いて、いわゆるフェイルセーフ機構として、確実に
ＯＮ、ＯＦＦ状態を維持するようにしたが、Ａ接点のみ
を使用してもよい。また、デッドマンスイッチを左側の
指掛部に設けたが、左ききの作業者のために右側の指掛
部に設けてもよく、また両方に設けてもよい。When the handheld controller 1 is not gripped, the brim 71 is pressed against the back plate 3 by the spring 8 and the shaft 7 is lowered, so that the dogs 72 and 73 are engaged with the limit switches 41 and 42. It doesn't match.
Therefore, since the A contact limit switch 41 is in the OFF state, the operation circuit is in the OFF state even when the B contact limit switch 42 is in the ON state. When the handheld operating device 1 is gripped and operated, the push plate 5 and the finger hook 3
3 at this time, as shown in FIG. 3B, the push plate 5 enters the recess 32, and the spring 8 with a weak spring pressure bends until the brim portion 71 contacts the brim portion 82 of the spring retainer 8. Mu. In this state, the shaft 7 raises the dogs 72 and 73,
The dog 72 operates the limit switch 41 to put the operation circuit into an ON state in which work such as teaching is possible. At this time,
Since the dog 73 is not engaged with the limit switch 42, the B contact limit switch 42 is in the ON state and reliably maintains the ON state. When an operator needs to stop urgently due to a runaway of the robot or the like and the operator releases the finger-holding portion 31, the brim portion 71 is caused by the spring pressure of the spring 8.
The shaft 7 is pushed down via the, the dog 72 is separated from the limit switch 41, and the state returns to the OFF state shown in FIG. When the robot goes out of control, the worker can urgently touch the finger hook 3
When 1 is strongly grasped, the spring 9 is pulled from the state of FIG. 3 (b).
Push the push plate 5 into the recess 32 against the spring pressure of
As shown in FIG. 3C, the brim portion 71 of the shaft 7 pushes up the spring retainer 83 until the brim portion 81 of the spring retainer 83 comes into contact with the flange portion 91 of the spring retainer 92, and the dog 72 causes an A-contact limit switch. 41 is opened and turned off. At this time, since the dog 73 engages with the limit switch 42 of the B contact, the limit switch 42 is also turned off, and the off state is maintained reliably. In the above description, two limit switches, the A contact and the B contact, are used to reliably maintain the ON and OFF states as a so-called fail-safe mechanism, but only the A contact may be used. Further, although the deadman switch is provided on the left finger hook portion, it may be provided on the right finger hook portion for a left-handed worker, or may be provided on both.

【０００８】[0008]

【発明の効果】以上述べたように、本発明によれば、ロ
ボットの暴走等によるパニック状態で、作業者が手持ち
操作器を強く握り締めても確実にＯＦＦ状態となるの
で、極めて安全なフェイルセーフのロボット用手持ち操
作器を提供できる効果がある。As described above, according to the present invention, in a panic state due to a robot's runaway or the like, even if the operator strongly grips the hand-held operating device, it is surely turned off, so that it is a very safe fail-safe. It is effective to provide a hand-held operating device for robots.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明の実施例を示す正断面図である。FIG. 1 is a front sectional view showing an embodiment of the present invention.

【図２】図１の平面図である。FIG. 2 is a plan view of FIG.

【図３】本発明の実施例の動作を示す要部側断面図であ
る。FIG. 3 is a side sectional view of an essential part showing the operation of the embodiment of the present invention.

【符号の説明】[Explanation of symbols]

１ 手持ち操作器 ２ 表板 ３ 裏板 ３１ 指掛部 ３２ 凹部 ３３ 貫通穴 ３４ 突起部 ４ デッドマンスイッチ ４１、４２ リミットスイッチ ５ 押し板 ７ シャフト ７１、８１、８２、９１ ツバ部 ７２、７３ ドッグ ８、９ バネ ８３、９２ バネ押え 1 Handheld Operator 2 Front Plate 3 Back Plate 31 Finger Hook 32 Concave 33 Through Hole 34 Projection 4 Deadman Switch 41, 42 Limit Switch 5 Push Plate 7 Shaft 71, 81, 82, 91 Flange 72, 73 Dog 8, 9 Spring 83, 92 Spring retainer

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】 箱体の裏板の少なくとも一方側縁に指掛
部を設けた手持ち操作器において、前記指掛部に圧力が
加わらない状態でＯＦＦ状態となり、前記指掛部を把持
した時に押し付ける圧力によってＯＮ状態となり、前記
把持した時の押し付ける圧力より強い圧力で押し付けた
時にＯＦＦ状態となるデッドマンスイッチを前記指掛部
に設けたことを特徴とする手持ち操作器。1. A handheld operating device having a finger-holding portion on at least one side edge of a back plate of a box body, which is turned off when pressure is not applied to the finger-holding portion, and is gripped when the finger-holding portion is gripped. A hand-held manipulator provided with a deadman switch in the finger-holding part, which is turned on by pressing pressure and turned off by pressing with a pressure stronger than the pressing pressure when gripped. 【請求項２】 前記デッドマンスイッチが、前記指掛部
に設けた凹部に出入りし得る押し板と、前記押し板に固
定したシャフトと、前記シャフトに設けたドッグと、前
記ドッグに係合し得るリミットスイッチと、前記押し板
を前記凹部の開口部付近に維持して前記ドッグと前記リ
ミットスイッチとの係合を開放することによりＯＦＦ状
態とする弱いバネと、前記押し板を前記弱いバネのバネ
圧に抗して押し付けて前記ドッグが前記リミットスイッ
チと係合する位置に維持してＯＮ状態とし、かつ前記ド
ッグが前記リミットスイッチと係合する位置より更に前
記押し板を押し付けた時に前記ドッグと前記リミットス
イッチとの係合が外れてＯＦＦ状態となるようにした強
いバネとを備えた請求項１記載の手持ち操作器。2. The deadman switch may engage with a push plate that can move in and out of a recess provided in the finger hook, a shaft fixed to the push plate, a dog provided on the shaft, and the dog. A limit switch, a weak spring that keeps the push plate near the opening of the recess to release the engagement between the dog and the limit switch, and a spring for the push plate that is the weak spring. When the dog is pressed against the pressure to maintain the dog in a position where it engages with the limit switch to be in an ON state, and when the push plate is further pressed from the position where the dog engages with the limit switch, The handheld operating device according to claim 1, further comprising a strong spring that is disengaged from the limit switch and is turned off.
JP30922192A 1992-10-22 1992-10-22 Hand-held controller Expired - Lifetime JP3282683B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP30922192A JP3282683B2 (en) 1992-10-22 1992-10-22 Hand-held controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP30922192A JP3282683B2 (en) 1992-10-22 1992-10-22 Hand-held controller

Publications (2)

Publication Number Publication Date
JPH06134685A true JPH06134685A (en) 1994-05-17
JP3282683B2 JP3282683B2 (en) 2002-05-20

Family

ID=17990396

Family Applications (1)

Application Number Title Priority Date Filing Date
JP30922192A Expired - Lifetime JP3282683B2 (en) 1992-10-22 1992-10-22 Hand-held controller

Country Status (1)

Country Link
JP (1) JP3282683B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996009147A1 (en) * 1994-09-19 1996-03-28 Kabushiki Kaisha Yaskawa Denki Hand-held operating unit
US7154197B2 (en) 2001-05-30 2006-12-26 Toyota Jidosha Kabushiki Kaisha Control apparatus and control method for the same
KR102161002B1 (en) * 2019-09-23 2020-09-29 주식회사 세펙트 Enable Switch

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996009147A1 (en) * 1994-09-19 1996-03-28 Kabushiki Kaisha Yaskawa Denki Hand-held operating unit
US5665945A (en) * 1994-09-19 1997-09-09 Kabushiki Kaisha Yaskawa Denki Portable controller with deadman switch
US7154197B2 (en) 2001-05-30 2006-12-26 Toyota Jidosha Kabushiki Kaisha Control apparatus and control method for the same
KR102161002B1 (en) * 2019-09-23 2020-09-29 주식회사 세펙트 Enable Switch

Also Published As

Publication number Publication date
JP3282683B2 (en) 2002-05-20

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