Robot system

Abstract

Robot system (1), comprising: a robot (2); a control unit (3) that controls the robot (2) and causes the robot (2) to operate in several operating modes; a display device (4) which is attached to the robot (2) and is caused by the control unit (3) to operate in patterns corresponding to the operating modes, wherein the patterns differ from one another, characterized in that the display device (2) comprises a sheet-like base section (6) that is deformable into a shape corresponding to an outer surface of the robot (2) and has flexibility; one or more display sections (7) that are fixed to the base section (6); and a light-transmitting cover (13) that fixes the base section (6) in a position recessed along the outer surface of the robot (2), wherein the cover (13) is provided in a position in which the cover (13) covers the display device (4) in such a way that changes in protruding and recessed shapes on the outer surface of the robot (2) are reduced.

Description

[0001] A robot having a display device incorporated into a movable section for displaying an operating state of the movable section is known (see, for example, JP 2016-043457 A). There, a ring light is shown as the display device, which has LEDs arranged at positions such that they surround the entire circumference of an end effector as the movable section.

[0002] However, if the indicator is incorporated into the movable section, as in JP 2016-043457 A, the movable section must be specially designed, which leads to a significant increase in cost. Furthermore, there is the problem that if any defect occurs in the indicator, maintenance activities such as replacement and repair are difficult.

[0003] The document DE 20 2017 107 400 U1 further discloses a control device for a robot, comprising a fastening device for releasably fastening to an arm of the robot, at least one actuating device for controlling the robot, and a data connection device for connecting to an input / output unit of the robot.

[0004] From the document DE 10 2016 118 123 A1, a holding device for medical purposes is known which is designed to hold an attachment having a proximal end. It comprises at least a first and a second arm segment, wherein the first arm segment is connected to a first joint and the second arm segment to a second joint, wherein each joint is releasable and lockable. It further comprises an operating device for releasing and / or locking the corresponding joint to bring the holding device into a desired pose and a control unit, comprising a processor and program code means, for controlling the holding device. The invention is characterized by at least one receiver for electromagnetic radiation, which is connected to the control unit and is adapted to send signals to the control unit based on received electromagnetic signals from a surgical navigation system.

[0005] The document DE 20 2014 010 054 U1 shows a safety system for use with a robot, and in particular with a lightweight robot, which is controlled based on a path planning in a human-robot collaboration (=HRC) environment, wherein the safety system is set up to signal spatial and temporal information from the path planning to the HRC environment.

[0006] Document EP 2 965 874 A2 discloses a device in which a plurality of robot arms are each provided with display devices comprising indicators indicating operating states of at least one other robot arm different from the robot arm on which the display device is provided. Alternatively or additionally, the display devices comprise indicators indicating operating states of a respective robot arm on which the display devices are provided. Robot controllers controlling the operation of the robot arms communicate via a LAN to exchange information about the states of the robot arms. Display drive signals for the display devices are generated based on the states of servo control signals and / or brake control signals for the robot arms.

[0007] Document EP 1 566 246 A1 discloses a robot with a display device that allows an operator to access information required for inspections or the like without having to use a printed manual or the display screen of a teaching pendant. The display device comprises a flexible display screen using organic light-emitting diodes, a control unit, and a connector. The connector of the display device is plugged into a connector provided at a suitable location on the robot arm, the display unit is lightly pressed onto the surface of the robot arm (the surface can be curved or flat), and an adhesive part (an adhesive layer or magnetic layer) is glued and attached to the surface. Instructions are transmitted from the teaching pendant to a robot controller.Electrical power and signals are transmitted to the control unit via wiring, and an image is displayed on the display unit. The technician continues the inspection work by referring to the display screen. Alternatively, power can be supplied by a battery, and data exchange can be wireless.

[0008] The document WO 2017 / 221 171 A1 discloses a collaborative robot having a base and at least one articulated arm with at least one joint, wherein the articulated arm is configured to define a plurality of working positions with respect to the base, and wherein the collaborative robot comprises a signaling device connected to the articulated arm, wherein the signaling device has a light signal crown with light points or circumferential sectors that are activated with respect to a direction of displacement of an end part of the articulated arm from one working position to a following working position.

[0009] An object of the present invention is to provide a robot system in which cost reduction is achieved and maintainability is improved by minimizing the special design required for mounting the display device. This object is achieved by a robot system having the features of claim 1. Advantageous embodiments are the subject of the dependent claims.

[0010] One form of the present invention is a robot system comprising a robot; a control unit that controls the robot and causes the robot to operate in a plurality of operation modes; and a display device that is attached to the robot and caused by the control unit to operate in patterns corresponding to the operation modes, the patterns being different from each other. In the robot system, the display device comprises a sheet-like base portion that is deformable into a shape corresponding to an outer surface of the robot and has flexibility; one or more display portions that are fixed to the base portion; and a light-transmitting cover that fixes the base portion in a position recessed from the outer surface of the robot along the outer surface of the robot, wherein the cover is provided in a position in which the cover covers the display device so as to reduce variations in protruding and depressed shapes on the outer surface of the robot.

[0011] According to the present embodiment, when the robot is operated by the control unit in predetermined operating modes, the control unit causes the display device to operate in patterns corresponding to the robot's operating modes. Since the display device is arranged on the outer surface of the robot, a worker can recognize the robot's operating modes from outside the robot through the operating patterns of the display device.

[0012] In this case, the shape of the base portion is deformed according to the outer surface of the robot, and the display device is maintained in a state where the display device is attached to its outer surface by the fixing. Accordingly, special designing for attaching the display device is minimized, and costs can be reduced. In addition, the display device is accessible from the outside of the robot, which allows for improved maintainability. Since replacing the display device when the display device is integrated with an arm of the robot, it is necessary to disassemble the arm, making maintenance difficult. In the present invention, maintenance is facilitated, but a process related to the arm in which the base portion is attached to the outer surface of the arm is required during assembly.

[0013] In the form described above, the display sections may have luminous sections.

[0014] In addition, the base section of the shape described above can be designed in a long ribbon shape.

[0015] By this design, the display device can be wrapped on an outer surface of any of a body, arm, end effector, or the like of the robot.

[0016] In addition, in the shape described above, the luminous sections can be fixed in a longitudinal direction of the base section so that they are spaced apart from each other.

[0017] By this configuration, when the display device is wound on the outer surface of any of the body, arm, end effector, or the like of the robot, light can be emitted from the luminous portions in multiple directions, and a range in which workers around the robot can visually recognize display contents can be expanded.

[0018] Furthermore, in the form described above, the robot system may have a cover that covers the luminous portions, transmits light emitted from the luminous portions, and is formed of a material having flexibility.

[0019] This design allows the luminous sections to be protected by the cover. Furthermore, by attaching the cover to the cover, abrupt changes in protrusions and recesses can be reduced, and comparatively smooth protrusions and recesses can be formed. This further reduces the risk of injury to a person when this section comes into contact with a person at an edge. Furthermore, the cover has the effect of protecting the display device from collisions with peripheral devices. Even if the cover collides with peripheral devices and is damaged, only the cover can be easily replaced.

[0020] Furthermore, in the above-described shape, the cover may be formed of a material that guides the light emitted from the luminous portions while scattering the light, and may extend along the longitudinal direction of the base portion.

[0021] This design allows the display contents to be visually recognized from a wide area around the robot even with a small number of illuminated sections because the light emitted from the illuminated sections is scattered while being guided inside the cover.

[0022] In addition, in the form described above, the robot may have an arm and the base section may be wrapped over the entire circumference of the arm.

[0023] This design allows display content to be visually recognized from a wide area around the robot, regardless of the arm's position. In this case, a process of wrapping the base section around the arm is required.

[0024] Furthermore, in the form described above, the robot system may include a cable that electrically connects the display device and the control unit, and the cable may include a connector, the connector separately connecting the cable besides the display sections.

[0025] This design allows, if a defect occurs in the display device, only the front end in front of the connector to be replaced, which facilitates maintenance.

[0026] Furthermore, in the form described above, the fixture may be arranged at a position where the luminous portions are covered, it may be a cover formed of a flexible material that transmits light emitted from the luminous portions, and it may fix the base portion to the outer surface of the robot by an elastic force.

[0027] With this design, the shape of the base section is deformed according to the outer surface of the robot, and the cover is positioned to cover the luminous sections, allowing the base section to be easily fixed to its outer surface by the elastic force of the cover. Furthermore, the base section can be removed from its outer surface simply by applying a force in the direction in which the cover is removed, allowing for easy attachment and removal.

[0028] Furthermore, in the above-described form, the robot may have an arm having a wrist at one end of the arm, the base portion may be wound along a circumferential direction of the arm, and the cover may be formed to have a ring-like shape that can expand to a size that allows the wrist to pass through the cover and can contract to a size smaller than a size of the outer circumference of the arm.

[0029] With this design, a force is applied in a direction in which the cover with the ring-like shape is stretched, the wrist is passed through the cover, the cover is positioned to cover the luminous portions in a radial direction of the base portion wrapped in the circumferential direction of the arm from the outside, and the force is released, allowing the cover to be contracted by an elastic recovery force. As a result, the base portion is pressed against the outer surface of the arm by the elastic force of the cover and lightly fixed thereto.In addition, in this case, a process of stretching the cover to a size that allows the wrist to pass through, a process of passing the wrist through the cover, and a process of contracting the cover by the elastic recovery force to be fixed to the outer surface of the arm are required.

[0030] In addition, in the form described above, the display sections may comprise LEDs, each of which can be operated to emit light in a single color.

[0031] This design allows multiple operating modes to be displayed by designing the lighting patterns of the display sections differently from one another.

[0032] In addition, in the form described above, the display sections may comprise LEDs, each of which can be operated to emit light in multiple colors.

[0033] This design allows many other operating modes to be displayed by combining the colors in addition to the light patterns of the display sections.

[0034] Furthermore, in the shape described above, the robot may have a screw hole in the outer surface of the robot, the fixture may have a screw configured to be fixed in the screw hole, and the base portion may be provided with a through hole configured to pass the screw through the through hole.

[0035] This design reduces costs because only the screw hole is required as a minimum for mounting the display device. The screw, which is passed through the through hole provided in the base section, is secured in the screw hole, allowing the base section to be securely fixed to the outer surface of the robot.

[0036] In addition, in the shape described above, the robot may have a recessed portion in the outer surface of the robot designed to receive the base portion.

[0037] By this design, the base portion is received inside the recessed portion, which allows the protrusion of the luminous portions from the outer surface to be reduced.

[0038] Furthermore, in the form described above, the holder may be arranged between the base portion and the outer surface of the robot and may be an adhesive material that adhesively attaches the base portion to its outer surface.

[0039] This design allows the base section to be adhesively attached to the outer surface of the robot by an adhesive force of the adhesive material, which allows the base section to be easily fixed thereto.

[0040] According to the present invention, there are brought about effects that special designing for mounting a display device is minimized, costs are reduced, and maintainability is allowed to be improved. Fig. 1 is an entire structural view showing a robot system according to an embodiment of the present invention; Fig. 2 is a perspective view showing an example of a display device used in the Fig. 1 shown robot system; Fig. 3 is a partial perspective view showing the operation of winding the Fig. 2 shows an outer surface of a forearm of a robot; Fig. Fig. 4 is a partial perspective view showing a state in which the display device is in a position as shown in Fig. 3 is fixed in a wound state on the outer surface of the forearm of the robot and the cable is connected; Fig. 5 is a perspective view showing a modification example of the Fig. 2; Fig. Fig. 6 is a partial perspective view showing the operation of stretching a modification example of a fixture for fixing the Fig. 2 and attaching the attachment to the forearm of the robot; Fig. 7 is a partial perspective view illustrating the display device being contracted and covered; Fig. Fig. 8 is a partial perspective view showing a state in which the display device is Fig. 7 is covered and attached to the forearm of the robot; Fig. Fig. 9 is a partial perspective view showing a modification example of the display device and a modification example of the fixture shown in Fig. 2 are shown; Fig. 10 is a partial perspective view showing a state in which the Fig. 9 shown display device is fixed to the forearm of the robot; Fig. Fig. 11 is a partial perspective view showing a recess made in an outer surface of the robot, where the Fig. 1 shown display device is attached; Fig. Fig. 12 is a partially longitudinally sectional view showing a state in which the display device in the Fig. 11 shown recess; and Fig. Figure 13 is a partially longitudinal sectional view showing a case where the Fig. 12 is covered by a cover.

[0041] Hereinafter, a robot system 1 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0042] As in Fig. 1, the robot system 1 according to the present embodiment includes a robot 2, a control unit 3 that controls the robot 2, and a display device 4 attached to the robot 2.

[0043] Although the robot 2 can have any structure, the robot 1 is in a Fig. The example shown in Figure 1 is a six-axis articulated robot. In the present embodiment, a cooperative robot operating in a shared workspace shared by the robot and a human will be exemplified and described.

[0044] The robot 2 is controlled by the control unit in nine operation modes, for example, an automatic operation mode, a cooperative operation mode, a normal teaching mode (online teaching mode), a direct teaching mode (direct teaching mode) of high-speed translational motion, a direct teaching mode (direct teaching mode) of low-speed translational motion, a direct teaching mode (direct teaching mode) of high-speed rotational motion of each axis, a direct teaching mode (direct teaching mode) of low-speed rotational motion of each axis, a teaching playback confirmation mode, and a stop mode. These operation modes and operation patterns are merely examples, and other operation modes and operation patterns may exist, or other operation patterns and operation patterns may not exist.

[0045] The automatic operation mode is a mode in which the robot 2 operates to continuously perform a pre-programmed movement at a maximum speed. If a worker cooperating with the robot 2 does not approach a movement range of the robot 2, this operation mode is maintained.

[0046] The cooperative operation mode is an operation mode performed in the automatic operation mode when it is detected by a range sensor or the like that the worker cooperating with the robot 2 has approached the movement range of the robot 2. In this cooperative operation mode, the robot 2 continuously operates by changing an operation speed to a low speed at which the worker is not injured even if the robot 2 comes into contact with the worker.

[0047] The normal teaching mode (online teaching mode) is a mode used to perform teaching of the robot 2. In this mode, the worker operates a pendant teaching device and indirectly operates the robot 2, thereby performing teaching of teaching points. In the normal teaching mode (online teaching mode), the worker can also perform teaching from a remote location outside the movement range of the robot 2.

[0048] The direct teaching mode (direct teaching mode) of a high-speed translational motion is a mode executed when teaching is performed for the robot as in the normal teaching mode (online teaching mode). However, the worker directly applies a force to the robot 2 and guides the robot 2, thereby performing teaching of the teaching points (direct teaching). Since the worker performs teaching in close proximity to the robot 2 within the movement range of the robot 2, a measure such as setting a speed that never becomes equal to or higher than a predetermined speed is required in this mode. In this mode, a guide operation speed can only be increased up to 50 mm / s as the maximum speed, and only a guide operation in a translational motion can be performed.The translational motion is a motion in which a TCP (tool center point) of robot 2 moves linearly. To make the TCP move linearly, a rotation amount of each of the axes is controlled.

[0049] In the direct teaching mode (direct teaching mode) of a translational movement at a low speed, a guide operation speed can only be increased to 10 mm / s as a maximum speed and only the guide operation can be performed in the translational movement.

[0050] In the direct teaching mode (direct teaching mode) of a rotary motion of each axis at a high speed, a guide operation speed can only be increased up to 20 ° / s as the maximum speed of each of the axes, and only one guide operation in a rotary motion can be performed for each of the axes.

[0051] In the direct teaching mode (direct teaching mode) of a rotary motion of each axis at a low speed, a guide operation speed can only be increased up to 5 ° / s as the maximum speed of each of the axes, and only the guide operation in the rotary motion can be performed for each of the axes.

[0052] Teaching playback confirmation mode is a robot operation mode when confirming the movement after teaching is completed.

[0053] The stop mode is a mode in which the robot 2 has stopped due to an emergency stop or the like, the excitation of a servo motor is turned off, and the robot 2 cannot be operated unless a reset command is executed.

[0054] As in Fig. As shown in Fig. 2, the display device 4 is provided on a surface of a belt-shaped base portion 6 having flexibility, with a plurality of LED light sources (LEDs, luminous portions, or display portions) 7 arranged in a longitudinal direction of the base portion 6 so as to be spaced apart from each other. A connector 8 is fixed to the base portion 6, and a wiring (cable) (not shown) for supplying electric power is connected between the connector 8 and the respective LED light sources 7. The base portion 6 is, for example, a flexible printed board (FPC).

[0055] As in Fig. For example, as shown in Figure 2, the base portion 6 has a length that allows it to surround a forearm 5 of the robot 2 along its entire circumference. An adhesive tape (an adhesive material or a fastener) is provided on a surface of the base portion 6 where the LED light sources 7 are not arranged.

[0056] Through as in Fig. 3, the base portion 6 is bent at an arbitrary position in a longitudinal direction of the forearm 5 of the robot 2, the display device 4 is adhesively attached by the adhesive tape 9 at a position where the entire circumference of an outer surface of the forearm 5 is surrounded by the display device 4, the base portion 6 being as shown in Fig. 4 along the outer surface of the forearm 5. This arrangement causes the plurality of LED light sources 7 provided for the display device 4 to be arranged over the entire circumference of the forearm 5 so that they are spaced apart from each other in its circumferential direction.

[0057] The robot 2 is provided with a cable (not shown) for operating the robot 2 or for operating an electrically operated device attached to one end of the robot 2, wherein the wiring is provided by the cable from a base 11 of the robot 2 along an interior or exterior surface of the robot 2. As shown in Fig. 4, the wiring is provided by the cable 10 connected to the LED light sources 7 together with the wiring by the above-mentioned cable and detachably connected to the connector 8 fixed to the base portion 6.

[0058] This causes the control unit 3 and the display device 4 to be connected by the cable 10, and the LED light sources 7 to be operated based on a signal from the control unit 3 in operation patterns that differ from each other depending on the respective operation modes.

[0059] For example, in the automatic operation mode, the LED light sources 7 are caused to emit green light, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which the LED light sources 7 each alternately repeat lighting and extinguishing at intervals of 2 seconds.

[0060] In the cooperative operation mode, the LED light sources 7 are caused to emit, for example, green light, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which the LED light sources 7 each alternately repeat lighting and extinguishing at intervals of 0.5 seconds.

[0061] For example, in the normal teaching mode (online teaching mode), the LED light sources 7 are made to emit blue light and all LED light sources 7 are kept in a luminous state.

[0062] In the direct teaching mode (online teaching mode) of a high-speed translational movement, the LED light sources 7 are caused to emit blue light, for example, and the LED light sources 7 arranged in the circumferential direction are driven in an operation pattern in which the LED light sources 7 each alternately repeat lighting and extinguishing at intervals of 0.5 seconds.

[0063] In the direct teaching mode (direct teaching mode) of a translational movement at a low speed, the LED light sources 7 are caused to emit, for example, blue light, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which the LED light sources 7 each alternately repeat lighting and extinguishing at intervals of 1 second.

[0064] In the direct teaching mode (direct teaching mode) of rotating each axis at a high speed, the LED light sources 7 are caused to emit blue light, for example, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which there is a part in which only one of the LED light sources 7 is turned off, the part moves to another part in which one of the LED light sources adjacent to the turned-off LED light source is turned off, the movement is repeated at intervals of 0.5 seconds, and the turned-off part appears to rotate periodically around the forearm 5.

[0065] In the direct teaching mode (direct teaching mode) of rotating each axis at a low speed, the LED light sources 7 are made to emit blue light, for example, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which there is a part in which only one of the LED light sources 7 is turned off, the part moves to another part in which one of the LED light sources adjacent to the turned-off LED light source is turned off, the movement is repeated at intervals of 1 second, and the turned-off part appears to rotate periodically around the forearm 5.

[0066] In the teaching playback confirmation mode, for example, the LED light sources 7 are caused to emit white light, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which the LED light sources 7 each alternately repeat lighting and extinguishing at intervals of 0.5 seconds.

[0067] In the stop mode, the LED light sources 7 are made to emit red light, for example, and all LED light sources 7 are kept in a luminous state.

[0068] Furthermore, for example, during teaching in the normal mode (online teaching mode) or in the direct teaching mode (direct teaching mode) of a high-speed translational motion, when the robot 2 has approached a reach limit in the movement range, the LED light sources 7 are caused to emit blue light, and the LED light sources 7 arranged in the circumferential direction are operated in an operation pattern in which the LED light sources 7 each alternately repeat lighting and extinguishing at intervals of 0.2 seconds. When the robot 2 is moved in the same direction, the robot 2 becomes immobile because it goes out of its movement range 2. The worker is informed that the robot 2 has become immobile.

[0069] By the robot system 1 according to the present embodiment constructed as described above, the display device 4 attached to the forearm 5 of the robot 2 is operated by the control unit 3 in operation patterns different from each other and corresponding to the operation modes of the robot 2, thereby allowing the worker who cooperates with the robot 2 to recognize each of the operation modes of the robot 2 from outside the robot.

[0070] In this case, in the present embodiment, since the base portion 6 of the display device 4 was wrapped (attached) around the entire circumference of the outer surface of the forearm 5 during assembly of the robot 2, the light emitted from the LED light sources 7 can be emitted evenly in all directions. This eliminates blind spots for the worker and allows the worker to determine each of the operating modes of the robot 2 even when the worker is at any position relative to the robot 2. Furthermore, there is the advantage that the worker can determine each of the operating modes of the robot 2 even when the forearm 5 of the robot 2 is in any posture.

[0071] Furthermore, in the present embodiment, since the base portion 6 is fixed to the outer surface of the robot 2 by simply adhering the base portion 6 to the outer surface of the robot 2 with the adhesive tape, no special design of components of the robot 2 is required for mounting the display device 4, which allows for a significant reduction in cost. Furthermore, since the display device 4 is mounted only from the outside of the robot 2, mounting and demounting are facilitated. Therefore, a user can mount the display device 4 at any position according to the positional relationship with other devices and apparatuses mounted on the robot 2 or the like.

[0072] Furthermore, maintenance is easy when a defect occurs in the display device 4. That is, when a defect occurs, the display device 4 can be removed from the robot 2 simply by disconnecting the cable 10 from the connector 8 fixed to the base portion 6 and peeling off the adhesive tape 9. The display device 4 can be easily replaced simply by winding and fixing a new display device 4 with the adhesive tape 9 and connecting the cable 10 to the connector 8.

[0073] Furthermore, since no machining or processing is required for the robot 2, there is the advantage that the robot system 1 can be easily constructed simply by attaching the display device 4 to the existing robot 2.

[0074] In the robot system 1 according to the present embodiment, the display device 4 having the belt-shaped base portion 6 is illustrated as an example. However, the display device 4 only needs to be a display device that can be bent according to a shape of the outer surface of the robot 2, and instead of the above-described display device 4, a sheet-like display device with flexibility, which can be of any shape, can be used. Furthermore, the display device 4 is wound in the circumferential direction of the forearm 5 of the robot 2. However, instead, the display device may be adhesively attached to an outer surface of any component of the robot 2, such as an upper arm, an end effector, a rotating body, or the base 11.

[0075] In addition, the plurality of LED light sources 7 are arranged in the longitudinal direction of the base portion 6 so that they are spaced apart from each other. However, instead, it is only necessary to include one or more LED light sources 7. If the number of LED light sources 7 is small, as shown in Fig. 5, a cover 12 formed of a resin having light-diffusing ability and flexibility may be disposed at a position where the LED light sources 7 are covered along the longitudinal direction of the base portion 6. Since this causes light emitted from the LED light sources 7 to be guided while being diffused inside the cover 12, a worker can easily visually recognize the light diffused by the cover 12 when the LED light sources 7 are located in blind spots. That is, there is an advantage in eliminating blind spots even with a small number of LED light sources 7.

[0076] As the cover 12, instead of the cover formed of the resin having the ability to diffuse light and having flexibility, a cover formed of a transparent elastic material may be used to cover the plurality of LED light sources 7 arranged along the longitudinal direction of the base portion 6. This can prevent the LED light sources 7 from being damaged by contact of the LED light sources 7 with an external object.

[0077] Furthermore, in the present embodiment, the adhesive tape 9 is used as a fastener for fixing the base portion 6 to the outer peripheral surface of the robot 2. However, instead of this, a fixing method may be employed in which a locking mechanism such as a snap-in part is provided for the band-shaped base portion 6, the base portion 6 is wound onto the outer periphery of the forearm 5, and then a part of the base portion 6 is fixed to the base portion 6 such that the base portion 6 is bent onto the outer periphery of the forearm 5 like a hose clamp.

[0078] In addition, the attachment can be formed by a cover 13 made of an elastic material that transmits the light emitted by the LED light sources 7. This allows the base section 6 to be fixed to the outer surface of the robot 2 by the elastic force of the cover 13.

[0079] For example, the cover 13 may be formed to have a ring-like shape that can expand to a size that allows a wrist 14 of the robot 2 to pass through and can contract to a size smaller than a size of the outer circumference of the forearm 5.

[0080] When the display device 4 is fixed to the forearm 5 of the robot 2, wherein the base portion 6 is bent and wound onto the forearm 5, as shown in Fig. 6, a force is applied in a direction in which the cover 13 is stretched to stretch it to a size that allows passage of the wrist 14, and the wrist 14 of the robot 2 is moved as shown in Fig. 7, and the force exerted on the cover 13 is canceled at a position where the base portion 6 of the display device 4 is covered, whereby the cover 13 is closed as shown in Fig. 8, the base portion 6 is pressed onto the outer surface of the forearm and can be fixed thereto. Thus, the display device 4 covered by the cover 13 is held in a state in which the display device 4 is attached to the outer surface of the forearm 5.

[0081] Furthermore, by attaching the cover 13 thereto, abrupt changes in protrusions and recesses are reduced, and comparatively smooth protrusions and recesses are formed. This further reduces the risk of injury to a person when this portion comes into contact with the person at an edge area. Furthermore, the cover 13 has the effect of protecting the display device 4 from collisions with peripheral devices. Even if the cover 13 collides with peripheral devices and is damaged, only the cover 13 can be easily replaced.

[0082] In addition, as in Fig. 9, by providing one or more screw holes 15 in the outer surface of the forearm 5 or the like of the robot 2 and providing through holes 16 in the base portion 6 of the display device 4, screws 17 are inserted as fastening to be fastened in the screw holes 15.

[0083] That is, as in Fig. 10, the screws 17 passed through the through holes 16 of the base portion 6 are fastened in the screw holes 15, thereby allowing the display device 4 to be easily and securely fixed to the outer surface of the robot 2.

[0084] In addition, both the base section 6 and the cover 12, which are Fig. 5, is provided with the through holes 16 and the screws 17 are fastened together in the through holes 16 and the screw holes 15 of the outer surface of the robot 2, thereby allowing fixation of the display device 4.

[0085] When the screws 17 are used, machining of screw holes 15 in the outer surface of the robot 2 is necessary, but minimal machining is sufficient and similar effects to those mentioned above can be achieved.

[0086] In addition, as in Fig. 11, a recess (a recessed portion) 18 having a size that allows the base portion 6 to be received must be provided in the outer surface of the robot 2 to which the display device 4 is attached. As a result, the attached display device 4 needs to be Fig. 12 shown not to protrude far from the outer surface of the robot 2, which allows a reduction in the probability of contact of the LED light sources 7 with an external object and enables the display device 4 to be maintained in a proper condition. As shown in Fig. 13, a cover 13 formed of the elastic material and covering the LED light sources 7 may be further provided, thereby protecting the LED light sources 7.

[0087] Furthermore, in the present embodiment, the LED light sources 7 are used as the luminous portions. However, any light sources other than the LED light sources 7 may be used. In addition, light sources that can be operated to emit light in multiple colors are used. However, light sources that can be operated to emit light in a single color may be used. In this case, operation modes can be distinguished by operation patterns of the LED light sources 7, the operation patterns being different from each other. In addition, a plurality of display devices 4, each of which can be operated to emit light in a single color and each of which can be operated to emit light in colors different from each other, may be arranged for fixing.

[0088] In addition, it is preferable that the wiring through the cable 10 for supplying electric power to the display device 4 passes through the interior of the robot 2 to avoid contact with peripheral devices.

[0089] Furthermore, as for the robot 2 in the present embodiment, a forearm 5 of a standard industrial robot which is not a cooperative robot is initially provided with holes for laying a cable, and the wiring is passed through the holes by the cable 10, whereby the above-mentioned robot can be used as a cooperative robot.

[0090] In addition, it is preferable that when the robot 2 is delivered, the display device 4 accompanying the robot 2 is delivered, and a user can select a portion on which the display device 4 is wound, such as the outer surface of the forearm 5 of the robot 2, after delivery to the user.

[0091] Furthermore, although the cooperative robot is presented as an example, the present invention is not limited to this type of robot, and any other robot may be used. Furthermore, with regard to the robot 2 in the present embodiment, the display device 4 can be added to a standard industrial robot that is not a cooperative robot, and the robot can be modified into a cooperative robot.

[0092] And although in the present embodiment, an example is illustrated in which the LED light sources 7 are used as the display sections, any display section such as a liquid crystal display section or a speaker may be used instead.

[0093] In addition, the Fig. 5 shown cover 12 and the one in Fig.7 are not covers used only when the display sections are the LED light sources 7, which are luminous sections, but the cover 12 and the cover 13 can be used for any display section such as the liquid crystal display section or the speaker.

[0094] In addition, the colors and patterns of illumination and extinction of the LED light sources 7 are not necessarily limited to the colors and patterns described above, but a variety of colors can be used. List of reference symbols 1 robot system 2 robots 3 Control unit 4 Display device 5 Forearm (arm) 6 Basic section 7 LED light sources (LEDs, luminous sections, or display sections) 8 connectors 9 Adhesive tape (adhesive material or fastening) 10 cables 12 Cover 13 Cover (fastening) 14 Wrist 15 screw holes 16 through openings 17 screws (fastening) 18 Deepening (deepened section)

Claims

[1] Robot system (1), comprising: a robot (2); a control unit (3) that controls the robot (2) and causes the robot (2) to operate in multiple operating modes; a display device (4) mounted on the robot (2) and caused by the control unit (3) to operate in patterns corresponding to the operating modes, the patterns being different from each other, characterized by , that the display device (2) comprises a sheet-like base portion (6) which is deformable into a shape corresponding to an outer surface of the robot (2) and has flexibility; one or more display portions (7) fixed to the base portion (6); and a light-transmitting cover (13) which fixes the base portion (6) in a position recessed from the outer surface of the robot (2) along the outer surface of the robot (2), wherein the cover (13) is provided in a position in which the cover (13) covers the display device (4) so as to reduce variations in protruding and depressed shapes on the outer surface of the robot (2). [2] Robot system (1) according to claim 1, wherein the display sections (7) comprise light-emitting sections. [3] Robot system (1) according to claim 2, wherein the base portion (6) is designed in a long band shape. [4] Robot system (1) according to claim 3, wherein the light-emitting portions (7) are fixed in a longitudinal direction of the base portion (6) so as to be spaced apart from each other. [5] The robot system (1) according to claim 3 or 4, wherein the cover (13) covering the light-emitting portions (7) is formed of a material that transmits light from the light-emitting portions (7) and has flexibility. [6] The robot system (1) according to claim 5, wherein the cover (13) is formed of a material that guides the light emitted from the light-emitting portions (7) while scattering the light, and extends along the longitudinal direction of the base portion (6). [7] Robot system (1) according to one of claims 3 to 6, wherein the robot (2) has an arm (5), and the base section (6) is wound over the entire circumference of the arm (5). [8] Robot system (1) according to one of claims 1 to 7, further comprising a cable (10) electrically connecting the display device (4) and the control unit (3), the cable (10) having a connector (8), the connector (8) separately connecting the cable (10) besides the display sections (7). [9] Robot system (1) according to one of claims 1 to 8, wherein the cover (13) is formed of an elastic material and functions as a fastener (13) by an elastic force. [10] Robot system (1) according to claim 9, wherein the robot (2) has an arm (5) with a wrist (14) at one end of the arm (5), the base portion (6) is wound along a circumferential direction of the arm (5), and the cover (13) is formed to have a ring-like shape that can expand to a size that allows the wrist (14) to pass through the cover (13) and can contract to a size that is smaller than a size of the outer circumference of the arm (5). [11] A robot system (1) according to any one of claims 2 to 10, wherein the display sections (7) comprise LEDs, each of which is operable to emit light in a single color. [12] A robot system (1) according to any one of claims 2 to 10, wherein the display sections (7) comprise LEDs, each of which is operable to emit light in a plurality of colors. [13] Robot system (1) according to one of claims 1 to 8, wherein the cover (13) comprises a screw (17) and fixes the base portion (6) by the screw (17). [14] Robot system (1) according to one of claims 1 to 8, wherein the cover (13) is an adhesive material and fixes the base portion (6) by means of the adhesive material.

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