Robot system and manufacturing method

Abstract

To provide a robot system which comprises an operation terminal and improves visibility of the terminal while suppressing interference with the periphery of the robot system.SOLUTION: A robot system comprises a robot having a plurality of joints, a platform on which the robot is mounted, and a terminal for displaying a state of the robot, with the terminal being arranged in between an upper face of the platform and a first joint which is disposed closest to the platform among the plurality of joints.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a robot system and a manufacturing method. [Background technology]

[0002] In recent years, the situations and environments in which robots and robot arms are used have been expanding. Conventionally, robot arms have been used in situations where they repeat simple actions on automated factory production lines, with the premise of mass production of a single product, and the environments in which robots are used have been limited.

[0003] In response to this, there is a demand for robots to replace tasks previously performed by humans, to be used in situations where multiple products are produced in small quantities, and to work in collaboration with humans. In such cases, the robot arm is sometimes placed on a stand and carried near the workbench to carry out the work.

[0004] Patent Document 1 discloses a configuration in which a robot arm is mounted on a stand, and an input / output device is attached to a work table that functions as a boundary between the robot's working area and an area where a customer is present. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2022-150687 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the case of a robot that can move around to perform multiple tasks, the surrounding environment changes depending on the task at hand, so it is desirable for the operating terminal to have a large screen that can be seen and operated from all directions.

[0007] However, the large-screen operation terminals were placed away from the work position to reduce interference with the robot and workpiece, and a safety fence was installed between them and the robot, so visibility was not high.

[0008] Therefore, an object of the present invention is to improve the visibility of an operation terminal in a robot system equipped with the operation terminal while suppressing interference between the robot system and the operation terminal. [Means for solving the problem]

[0009] The means for solving the above problem is a robot system comprising a robot having a plurality of joints, a stand on which the robot is placed, and a terminal that displays the state of the robot, characterized in that the terminal is disposed between an upper surface of the stand and a first joint of the plurality of joints that is disposed at a position closest to the stand. Effect of the Invention

[0010] In a robot system equipped with an operation terminal, it is possible to improve the visibility of the terminal while suppressing interference with the surroundings of the robot system. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view of a robot system in which a robot arm is mounted on a movable stand. [Diagram 2] FIG. 2 is an explanatory diagram of a user interface of the terminal. [Diagram 3] FIG. 1 illustrates a robot system according to a conventional technique. [Figure 4] FIG. 1 is a schematic diagram illustrating a case where a worker is present around the robot system. [Diagram 5] FIG. 2 is a schematic diagram of the robot system 1 of FIG. 1 as viewed from the side. [Figure 6](a) is a schematic diagram of a robot system equipped with a 6-axis vertical articulated robot viewed from the side, (b) is a top view of plane Z0 of (a), and (c) is a top view of plane Z1 of (a). [Figure 7] FIG. 2 is a block diagram of a terminal. [Figure 8] FIG. 11 is a schematic diagram of a robot system according to a second embodiment. [Figure 9] FIG. 13 is a schematic diagram of a robot system according to a third embodiment. [Figure 10] FIG. 13 is a schematic diagram of a robot system according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the embodiment for carrying out the present invention will be described with reference to the drawings. However, the embodiment described below is one embodiment of the invention, and the present invention is not limited to this. Then, common configurations will be described with mutual reference to multiple drawings, and the description of configurations with common symbols will be omitted as appropriate. Items with the same name but different can be distinguished by adding "No. 0", such as the first item and the second item.

[0013] First Embodiment FIG. 1 is a perspective view of a robot system 1 in which a robot arm 100 is placed on a movable stand 300. The robot arm 100 is installed on an upper surface 350 of the stand 300 with a base 101 of the robot arm 100 at a fixed position. A terminal 200 for displaying the state of the robot arm 100 and for operating the robot arm 100 is installed on the front surface of the base 101. Casters 400 are provided on the underside of the stand 300, and the stand 300 can be moved to an arbitrary location by operating a handle 600 while the casters 400 are on the ground. When the robot arm 100 performs work, the stand 300 can be fixed with a fixed leg 500 to perform the work stably.

[0014] The base 300 is provided with area sensors 700 and 701 arranged in the vicinity of the robot arm 100. The area sensors 700 and 701 are installed to recognize the surrounding environment of the base 300, and before the robot arm 100 collides with a surrounding object during movement, the collision can be avoided by a brake (not shown) provided inside the base 300. The area sensors 700 and 701 may be visual sensors (vision sensors), but may also be contact detection sensors that detect that the robot arm 100 has collided with an object. In that case, the brake can be configured to be activated at the same time that the robot arm 100 comes into contact with an object.

[0015] In addition, the area sensors 700 and 701 can recognize the presence of people and objects nearby and change the upper limit of the operating speed of the robot arm 100. In other words, when the robot arm 100 works alone, it operates at maximum speed, and when working closely with people, it can operate at a slower speed for safety reasons. In addition, a robot arm controller, hand controller, vision controller, PLC, UPS, compressor, etc. (not shown) are arranged inside the base 300, and the base 300 and the robot arm 100 are in a state where they can work alone.

[0016] Next, the user interface of the terminal 200 will be described with reference to Fig. 2. The terminal 200 is provided with a model display section 201 that displays the state of the robot arm 100 as a virtual robot in three-dimensional graphics on the display section 105, and a text box 202 that displays text information. The terminal 200 is also provided with a button 203 for performing an action on the robot arm 100, such as an emergency stop, a command box 204 for inputting the target angle of each axis, and an operation section 205 consisting of a scroll bar for performing a jog operation, etc. With the above configuration, the terminal 200 can provide information to the operator and enable the operator to operate the robot. The user interface shown in Fig. 2 is an example and is not limited thereto.

[0017] The robot arm 100 performs a task based on a previously taught motion, but an operator may directly check the state of the robot arm 100 and give commands to the robot arm 100. In such a case, as shown in FIG. 3, a terminal 200 for operating the robot arm 100 may be installed outside the work area outside the work table 1000 or the safety fence. However, if the positional relationship between the robot arm 100 and the terminal 200 is as shown in FIG. 3, the operator can only operate the robot arm 100 or check the state when he is at position C. For example, in FIG. 1, the robot arm 100 is placed on the stand 300, so it is not clearly determined where the task will be performed, and the position of the operator changes depending on the task. In the case of a collaborative robot that performs a task in collaboration with the robot arm 100 as shown in FIG. 4, the task may be performed not only at position C in front of the robot arm 100 but also at positions A and B on the left and right of the robot arm 100. When working at positions A and B, if terminal 200 is placed at a position as shown in FIG. 3, it is difficult to check terminal 200 while working.

[0018] Therefore, the terminal 200 of this embodiment is characterized in that it is placed at a position where it can be seen from any of the positions A, B, and C. Specifically, the terminal 200 is provided at a position on the upper surface 350 of the pedestal 300 that is determined based on the operating conditions of the robot arm 100. As a result, even when a worker works around the pedestal 300, the worker can work while visually checking the terminal 200. Conventionally, the terminal 200 has been placed outside the movable range of the robot arm 100, but when performing collaborative work, teaching, or the like, the worker operates the robot arm 100 close to the robot arm 100, so it is preferable that the terminal 200 is placed inside the movable range of the robot arm 100.

[0019] The operating conditions of the robot arm 100 are, for example, operating conditions taught when the robot arm 100 performs a task. They are also operating conditions programmed in advance. Alternatively, they may be operating conditions that the robot arm 100 itself determines its operation by machine learning. The operating range of the robot arm 100 is specified from those operating conditions, and the position for placing the terminal 200 is determined based on the operating range. Specifically, the terminal 200 is placed in an area that the robot arm 100 cannot reach under certain operating conditions. The position of the terminal 200 is determined in an area where the speed cannot be increased and the degree of freedom of movement is restricted when performing frequently used robot operations. Specific examples of frequently used operations include pin driving operations, such as vertically taking pin parts from a pin tray and vertically inserting them into the assembly side. The terminal 200 is placed so that there are no constraints in such operations. Details of geometric constraints and constraints on the degree of freedom of movement will be described later.

[0020] The operating conditions of the robot arm 100 may be stored in advance in the terminal 200, and the terminal 200 may be arranged in a position that matches the operating conditions of the robot arm 100. In case the operating conditions of the robot arm 100 are set erroneously, it is preferable to provide a member for protecting the terminal 200 around the terminal 200.

[0021] Here, the upper surface 350 of the pedestal 300 will be described in detail with reference to FIG. 5. FIG. 5 is a schematic diagram of the robot system 1 of FIG. 1 as viewed from the side. Here, the robot arm 100 and the like are omitted. The upper surface 350 of the pedestal 300 is a surface that forms an angle of 0° or more and less than 90° with the horizontal plane when the pedestal 300 is viewed from the side. For example, in the case of FIG. 5, the angle θ between the horizontal plane and the surfaces 301, 302, and 303 is 0° or more and less than 90°, so that the surfaces 301, 302, and 303 are the upper surface 350 of the pedestal 300. Therefore, the upper surface 350 of the pedestal 300 is not limited to one surface. If the angle θ is within the above range, the worker can view the terminal 200 even from the left and right directions of the pedestal 300. If the angle θ is 0° or more and 45° or less, the worker can view the terminal 200 more easily, and if it is 0° or more and 30° or less, it is more preferable.

[0022] Next, the positions determined based on the operating conditions of the robot arm 100 will be described in detail with reference to Figure 6. Figure 6(a) is a schematic diagram of a robot system 1 equipped with a six-axis vertical articulated robot as the robot arm 100, as seen from the side.

[0023] The robot arm 100 has, in order from the base 101 side toward the hand side of the robot arm 100, a joint 11, a joint 12 adjacent to the joint 11, a joint 13 adjacent to the joint 12, a joint 14 adjacent to the joint 13, a joint 15 adjacent to the joint 14, and a joint 16 adjacent to the joint 15. Among the joints of the robot arm 100, the joints represented by circles are vertical joints, and the joints represented by diamonds are horizontal joints. The joint 11 is the joint disposed at the position closest to the base 300. Area A shows the movable range of the robot arm 100. FIG. 6(b) is a view seen from above on the plane Z0, and the plane Z0 is the horizontal plane of the joint 11. Area B shows an area in which the terminal 200 can be placed, and shows an area outside the movable range of the robot arm 100, or an area in which the degree of freedom of movement is restricted, such as when the robot arm 100 moves slowly during work and the end effector unit cannot be vertically lifted. Specifically, the area B is between the base 300 and the joint 11 on the upper surface of the base 300 or on the upper surface 350 side of the base 300. By disposing the terminal 200 in the area B, the terminal 200 is located at a position that is easily visible to the worker, and the robot arm 100 is less likely to interfere with the robot arm 100 during work.

[0024] The reason why the area B is unlikely to interfere with the robot arm 100 while the robot arm 100 is working will be described in detail. Fig. 6(c) is a top view of the plane Z1 in Fig. 6(a). On the plane Z1, the robot arm 100 can reach the furthest, and it is possible to gain speed by rotating with the arm extended. By positioning the center of rotation (hereinafter, point P) of the end effector attachment part of the robot arm 100 near the plane Z1 in this way, the robot arm 100 can be used most efficiently.

[0025] In addition, when the offset from point P is large, the resolution of the position sensor attached to the rotation axis of joint 14, joint 15, and joint 16 decreases, so the end effector is designed to make the offset as short as possible. For this reason, when working with point P near plane Z1, the area below joint 11 is rarely selected as the working area. Furthermore, when working closer to base 101 than half the maximum reach of robot arm 100, it becomes difficult to lift a part from area B to the top, or conversely, to vertically lower a part from the top of area B as in pin driving work. This is because the arms on both sides of joint 13 are thick, and the angle of joint 13 becomes narrower when the end effector is lifted, causing interference between the robot arms 100.

[0026] From the above, area B is a position that is unlikely to interfere with the robot arm 100, and by placing the terminal 200 in area B, it becomes easy to view and operate from the three directions (front, left, right) where the worker stands. The position at which the terminal 200 is placed is not limited to the position in Fig. 6(a), and may be anywhere within area B on the top surface 350 of the base 300 that is unlikely to interfere with the robot arm 100.

[0027] Furthermore, in the case of a horizontal articulated robot, when attempting to work near the base 101, the end effector will interfere with the arm portion of the joint 12, so it is preferable to place the terminal 200 in area B, as with a vertical articulated robot.

[0028] The area B will be described in more detail. As described above, the area B is outside the movable range of the robot arm 100 based on the operating conditions of the robot arm 100, or the robot arm 100 is slow to move during work and cannot vertically lift the end effector unit, so that the degree of freedom of operation is restricted. Specifically, when the area B is circular, the radius of the area B is preferably 0.6 times or less the radius of the area A having the same shape. When the area B is rectangular, the length of one side of the area B is preferably 0.6 times or less the diameter of the circular area A. By setting the range of the area B within the above range, the terminal 200 can be placed in a position where it is unlikely to interfere with the robot arm 100. In FIG. 6(a), the radius of the area B is 0.5 times the radius of the area A, but if it is at least 0.6 times or less, it is unlikely to interfere with the robot arm 100.

[0029] The range of area B is preferably within a range from base 101 to the distance between joint 11 and joint 12. The position at which terminal 200 is placed has been described so far, and it is sufficient that at least a part of terminal 200 is placed in area B, but it is preferable that 50% or more of terminal 200 is placed in area B, and it is even more preferable that the entire terminal 200 is placed in area B.

[0030] Furthermore, it is preferable that at least a part of the terminal 200 is disposed at a position within the diameter of the arm at the joint 12 from the base 101. It is preferable that the distance between the base 101 and the terminal 200 is smaller than the width of the terminal 200. With the above-mentioned configuration, the terminal 200 can be disposed at a position where it is easily visible to the worker, and interference between the robot arm 100 and the terminal 200 can be suppressed.

[0031] FIG. 7 is a block diagram showing the configuration of the terminal 200. In this embodiment, the terminal 200 is, for example, a teaching pendant capable of communicating with the robot arm 100 via the control device 102. The control device 102 is configured to enable communication between the robot arm 100 and the terminal 200. The terminal 200 includes a calculation device 401 as a control unit. The calculation device 401 is a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array). The terminal 200 also includes a main memory device 403 such as a ROM (Read Only Memory) 402 and a RAM (Random Access Memory) as a storage unit. The ROM 402 stores basic programs such as BIOS. The main memory device 403 is a storage device that temporarily stores various data such as the results of calculation processing by the calculation device 401. The terminal 200 also includes an auxiliary memory device 404 such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) as a storage unit. The auxiliary storage device 404 stores the results of the arithmetic processing of the arithmetic device 401 and data acquired from the outside. The arithmetic device 401 is connected to a ROM 402, a main storage device 403, an auxiliary storage device 404, and an IF 405 via a bus 410.

[0032] The arithmetic device 401 executes various processes for the operation of the robot arm 100 based on the programs stored in the auxiliary storage device 404. As a result, the arithmetic device 401 issues a command to move the robot arm 100 to a desired position, that is, a command to transform the robot arm 100 into a desired posture. The position command data is output to the robot arm 100 via the bus 410 and the IF 405 at predetermined time intervals.

[0033] The display unit 105, determination unit 130, and operation instruction unit 132 of the terminal 200 are connected to the IF 405. The display unit 105 has a model display unit 201 that displays a virtual robot in a virtual environment, and an operation confirmation unit 110 that confirms whether to give an operation instruction to the virtual robot or the robot arm 100. The model display unit 201 acquires the state of the robot arm 100, and displays a model of the robot arm 100. Here, the posture of the robot arm 100 and the posture of the model of the robot arm 100 are the same.

[0034] The determination unit 130 is connected to a button state acquisition unit 131 that acquires the pressing state of the button 203. The determination unit 130 determines whether to continue operating the robot arm 100 or to stop the robot arm 100, depending on the pressing state of the button 203 acquired by the button state acquisition unit 131.

[0035] The action instruction unit 132 acquires the state of the virtual robot and gives a target position to the action transmission unit 133 to operate the robot arm 100. The action transmission unit 133 operates the robot arm 100 so that its posture is the same as that of the virtual robot by transmitting the target position to the control device 102 via the IF 406. The IFs 405 and 406 are configured by communication devices such as Ethernet and USB.

[0036] In the above embodiment, the case where the robot arm is a multi-joint robot arm having a plurality of joints has been described, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, the same configuration as above can be implemented with different types of joints, such as a horizontal multi-joint type, a parallel link type, or an orthogonal robot.

[0037] As described above, according to the present embodiment, in the robot system 1 including the terminal 200, it is possible to improve the visibility of the terminal 200 while suppressing interference of the robot arm 100 with the surroundings.

[0038] <Second embodiment> Next, a second embodiment will be described with reference to Fig. 8. The robot system 1 of this embodiment differs from the first embodiment in that the terminal 200 is provided on an inclined surface 250 of an upper surface 350 of a stand 300.

[0039] 8, by placing the terminal 200 on the inclined surface 250, when working at a position on the side where the terminal 200 is placed, the worker can easily see the terminal 200. Furthermore, by placing the terminal 200 on the inclined surface 250, interference between the robot arm 100 and the terminal 200 can be suppressed compared to the first embodiment.

[0040] When the terminal 200 is placed on the inclined surface 250, a holder for holding the terminal 200 may be provided. The holder is preferably detachable from the terminal 200 and the stand 300. The terminal 200 includes wireless communication means and / or wireless power supply means, and the terminal 200 can be detached from the stand 300 for use. The orientation of the terminal 200 can also be changed by rotating the holder. The holder and the detachable terminal 200 can be applied to embodiments other than the second embodiment.

[0041] The terminal 200 of this embodiment is provided below the handle 600. Here, the below of the handle 600 means that the handle 600 is present on a perpendicular line extending from the surface (inclined surface 250) of the terminal 200. By doing so, even if the robot arm 100 is about to interfere with the terminal 200, the handle 600 can protect the terminal 200. For this reason, it is preferable that the distance from the handle 600 to the terminal 200 is shorter than the distance from the terminal 200 to the robot arm 100.

[0042] As described above, according to this embodiment, by providing the terminal 200 on the inclined surface 250, the visibility of the terminal 200 can be improved further than in the first embodiment.

[0043] <Third embodiment> Next, a third embodiment will be described with reference to Fig. 9. This embodiment differs from the first and second embodiments in that the terminal 200 is placed on a stand 900 provided on a stand 300.

[0044] The platform 900 is a tilt platform that can adjust the height and angle so that the worker can easily view the terminal 200. The height of the platform 900 is set to be lower than the height of the joint 11 shown in FIG. 6(a). This makes it possible to suppress interference between the robot arm 100 and the terminal 200.

[0045] It is preferable that not only the terminal 200 but also the platform 900 does not interfere with the robot arm 100, and it is preferable to determine the placement position based on the operating conditions of the robot arm 100.

[0046] 9, the robot arm 100 performs work at the position of, for example, a workbench 1000. In this case, it is preferable that the platform 900 is not provided between the robot arm 100 and the workbench 1000. If the platform 900 is provided between the robot arm 100 and the workbench 1000, there is a risk that the terminal 200 will be difficult to view from the worker. In particular, if the robot arm 100 is arranged between the platform 900 and the workbench 1000, interference between the robot arm 100 and the terminal 200 can be further suppressed.

[0047] As described above, according to this embodiment, since the terminal 200 is placed at a position with a certain height, it becomes easier for the worker to operate and view the terminal 200 than in the first embodiment.

[0048] <Fourth embodiment> Next, a fourth embodiment will be described with reference to Fig. 10. The robot system 1 of this embodiment differs from the first to third embodiments in that the terminal 200 changes the display unit 105 in accordance with the surrounding environment.

[0049] Display unit 105A and display unit 105B in FIG. 10 respectively show a screen on which terminal 200 is displayed when a worker is at position A and a screen on which terminal 200 is displayed when a worker is at position B.

[0050] The robot system 1 of this embodiment can detect the position of a worker by area sensors 700, 701, and change the screen displayed on the display unit 105 according to the worker's position. For example, when the area sensors 700, 701 detect that a worker is at position A, the display is changed to show the screen as in display unit 105A, making it easier for the worker to view text and drawings. For example, when the area sensors 700, 701 detect that a worker is at position B, the display is changed to show the screen as in display unit 105B, making it easier for the worker to view text and drawings.

[0051] As described above, according to this embodiment, the display of the terminal 200 is changed according to the position of the worker, so that the worker can operate and view the terminal 200 more easily than in the first embodiment.

[0052] <Other embodiments> The processing procedures of the above-described embodiments are specifically executed by input from each CPU and the user. Therefore, it is also possible to configure the system to read out and execute a recording medium on which a software program capable of executing the above-described functions is recorded. In this case, the program itself read out from the recording medium realizes the functions of each of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention.

[0053] In each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the control program is stored in the ROM, the RAM, or the flash ROM. However, the present invention is not limited to such an embodiment. The program for implementing the present invention may be recorded in any recording medium as long as the recording medium is computer-readable. An SSD may be used as the storage unit.

[0054] In the various embodiments described above, the robot arm 200 is an articulated robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, the same configuration as above can be implemented with different types of joints, such as a horizontal multi-joint type, a parallel link type, or an orthogonal robot.

[0055] Furthermore, the various embodiments described above can be applied to machines that can automatically perform movements such as extension, contraction, bending, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information stored in a memory device provided in the control device.

[0056] The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical concept of the present invention. The effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. The above-described various embodiments and modifications may be combined and implemented.

[0057] The above-described embodiments may be modified as appropriate without departing from the scope of the technical concept. For example, a plurality of embodiments may be combined. In addition, some of the features of at least one embodiment may be deleted or replaced.

[0058] In addition, new matters may be added to at least one embodiment. The disclosure of this specification includes not only what is explicitly described in this specification, but also all matters that can be understood from this specification and the drawings attached to this specification.

[0059] The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical concept of the present invention. The effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. The above-described various embodiments and modifications may be combined and implemented.

[0060] The following is the disclosure of the present invention.

[0061] (Configuration 1) A robot system comprising a robot having a plurality of joints, a stand on which the robot is placed, and a terminal that displays a state of the robot, wherein the terminal is disposed between an upper surface of the stand and a first joint of the plurality of joints that is disposed closest to the stand.

[0062] (Configuration 2) The robot system according to configuration 1, characterized in that the robot has a base, and the terminal is positioned at a position from the base that is less than 0.6 times the radius of the movable range of the robot.

[0063] (Configuration 3) The robot system described in configuration 1, wherein the terminal is placed at a position based on the operating conditions of the robot, the operating conditions being operating conditions taught to the robot.

[0064] (Configuration 4) The robot system according to configuration 1, characterized in that the terminal is placed at a position based on the operating conditions of the robot, the operating conditions being operating conditions under which the robot operates through machine learning.

[0065] (Configuration 5) The robot system according to any one of configurations 1 to 4, wherein the robot has a base and a plurality of joints, and the distance between the base and the terminal is smaller than the distance between a first joint provided on the base and a second joint provided adjacent to the first joint and on the hand side of the robot than the first joint.

[0066] (Configuration 6) The robot system described in configuration 5, wherein the distance between the base and the terminal is smaller than the thickness of the arm of the robot at the second joint.

[0067] (Configuration 7) the robot has a base; The robot system according to any one of configurations 1 to 6, wherein the distance between the base and the terminal is smaller than the width of the terminal.

[0068] (Configuration 8) The robot system according to any one of configurations 1 to 7, wherein the terminal is disposed inside a movable range of the robot.

[0069] (Configuration 9) 9. The robot system according to any one of configurations 1 to 8, wherein an upper surface of the platform includes an inclined surface.

[0070] (Configuration 10) The robot system according to configuration 9, wherein the terminal is provided on the inclined surface.

[0071] (Configuration 11) 11. The robot system according to configuration 10, wherein a handle for operating the stand is provided on an upper portion of the terminal.

[0072] (Configuration 12) The robot system according to configuration 9, wherein the angle between the inclined surface and the horizontal plane is greater than or equal to 0° and less than or equal to 45°.

[0073] (Configuration 13) 13. The robot system according to any one of configurations 1 to 12, wherein the terminal comprises wireless communication means capable of communicating with the robot and / or wireless power supply means capable of supplying power to the terminal.

[0074] (Configuration 14) The robot system according to any one of configurations 1 to 13, further comprising a sensor for detecting an environment surrounding the robot, and outputting the results detected by the sensor to the terminal.

[0075] (Configuration 15) 15. The robot system of claim 14, wherein the operation of the robot is changed based on the result.

[0076] (Configuration 16) 16. The robot system according to any one of configurations 1 to 15, wherein the terminal displays a virtual robot in the same posture as the robot.

[0077] (Configuration 17) 17. The robot system according to any one of configurations 1 to 16, wherein the robot is a collaborative robot that works in collaboration with humans.

[0078] (Configuration 18) 18. The robot system according to any one of configurations 1 to 17, wherein the terminal is detachable from the stand.

[0079] (Configuration 19) 19. The robot system according to any one of configurations 1 to 18, wherein the platform moves with the robot placed thereon.

[0080] (Configuration 20) 20. The robot system according to any one of configurations 1 to 19, wherein the robot is an articulated robot.

[0081] (Manufacturing method 1) A method for manufacturing an article using the robot system according to any one of configurations 1 to 20.

[0082] (Manufacturing method 2) A manufacturing method comprising the steps of: a robot operated by the terminal provided in the robot system according to any one of configurations 1 to 20; and an article manufacturer working together to manufacture an article.

[0083] (Control method 1) A method for controlling a robot system including a robot having a plurality of joints, a stand on which the robot is placed, and a terminal for displaying a state of the robot, the method being characterized in that the terminal is disposed on an upper surface or an upper side of the stand, between the stand and a first joint of the plurality of joints, and the robot is controlled by the terminal.

[0084] (Program 1) A control program for causing a computer to execute the control method described in Control Method 1.

[0085] (Recording medium 1) A computer-readable recording medium having the control program described in Program 1 recorded thereon. [Explanation of symbols]

[0086] 1. Robot System 100 Robots 200 terminals 300 Mount 350 Top

Claims

1. A robot system comprising: a robot having a plurality of joints; a stand on which the robot is placed; and a terminal that displays a state of the robot, A robot system, characterized in that the terminal is disposed between an upper surface of the base and a first joint, which is disposed closest to the base among the plurality of joints.

2. the robot has a base; 2. The robot system according to claim 1, wherein the terminal is disposed at a position away from the base that is equal to or less than 0.6 times the radius of a movable range of the robot.

3. The terminal is placed at a position based on an operating condition of the robot; 2. The robot system according to claim 1, wherein the operating conditions are operating conditions taught to the robot.

4. The terminal is placed at a position based on an operating condition of the robot; The robot system according to claim 1 , wherein the operating conditions are operating conditions under which the robot operates based on machine learning.

5. the robot has a base; 2. The robot system according to claim 1, wherein the distance between the base and the terminal is smaller than the distance between the first joint and a second joint adjacent to the first joint and located closer to the hand tip of the robot than the first joint.

6. 6. The robot system according to claim 5, wherein the distance between the base and the terminal is smaller than a thickness of the arm of the robot at the second joint.

7. the robot has a base; The robot system according to claim 1 , wherein a distance between the base and the terminal is smaller than a width of the terminal.

8. The robot system according to claim 1 , wherein the terminal is disposed inside a movable range of the robot.

9. The robot system according to claim 1 , wherein the upper surface of the platform includes an inclined surface.

10. The robot system according to claim 9 , wherein the terminal is provided on the inclined surface.

11. 11. The robot system according to claim 10, wherein a handle for operating the stand is provided on an upper portion of the terminal.

12. 10. The robot system according to claim 9, wherein an angle between the inclined surface and a horizontal plane is equal to or greater than 0° and equal to or less than 45°.

13. 2. The robot system according to claim 1, wherein the terminal comprises wireless communication means capable of communicating with the robot and / or wireless power supply means capable of supplying power to the terminal.

14. 2. The robot system according to claim 1, further comprising a sensor for detecting an environment surrounding the robot, and outputting a result detected by the sensor to the terminal.

15. The robot system according to claim 14, wherein the operation of the robot is changed based on the result.

16. 2. The robot system according to claim 1, wherein the terminal displays a virtual robot in the same posture as the robot.

17. 2. The robot system according to claim 1, wherein the robot is a collaborative robot that works in collaboration with a human.

18. 2. The robot system according to claim 1, wherein the terminal is detachable from the stand.

19. 2. The robot system according to claim 1, wherein the platform moves with the robot mounted thereon.

20. 2. The robot system according to claim 1, wherein the robot is an articulated robot.

21. A method for manufacturing an article, comprising the steps of: manufacturing an article using the robot system according to any one of claims 1 to 20;

22. 21. A manufacturing method comprising the steps of: manufacturing an article in collaboration with a robot operated by the terminal included in the robot system according to claim 1; and a manufacturer of the article.

23. A method for controlling a robot system including a robot having a plurality of joints, a stand on which the robot is placed, and a terminal that displays a state of the robot, comprising the steps of: the terminal is disposed on an upper surface of the cradle or on an upper surface side of the cradle, between the cradle and a first joint of the plurality of joints; A method for controlling a robot system, comprising the steps of: controlling the robot by the terminal;

24. A control program for causing a computer to execute the control method according to claim 23.

25. A computer-readable recording medium having the control program according to claim 24 recorded thereon.

Images