Desktop Robot

Abstract

The present invention provides a desktop robot that has the function of notifying a selected program using a display unit and can simplify the display unit and its circuit structure to reduce costs. The desktop robot (1A) includes: a plurality of operating switches (15-17) having a light-emitting unit; a display unit (18) that displays identification information; a storage unit (14) that stores a plurality of programs; a registration unit (13a) that associates the plurality of programs with the plurality of operating switches (15-17); and a display and light control unit (13b) that, in a standby state before a signal from the operating switches (15-17) is output, sequentially displays identification information of the programs associated by the registration unit (13a) on the display unit (18), and lights up the operating switches (15-17) associated with the programs by the registration unit (13a) in accordance with the timing of displaying the identification information.

Description

Technical Field

[0001] The present invention relates to a desktop robot which can be arranged on a table or the like. Background Art

[0002] For example, there are known small robots called desktop robots or desktop robots. These robots use a three-dimensional linear motion mechanism to drive tools and workpieces in three dimensions, and can perform various operations such as assembling workpieces, screwing workpieces, applying solvents, etc. to workpieces, cutting workpieces, and welding workpieces. As their name suggests, most desktop robots have been miniaturized to the point where they can be placed on a table or the like, and can also be used as so-called semi-automatic machines that work in collaboration with operators. The desktop robot shown in Patent Document 1 can work in collaboration with multiple operators from both sides of a work table while holding it.

[0003] Due to the fact that they are often used as semi-automatic machines, desktop robots are more often used for the production of small quantities and a variety of products than for mass production. Therefore, desktop robots are often configured to store a plurality of operation data (sometimes also referred to as teaching data or programs), and by switching to a program corresponding to the operation, they can also cope with the production of various products. In the desktop robot shown in patent document 1, it is also possible to select a desired program from a plurality of programs that describe the processing flow by operating a program selection switch (25). Moreover, the number of the selected program can be displayed on the liquid crystal display unit (27) to inform the operator, so that the operator can confirm whether the intended program has been selected.

[0004] [Prior art literature]

[0005] [Patent Document]

[0006] [Patent Document 1] Japanese Patent No. 2785223 Summary of the Invention

[0007] [Problems to be solved by the invention]

[0008] In recent years, the use of desktop robots has become more sophisticated. For example, sometimes multiple programs such as the program corresponding to the operation itself and the program corresponding to the maintenance operation of the operation tool are combined and executed in sequence to perform complex operations. In this case, if there are multiple operating switches and display units corresponding to the executed programs, it is no longer necessary to operate the program selection switch every time the program is switched, so the operability can be expected to be improved. In addition, the electrical structure of the operating switch is not too complicated, and it is not technically difficult to add an operating switch. However, in the case of adding a display unit, the circuit structure will be complicated and the cost will increase significantly due to the change of the control program or the addition of the control unit.

[0009] In view of this problem, the purpose of the present invention is to provide a desktop robot that, by setting a plurality of operation switches corresponding to programs, can be easily operated even when performing complex operations in which a plurality of programs are combined and executed in sequence. Moreover, the robot not only has the function of informing the operator of the program assigned to each operation switch, but also can simplify the display unit and circuit structure to suppress costs.

[0010] [Technical means to solve the problem]

[0011] The desktop robot of the present invention includes: a plurality of operating switches having a light-emitting portion; a display portion that displays identification information; a storage portion that stores a plurality of programs, which are associated with the identification information and execute specified operations in the desktop robot according to signals from the operating switches; a registration portion that associates the plurality of programs with the plurality of operating switches respectively; and a display light-emitting control portion that, in a standby state before the signal from the operating switch is output, causes the identification information of the programs associated through the registration portion to be displayed on the display portion in sequence, and causes the operating switches associated with the programs through the registration portion to light up in response to the timing of displaying the identification information.

[0012] Preferably, the desktop robot further includes an operating portion, the operating portion including a plurality of the operating switches, and the operating portion is detachable relative to the robot body.

[0013] Moreover, preferably, this desktop robot includes a switching switch for switching the program associated with the operating switch to other programs, and the registration unit switches the associated programs to other programs for all of the multiple operating switches based on the signal from the switching switch.

[0014] [Effects of the Invention]

[0015] According to the desktop robot of the present invention, even when executing multiple programs in combination in sequence, it can be easily operated through multiple operating switches. Moreover, only one display unit is required to inform the operator of the selected program, so compared with the case where multiple display units are provided corresponding to multiple operating switches, the structure can be simplified and the cost can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a perspective view showing a first embodiment of the desktop robot of the present invention.

[0017] Figure 2 yes Figure 1 Block diagram of the desktop robot shown.

[0018] Figure 3 A diagram related to the information contained in the program.

[0019] Figure 4 is with Figure 1 The diagram shows the relationship between the lighting state of the operation switch and the display state of the display unit in the desktop robot.

[0020] Figure 5 This is a perspective view showing a second embodiment of the desktop robot of the present invention.

[0021] Figure 6 yes Figure 5 Block diagram of the desktop robot shown.

[0022] Figure 7 is with Figure 5 The diagram shows the relationship between the lighting state of the operation switch and the display state of the display unit in the desktop robot.

[0023] [Explanation of Reference Numerals]

[0024] 1A: Desktop Robot

[0025] 1B: Desktop Robot

[0026] 2A: Robot body

[0027] 2B: Robot body

[0028] 3A: Operation Department

[0029] 3B: Operation Department

[0030] 13a: Registration Department

[0031] 13b: Display light emission control unit

[0032] 14: Storage

[0033] 15: First operating switch (operating switch)

[0034] 16: Second operating switch (operating switch)

[0035] 17: Third operating switch (operation switch)

[0036] 18: Display unit

[0037] 19: Toggle switch

[0038] 21: Left switch (operation switch)

[0039] 22: Right switch (operation switch) DETAILED DESCRIPTION

[0040] Hereinafter, an embodiment of the desktop robot of the present invention will be described with reference to the accompanying drawings. In the following description, for convenience, the right, left, front, back, up, down, and X, Y, and Z directions shown in the accompanying drawings will be used for description.

[0041] Figures 1 to 4 A desktop robot 1A is shown as a first embodiment of the desktop robot of the present invention. The desktop robot 1A includes a robot body 2A, an operating part 3A, and a cable 4. The cable 4 electrically connects the robot body 2A and the operating part 3A. Moreover, the cable 4 of this embodiment is removable from the operating part 3A. That is, the operating part 3A can be detached relative to the robot body 2A, so even if the specifications of the operating part 3A need to be changed, for example, in the case of changing the number of operating switches described below, it can be easily handled.

[0042] The robot body 2A includes an X mechanism 6, a Y mechanism 8, and a Z mechanism. The X mechanism includes a platform 5 that can move in the front-back direction (X direction), the Y mechanism 8 includes a Y unit 7 that can move in the left-right direction (Y direction), and the Z mechanism includes a Z base 9 that can move in the up-down direction (Z direction). In addition, the Z mechanism is built into the Y unit 7. Figure 1 Furthermore, the X mechanism 6, the Y mechanism 8 and the Z mechanism of this embodiment are each Figure 2 The X motor 10, Y motor 11 and Z motor 12 are shown to drive the motor.

[0043] Various workpieces can be mounted on the platform 5, and tools such as screwdrivers and soldering irons can be mounted on the Z base 9. Therefore, the desktop robot 1A can move the workpiece and the tool relative to each other in three dimensions to perform operations such as screwing or welding on the workpiece.

[0044] Moreover, if Figure 2 As shown, the robot body 2A includes a control unit 13 electrically connected to the X-motor 10 and other components. The control unit 13 controls the operation of the X-motor 10 and other components, causing the robot body 2A to perform various operations such as screw fastening and welding. Furthermore, the control unit 13 in this embodiment also functions as a registration unit 13a and a display and light control unit 13b, described later. Furthermore, the robot body 2A includes a storage unit 14 electrically connected to the control unit 13 and storing programs and various information used by the control unit 13 to perform various control operations.

[0045] Here, while referring to Figure 3, while explaining an example of the information contained in the program. In this embodiment, programs with program numbers Pg(1) to Pg(n) are stored in the storage unit 14. Program number Pg(1) includes point numbers Pt(1) to Pt(a), and program number Pg(n) includes point numbers Pt(b) to Pt(c). Moreover, each point number Pt includes: the position coordinates representing the moving target of the platform 5 and the Z base 9; the speed in the X direction, Y direction, and Z direction when the platform 5 and the Z base are moved toward the moving target; and a command for causing the tool mounted on the Z base 9 to perform a prescribed action after the platform 5 and the Z base 9 are moved. For example, point number Pt(1) indicates that the platform 5 is moved to the X-coordinate X1 at a speed of V1, and the Z-base 9 is moved in the Y and Z directions at a speed of V1 to positions with Y-coordinates Y1 and Z-coordinates Z1. After the movement, the tool attached to the Z-base 9 is caused to perform the action Out 1 (for example, when a screwdriver for screwing is used as the tool, the screwdriver is rotated at a low speed). The content of point number Pt is not limited to position coordinates, speed, and commands, and can be modified as appropriate, for example, by adding other items (for example, the acceleration when moving the platform 5 or the Z-base 9). Furthermore, the content can be modified as appropriate, for example, the speed can be different in the X, Y, and Z directions, and the command can be a command to receive information from the tool (for example, receiving information from a predetermined sensor provided on the tool).

[0046] like Figure 1 、 Figure 2 As shown, the operating unit 3A includes a first operating switch 15, a second operating switch 16, and a third operating switch 17 electrically connected to the control unit 13. The first operating switch 15 outputs an ON signal when pressed. In addition, the first operating switch 15, the second operating switch 16, and the third operating switch 17 have light-emitting units (first light-emitting unit 15a, second light-emitting unit 15b, and third light-emitting unit 15c) that emit light in response to a command from the control unit 13. As described later, one of the programs with program numbers Pg(1) to Pg(n) is assigned to each of the first operating switch 15.

[0047] The operating unit 3A includes a display unit 18 electrically connected to the control unit 13 for displaying identification information (numbers in this embodiment). The display unit 18 in this embodiment includes two so-called seven-segment displays arranged horizontally and can display two-digit numbers.

[0048] Furthermore, the operating unit 3A includes a selector switch 19 electrically connected to the control unit 13. The selector switch 19 is used to switch the program numbered Pg(1) assigned to each of the first operating switch 15, the second operating switch 16, and the third operating switch 17 to another program. The selector switch 19 of this embodiment includes two switches (upward switch 19a and downward switch 19b) that output an on signal when pressed.

[0049] Furthermore, the operating unit 3A of the present embodiment is further provided with an emergency stop button 20 for urgently stopping the robot body 2A.

[0050] Next, the registering unit 13a included in the control unit 13 will be described. The control unit 13 functions as the registering unit 13a, and thus any one of the programs numbered Pg(1) to Pg(n) is assigned to each of the first operating switch 15, the second operating switch 16, and the third operating switch 17.

[0051] First, the switch to be assigned a program (in this case, the first operating switch 15) among the first, second, and third operating switches 15, 16, and 17 is pressed (long pressed) for a longer time than a normal press. That is, the on signal from the first operating switch 15 is output for a longer time than a normal press. This causes the control unit 13 to transition from the normal mode, in which the robot body 2A operates, to the registration mode. Furthermore, in the registration mode, the robot body 2A is configured not to operate even if the first operating switch 15 is pressed. In the registration mode, the control unit 13 sends commands to the first operating switch 15 and the display unit 18, lighting the first operating switch 15 and causing the display unit 18 to flash the program number Pg of the program currently assigned to the first operating switch 15. Furthermore, in the initial state, when no program has been assigned to the first operating switch 15, identification information indicating this (e.g., 00) flashes.

[0052] Next, the operator presses the scroll up switch 19a or the scroll down switch 19b, causing the display unit 18 to display the numeral "02" indicating the program number Pg of the program to be registered to the first operating switch 15. For example, to assign the program number 2 to the first operating switch 15, the operator presses the scroll up switch 19a or the scroll down switch 19b, causing the display unit 18 to display the numeral "02." Subsequently, by pressing and holding the first operating switch 15, the control unit 13 stores in the storage unit 14 that the program number 2 has been assigned to the first operating switch 15, and the mode shifts from the registration mode to the normal mode.

[0053] Subsequently, programs can be assigned to the second operating switch 16 and the third operating switch 17 in the same manner as for the first operating switch 15. In this embodiment, the storage unit 14 stores a program with program number 47 assigned to the second operating switch 16 and a program with program number 13 assigned to the third operating switch 17.

[0054] The desktop robot 1A of this embodiment is configured such that, in normal mode, it enters a standby state until any of the first operating switch 15, the second operating switch 16, and the third operating switch 17 is pressed. When any of these switches is pressed, it enters an operational state in which it executes a predetermined action based on the assigned program. Furthermore, the control unit 13 functions as a display and light control unit 13b. In the standby state, the display and light control unit 13b causes the program number Pg assigned to the first operating switch 15 and the like to be displayed on the display unit 18, and illuminates the first light-emitting unit 15a and the like of the first operating switch 15 and the like in accordance with the timing of the display on the display unit 18.

[0055] When the display light control unit 13b functions, in the desktop robot 1A, as shown in FIG. Figure 4 As shown, first operation switch 15 lights up, and the number "02" indicating program number 2 registered to first operation switch 15 is displayed on display unit 18. Then, after a predetermined time, first operation switch 15 turns off, second operation switch 16 turns on, and the number "47" indicating program number 47 registered to second operation switch 16 is displayed on display unit 18. Furthermore, when a predetermined time has passed, second operation switch 16 turns off, third operation switch 17 turns on, and the number "13" indicating program number 13 registered to third operation switch 17 is displayed on display unit 18. Thereafter, after a predetermined time has passed, third operation switch 17 turns off, and then first operation switch 15 turns on, and the number "02" is displayed on display unit 18, repeating this pattern.

[0056] In this manner, in the desktop robot 1A of this embodiment, the first operating switch 15 and the like light up in response to the timing of the display of a number on the display unit 18, thereby clearly notifying the operator of which program is associated with each of the first operating switches 15 and the like. Furthermore, the desktop robot 1A includes a plurality of first operating switches 15 and the like, each having a relatively simple electrical structure, while using only one display unit 18. This reduces the complexity of the overall circuit structure and thus reduces costs.

[0057] Next, refer to Figures 5 to 7 , while explaining a desktop robot 1B as a second embodiment of the desktop robot of the present invention. Components having the same functions as those of the desktop robot 1A are denoted by the same reference numerals in the drawings and detailed explanations thereof are omitted.

[0058] The desktop robot 1B includes a robot body 2B and an operating unit 3B. The robot body 2B and operating unit 3B are electrically connected via a cable (not shown) located within the robot body 2B and operating unit 3B. Furthermore, the operating unit 3B in this embodiment is provided as a front panel of the robot body 2B, but can be removed from the robot body 2B as a unit by removing screws (not shown).

[0059] like Figure 5 As shown, the robot body 2B includes two sets of the platform 5 and the X mechanism 6 on the left and right sides of the robot body 2B. Here, the left side of the robot body 2B is referred to as the left platform 5L and the left X mechanism 6L, and the right side of the robot body 2B is referred to as the right platform 5R and the right X mechanism 6R. Figure 6 As shown, the robot body 2B includes a left X motor 10L that drives the left X mechanism 6L and a right X motor 10R that drives the right X mechanism 6R.

[0060] That is, according to the robot main body 2B of this embodiment, the workpiece can be installed on the left platform 5L and the right platform 5R respectively, so that the following usage can be realized, for example, that is, when using the tool installed on the Z base 9 to operate the workpiece installed on the left platform 5L, the workpiece is removed from the right platform 5R and a new workpiece is installed.

[0061] Furthermore, the operating unit 3B includes two switches: a left switch 21 and a right switch 22. Similar to the first operating switch 15 and the like, when pressed, the left switch 21 and the right switch 22 transmit an on signal to the control unit 13. Furthermore, in response to a command from the control unit 13, the left light-emitting unit 21a and the right light-emitting unit 22a provided on the left switch 21 and the right switch 22 light up.

[0062] Furthermore, the registering unit 13a allocates any one of the programs with program numbers Pg(1) to Pg(n) to the left switch 21 and the right switch 22. Furthermore, the registering unit 13a of this embodiment allocates programs according to the following two rules: programs with odd program numbers Pg are allocated to the left switch 21, and programs with even program numbers Pg are allocated to the right switch 22; and programs with a certain odd program number Pg are processed in pairs with the next even program number.

[0063] Moreover, in this embodiment, in the normal mode in which the robot body 2B can be operated, the registration unit 13a functions by pressing the up switch 19a or the down switch 19b in the standby state before any of the left switch 21 and the right switch 22 is pressed.

[0064] For example, when the program number 1 is assigned to the left switch 21 and the program number 2 is assigned to the right switch 22, the control unit 13 may execute the following operations in the standby state: Figure 7 As shown, the left switch 21 is turned on, and the display unit 18 displays the number "01" indicating the program number 1 currently assigned to the left switch 21. Then, after a predetermined time has passed, the left switch 21 is turned off, the right switch 22 is turned on, and the display unit 18 displays the number "02" indicating the program number 2 currently assigned to the right switch 22. The above process is then repeated.

[0065] And, in this state, for example, when the flip switch 19a is pressed once, the control unit 13 follows the two rules, such as Figure 7 As shown, the left switch 21 is illuminated, and the display unit 18 displays the number "03" indicating the newly assigned program number 3 to the left switch 21. Then, after a predetermined time has elapsed, the left switch 21 is deactivated, the right switch 22 is illuminated, and the display unit 18 displays the number "04" indicating the currently assigned program number 4 to the right switch 22. Furthermore, after the illuminated right switch 22 is deactivated, the aforementioned process is executed again. Furthermore, when the up-switch 19a is pressed once, the control unit 13 stores in the storage unit 14 that the program number 3 is assigned to the left switch 21 and the program number 4 is assigned to the right switch 22. Subsequently, when the operator presses the left switch 21 or the right switch 22, the robot body 2B operates based on the program assigned to the pressed switch.

[0066] In this manner, in the desktop robot 1B of this embodiment, the left switch 21 and the like illuminate in response to the timing of the display of a number on the display unit 18, thereby clearly informing the operator which program is associated with the left switch 21 and the right switch 22, respectively. Furthermore, by pressing the up-switch 19a or the down-switch 19b, the programs assigned to the left and right switches 21 and 22 can be switched to other programs. This reduces the number of times the up-switch 19a or the down-switch 19b is pressed, making program switching easier. Furthermore, in this embodiment, a single display unit 18 is used, thereby reducing the complexity of the overall circuit structure and thus reducing costs.

[0067] While the embodiments embodying the present invention are exemplified above, the present invention is not limited to these specific embodiments. Unless otherwise specified in the above description, various modifications and variations are possible within the scope of the present invention as set forth in the claims. Furthermore, the effects of the embodiments described above are merely illustrative of the effects produced by the present invention and do not necessarily limit the effects of the present invention to those described.

[0068] For example, in the desktop robot 1A of the first embodiment, three first operating switches 15 and the like are provided, but the number may be four or more, or two or less. Furthermore, even if the number of first operating switches 15 and the like is changed, the display unit 18 may still be one. Furthermore, to accommodate an increase or decrease in the number of first operating switches 15 and the like, for example, multiple holes may be pre-formed in the housing of the operating unit 3A and covers may be provided to cover these holes.

[0069] Furthermore, both the desktop robot 1A and the desktop robot 1B include a first operating switch 15 having a light-emitting portion. However, the operating switch and the light-emitting portion may not be identical components. For example, the desktop robot 1A and the desktop robot 1B may include a plurality of operating switches as separate components and an equal number of light-emitting portions, each of which is disposed adjacent to each operating switch.

[0070] Furthermore, the display unit 18 displays two-digit numbers using two seven-segment displays. However, if the number of digits to be displayed increases (or decreases), the number of seven-segment displays can be increased (or decreased). Furthermore, the display unit 18 is not limited to a seven-segment display; for example, a fourteen-segment display or a dot matrix display consisting of dot-shaped displays arranged vertically and horizontally can also be used. Furthermore, the identification information displayed on the display unit 18 is not limited to the numbers described above; for example, characters, symbols, or graphics can also be used.

[0071] Furthermore, regarding the timing of the display on the display unit 18 and the lighting of the first operating switch 15, etc., controlled by the display light control unit 13b, in the above embodiment, the first operating switch 15, etc. is lit when the display unit 18 displays a number. However, this is not limiting. For example, the following timing may be used: the number of the program number associated with the first operating switch 15 is displayed on the display unit 18, then the first operating switch 15 is lit, and after both are temporarily turned off, the program number associated with the second operating switch 16 is displayed on the display unit 18, and then the second operating switch 16 is lit. Furthermore, when the first operating switch 15, etc. is lit, it is not limited to the above-described lighting (constant lighting for a predetermined period of time) and may also be blinking.

[0072] Furthermore, the function of collectively changing the programs assigned to the left switch 21 and the like to other programs based on the signal from the changeover switch 19 in the second embodiment can also be applied to the first embodiment. In the desktop robot 1A having this function, for example, when three programs assigned to the first operating switch 15 and the like are grouped and one task is performed by sequentially executing these programs, it is possible to easily switch to another group when performing another task.

[0073] Furthermore, the desktop robot 1B is configured such that, in a normal mode in which the robot main body 2B can be operated, the registration unit 13a functions by pressing the up-switch 19a or the down-switch 19b in a standby state before either the left switch 21 or the right switch 22 is pressed. However, like the desktop robot 1A, the normal mode can be switched to the registration mode, for example, by pressing (long pressing) the left switch 21 for a longer time than the normal pressing action, and programs are assigned to the left switch 21 and the right switch 22 respectively in the registration mode.

Claims

1. A desktop robot, characterized in that: include: a plurality of operating switches having a light-emitting portion; a display portion for displaying identification information; a storage unit storing a plurality of programs, the programs being associated with the identification information and executing predetermined operations in the desktop robot according to the signal from the operation switch; a registration unit that associates the plurality of programs with the plurality of operation switches respectively; as well as a display light control unit that, in a standby state before a signal from the operation switch is output, sequentially displays the identification information of the program associated by the registration unit on the display unit, and illuminates the operation switch associated with the program by the registration unit in accordance with a timing for displaying the identification information; In a normal mode in which the desktop robot can operate, when any one of the plurality of operation switches is pressed, the desktop robot performs a prescribed action based on a program assigned to the pressed operation switch.

2. The desktop robot according to claim 1, characterized in that: Also includes: an operating unit comprising a plurality of said operating switches, The operating portion is detachable from the robot body.

3. The desktop robot according to claim 1 or 2, characterized in that: Also includes: Switching the switch to switch the program associated with the operation switch to another program, The registration unit switches the programs associated with all of the plurality of operation switches to other programs in a batch according to the signal from the changeover switch.

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