UI-equipped end effector

Abstract

To provide a UI-equipped end effector, where: autonomy of the end effector in direct teaching of a robot or the like makes it possible to control operation of work units and the like and further improve efficiency and accuracy; a state or condition of a robot system can be checked with the end effector, without checking at an indicator of an operation panel of the robot system; information is obtained from the end effector, without going through the operation panel or a control panel of the robot system, thus enabling a worker to respond and coordinate with the robot system; and work that has higher added value is easier and less expensive to implement.SOLUTION: A UI-equipped end effector 1 can be connected to a distal end of a robot arm 80, and comprises: a work unit 2; a work drive unit 3 for driving the work unit 2; a user interface 4 equipped with a display; and a control unit 5 that is able to control the work drive unit 3 and the user interface 4 autonomously.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an end effector with a UI that can be connected to the tip of a robot arm. [Background technology]

[0002] Various end effectors that can be connected to the tip of a robot arm have been proposed. For example, there is an end effector disclosed in Japanese Patent No. 7084135. These conventional end effectors are configured to be controlled and operated by a control panel of a robot system together with the robot arm. Furthermore, conventional end effectors do not have a UI (user interface), and there have been no end effectors that can be controlled independently based on input from a user interface.

[0003] Specifically, for example, in direct teaching of a robot, the robot's movements and the movements of the end effector are taught, but when the working part of the end effector is, for example, a gripper that grasps the target workpiece, the gripping force (torque) and gripping speed must be set in advance. In other words, in conventional direct teaching, the gripping force and speed settings are directly controlled by the I / O assigned to the end effector on the teaching pendant, and it was not possible to adjust the gripping force (torque) or speed while performing an inching operation with the gripper.

[0004] In addition, because the end effector attached to the robot operates according to commands from the robot, it is not possible to operate the working part independently (for example, opening and closing the gripper) while the end effector is being taught.

[0005] Furthermore, in the case of an end effector having advanced control functions other than on / off control, it had to be assigned to the robot or connected to the control panel of the robot system.

[0006] Furthermore, even when multiple robots and workers were working together, the multiple robots were controlled by a control panel for the robot system, and the operation panel was basically composed of only one. Therefore, when an error occurred, the production status, etc. could only be confirmed on the display of the operation panel for the robot system.

[0007] Furthermore, there was also the problem of increased costs associated with providing multiple control panels to perform highly coordinated tasks using multiple robots. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 7084135 Summary of the Invention [Problem to be solved by the invention]

[0009] Therefore, the inventors of the present application have conceived of an invention that can solve all of the above problems in one fell swoop; that is, the object of the present invention is to provide an end effector with a UI that enables the end effector to independently control the operation of the working unit, etc., during direct teaching of a robot, thereby further improving efficiency and accuracy, allows the state and status of the robot system to be confirmed on the end effector without checking the display on the robot system's operation panel, and enables the worker to respond and cooperate with the robot system by obtaining information from the end effector without going through the operation panel or control panel of the robot system, thereby enabling higher added value work to be performed more easily and at lower cost. [Means for solving the problem]

[0010] The above problem is solved by an end effector with a UI that can be connected to the tip of a robot arm, the end effector having a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit capable of independently controlling the work drive unit and the user interface (UI), the end effector with a UI is moved to a position where a worker can inspect a target workpiece held by a gripper of the working unit by a robot system that controls the operation of the robot arm, and the control unit controls the target workpiece to be discharged from the machine when it is determined that there is an abnormality in the target workpiece based on the normal / abnormal signal of the target workpiece received by the worker via the user interface (UI) (Claim 1). It is preferable that the control by the robot system and the control unit is performed for a plurality of workers located at different positions (Claim 2).

[0011] Furthermore, what solves the above problem is an end effector with a UI that can be connected to the tip of a robot arm, the end effector having a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit that can independently control the work drive unit and the user interface (UI), wherein when a camera finds a defect in a target workpiece, the robot system operates the robot arm, the working unit points out the defective part, and the control unit determines the defect content of the defective part and controls the user interface (UI) to display the defect content on the display (Claim 3).

[0012] Furthermore, what solves the above problem is an end effector with a UI that can be connected to the tip of a robot arm, the end effector having a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit capable of independently controlling the work drive unit and the user interface (UI), the control unit being configured to be capable of controlling the torque, speed, or positioning of the working unit via the user interface (UI) (Claim 4). The user interface (UI) is preferably a touch panel display (Claim 5). The end effector with a UI has a microphone and a speaker, and it is preferable that the microphone and the speaker are independently controllable by the control unit (Claim 6). The end effector with a UI has a communication device, and it is preferable that the communication device is independently controllable by the control unit (Claim 7). Effect of the Invention

[0013] request According to the end effector with UI described in claim 1 or 2, when performing direct teaching of the robot, the end effector can independently control the operation of the working part, thereby improving efficiency and accuracy, the state and status of the robot system can be confirmed by the end effector without checking the display on the operation panel of the robot system, and the worker can respond and cooperate with the robot system by obtaining information from the end effector without going through the operation panel or control panel of the robot system, making it possible to realize work with higher added value more easily and at lower cost. In particular, the robot system operates the robot arm to move the working part (gripper) that grips the target workpiece near the worker, and if the worker determines that the target workpiece is defective, the target workpiece can be ejected outside the machine, and by using the user interface (UI) and coordinating with the robot system, it is possible to realize work with higher added value more easily and at lower cost. According to the end effector with UI described in claim 3, when performing direct teaching of the robot, the end effector can independently control the operation of the working part, thereby improving efficiency and accuracy, the state and status of the robot system can be confirmed by the end effector without checking the display on the operation panel of the robot system, the worker can respond and cooperate with the robot system by obtaining information from the end effector without going through the operation panel or control panel of the robot system, and work with higher added value can be realized more easily and at lower cost. In particular, in defect confirmation inspection, the defect content for each defective part can be shown to the worker via the user interface (UI), and by using the user interface (UI) and coordinating with the robot system, work with higher added value can be realized more easily and at lower cost. According to the end effector with a UI described in claim 4, when performing direct teaching of the robot, the end effector can independently control the operation of the working unit, thereby improving efficiency and accuracy. The state and status of the robot system can be confirmed on the end effector without checking the display on the operation panel of the robot system. The worker can obtain information from the end effector without going through the operation panel or control panel of the robot system, and can respond and cooperate with the robot system, making it possible to achieve work with higher added value more easily and at lower cost. According to the end effector with a UI as set forth in claim 5, the end effector with a UI that exhibits the above-mentioned effects can be constructed simply and inexpensively. According to the end effector with a UI as recited in claim 6, communication with the operator is possible through voice control, thereby further improving workability and productivity. According to the UI-equipped end effector recited in claim 7, cooperation with external devices and networks such as the Internet becomes possible, and work with higher added value can be more easily realized. [Brief description of the drawings]

[0014] [Figure 1]1A to 1C are external views of one embodiment of an end effector with a UI according to the present invention, in which (a) is a front view, (b) is a right side view, and (c) is a perspective view. [Diagram 2] 2 is a configuration example of a robot system using the end effector with UI shown in FIG. 1. [Diagram 3] FIG. 3 is a connection diagram of a UI-equipped end effector in the robot system shown in FIG. 2. [Figure 4] FIG. 2 is a functional block diagram of the UI-equipped end effector shown in FIG. 1. [Diagram 5] 2 is an explanatory diagram for explaining the operation (operation during direct teaching) of the UI-equipped end effector shown in FIG. 1, and is a diagram showing a display screen of a touch panel display. [Figure 6] 2 is an explanatory diagram for explaining the operation (operation during direct teaching) of the UI-equipped end effector shown in FIG. 1, and is a diagram showing a display screen of a touch panel display. [Figure 7] 2 is an explanatory diagram for explaining the operation (operation during direct teaching) of the UI-equipped end effector shown in FIG. 1, and is a diagram showing a display screen of a touch panel display. [Figure 8] 1A and 1B are explanatory diagrams for explaining another function of the end effector with a UI shown in FIG. 1 (function during confirmation inspection by operator A), where (a) is an explanatory diagram for explaining one inspection state, and (b) is a diagram showing the display screen of the touch panel display. [Figure 9] 1A and 1B are explanatory diagrams for explaining another function of the end effector with a UI shown in FIG. 1 (function during confirmation inspection by operator B), where (a) is an explanatory diagram for explaining one inspection state, and (b) is a diagram showing the display screen of the touch panel display. [Figure 10] 1A and 1B are explanatory diagrams for explaining another function of the end effector with a UI shown in FIG. 1 (function during confirmation inspection by operator C), where (a) is an explanatory diagram for explaining one inspection state, and (b) is a diagram showing the display screen of the touch panel display. [Figure 11]1. FIG. 4 is an explanatory diagram for explaining another action (action in product confirmation inspection) of the end effector with UI shown in FIG. [Figure 12] 10A, 10B, and 10C are external views of another embodiment of an end effector with a UI according to the present invention, in which (a) is a front view, (b) is a right side view, and (c) is a perspective view. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] In the present invention, by having a working unit 2, a work drive unit 3 for driving the working unit 2, a user interface 4 equipped with a display, and a control unit 5 capable of independently controlling the work drive unit 3 and the user interface 4 equipped with a display, when performing direct teaching of the robot, the end effector can independently control the operation of the working unit, thereby further improving efficiency and accuracy, and the state and status of the robot system can be confirmed on the end effector without checking the display on the robot system's operation panel, and the worker can respond and cooperate with the robot system by obtaining information from the end effector without going through the operation panel or control panel of the robot system, thereby realizing an end effector 1 with a UI that can perform higher added value work more easily and at lower cost. EXAMPLES

[0016] The UI-equipped end effector of the present invention will be described with reference to one embodiment shown in FIGS. 1 or 2, the UI-equipped end effector 1 of this embodiment is an end effector with a UI that can be connected to the tip of a robot arm 80, and has a working unit 2, a work drive unit 3 for driving the working unit 2, a user interface 4 equipped with a display, and a control unit 5 that can independently control the work drive unit 3 and the user interface 4 equipped with a display. Each component will be described in detail below.

[0017] The UI-equipped end effector 1 of this embodiment is connected to the tip of a robot arm 80 in a robot system 70 shown in FIG. 2, for example, and used as a robot hand.

[0018] The robot system 70 has a work table 72 provided on a machine base 71, an operation panel 74 equipped with a display 73, a robot teaching pendant 75, a robot arm 80, an end effector 1 with a UI connected to the tip of the robot arm 80, and a control panel 76 capable of controlling these components (the operation panel 74, the robot teaching pendant 75, the robot arm 80, and the end effector 1 with a UI). As shown in FIG. 3, the end effector 1 with a UI in this embodiment is connected to the control panel 76 together with the operation panel 74 and the robot arm 80, and is configured to be controllable by operating the operation panel 74.

[0019] The working unit 2 is a portion that performs various operations in contact with a target workpiece, and the working unit 2 in this embodiment is configured as a gripper having a pair of gripping hands 2a, 2b as shown in Fig. 1. Specifically, the working unit 2 in this embodiment is a working unit that performs operations by clamping or releasing the target workpiece with the flat inner surfaces 2c, 2d of the gripping hands 2a, 2b as the flat inner surfaces 2c, 2d of the gripping hands 2a, 2b that are arranged opposite to each other approach or move away from each other.

[0020] However, the working unit in the UI-equipped end effector of the present invention is not limited to such a gripping gripper, and widely includes various forms of working units according to the work content, such as an adsorption hand, a magnetic hand, etc. Furthermore, examples of work performed by the working unit in the UI-equipped end effector include screw tightening work, assembly work, part sorting work, alignment work, boxing work, picking work, transport work, coating work, inspection work, measurement work, etc.

[0021] The work drive unit 3 is for driving the working unit 2, and in this embodiment, the work drive unit 3 has a motor driver 3a and a motor (a servo motor capable of detecting torque) 3b, as shown in Fig. 4. In this embodiment, a plurality of motor drivers 3a are provided to enable more complicated movements of the working unit. However, the work drive unit in the UI-equipped end effector of the present invention is not limited to one having an electric motor as in this embodiment, but broadly includes a hydraulic, pneumatic, or other type of drive device depending on the type of working unit, as well as one that operates the working unit using mechanical elements such as electromagnets, springs, link mechanisms, and cam mechanisms.

[0022] The exterior part 6 of the working part 2, the work drive part 3, etc. of the UI-equipped end effector 1 may be produced by a 3D printer, which allows for the construction of a working part and an exterior part with a high degree of freedom to be adapted to a target workpiece that cannot be mass-produced. In addition, the working part and the exterior part are preferably made of a resin material because they can be made lighter, but they may also be made of a metal material. Furthermore, an attachment part 7 is provided on the other end of the exterior part 6 for connecting to the tip of the robot arm 80.

[0023] A user interface (UI) 4 equipped with a display is a characteristic configuration of the UI-equipped end effector of the present invention, and in this embodiment, a touch panel display is used. However, the user interface (UI) equipped with a display in the UI-equipped end effector of the present invention is not limited to a touch panel display, but may be a combination of a display (display device) and an input device (e.g., a device equipped with selectable buttons) through which the user inputs information, and is not limited to one having a contact-type input unit such as a touch panel display, but may be one having a non-contact type input unit that inputs information from the user side using, for example, a sensor or voice. In this application, the user interface refers to an interface through which a user (user, e.g., an operator) exchanges information with a control unit.

[0024] In the UI-equipped end effector 1 of this embodiment, information from a user (e.g., a worker) can be input to a control unit (controller) 5 of the UI-equipped end effector 1 via a touch panel display 4, which is a user interface equipped with a display, and various information can be output to the user (e.g., the worker). Furthermore, based on the input from the user (e.g., the worker) via the touch panel display 4, the control unit (controller) 5 is configured to independently control the operation of each part of the UI-equipped end effector 1 (e.g., the working unit 2, the work drive unit 3, the touch panel display 4), or the operation of each part connected to the UI-equipped end effector 1 (e.g., the microphone 8, the speaker 9, the gyro sensor 10, the camera 11, the communication device 12, the temperature sensor 13).

[0025] 4, the UI-equipped end effector 1 of this embodiment has an LCD (liquid crystal display) 4 that functions as a touch panel, and buttons A, B, and C that are displayed on the screen of the LCD 4, which constitute a UI (user interface) that can input and output to a user (e.g., an operator). However, the UI (user interface) in the UI-equipped end effector of the present invention is not limited to the touch panel display 4, and in addition to the touch panel display 4 and a display (display device), UI-equipped end effectors that include user interfaces provided by other means (e.g., a keyboard, a mouse, a microphone 8, a speaker 9, etc.) are also broadly included in the scope of the present invention.

[0026] The control unit 5 is a controller that enables the work drive unit 3 and the touch panel display 4, etc., to be controlled independently from the control panel 76 of the robot system 70, and is provided in the UI-equipped end effector 1. As a result, in the control panel 76 of the robot system 70, even for control to the extent of gripping a workpiece, it is possible to set up the UI-equipped end effector to perform simple and inexpensive control on the UI-equipped end effector side, for example, by adding more detailed gripping control (e.g., gripping control for a soft workpiece) or by replacing it with an end effector with a UI specialized for detailed control, even if the control is complicated and difficult to perform by the control panel of the connected robot system.

[0027] 1, the control unit 5 in this embodiment is built into an exterior unit 6 on the rear side of the touch panel display 4. In this embodiment, the control of information input and output to and from a user interface such as the touch panel display 4, as well as other control of the UI-equipped end effector 1, can also be controlled by a control panel 76 of the robot system 70.

[0028] More specifically, the control unit 5 (controller) of this embodiment is configured as shown in Fig. 4 by an MCU (microcontroller unit), and includes a CPU (Central Processing Unit), RAM, flash memory, SD card, etc., and performs input / output processing of data or information between each unit, calculation processing of data and storage processing of data or information, and writing processing of various programs, and is configured to be able to control and integrate the operation of each unit such as the work driving unit 3, touch panel display (LCD) 4, microphone 8, speaker 9, gyro sensor 10, camera 11, communication device 12, or temperature sensor 13 based on various programs (OS, application software), etc. The above configuration of the control unit 5 (controller) shown in Fig. 4 is an example, and it is not necessarily required to have all of the above components, and may further include additional components.

[0029] The microphone 8 and speaker 9 are for transmitting information from the worker to the control unit 5 by voice and for transmitting information from the control unit 5 to the worker by voice, and function as a type of UI (user interface) (second user interface). Voice control, which is configured with the microphone 8 and speaker 9 as input / output units, enables communication between the worker and the control unit 5, and can further improve workability and productivity.

[0030] The gyro sensor 10 is a component that can confirm the attitude of the working unit 2, thereby making alignment easier, and functions to enable even higher level detection than the collision detection of the robot.

[0031] The camera 11 is a component for accurately performing remote monitoring, motion recording, and image recognition of, for example, target workpieces, bar codes, characters, and the like.

[0032] The communication device 12 is a part for communicating with an external device or a network such as the Internet and linking with an end effector with a UI, and may be a wired communication device or a wireless communication device using, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark). This enables linking with an external device or a network, making it easier to achieve work with higher added value.

[0033] The temperature sensor 13 is provided to enable more accurate performance of work requiring temperature control. Note that the components controlled by the control unit 5 in the above embodiment are merely examples, and the control unit of the UI-equipped end effector of the present invention is not limited to one that controls all of the components described above, and may also control additional components.

[0034] Next, examples of the operation of the UI-equipped end effector 1 of the present invention will be described in sequence. The UI-equipped end effector 1 of this embodiment is configured so that an operator can use a touch panel display (UI) 4 to perform direct teaching as an action during direct teaching.

[0035] Direct teaching is a method in which an operator teaches an industrial robot an action by directly moving the UI-equipped end effector 1 with his or her hands. The UI-equipped end effector 1 of this embodiment has a servo motor 3b and a gyro sensor 10 capable of detecting torque, and calculates torque, speed, rotation angle, etc. based on input from the touch panel display 4 by the operator or direct action teaching to the UI-equipped end effector 1, and stores the calculated torque, speed, rotation angle, etc. as robot programming. The stored movements and controls (torque control, speed control, positioning control, etc.) are repeatedly fed back to perform various tasks. This eliminates the need to set conditions in advance on a personal computer, making direct teaching extremely easy.

[0036] 5, in the UI-equipped end effector 1 of this embodiment, when a worker presses button B on the initial screen 25 on the touch panel display 4, the control unit 5 controls the controller 5 to open the gripper (working unit) 2 having a pair of gripping hands 2a, 2b, and when a worker presses button C, the control unit 5 controls the controller 5 to close the gripper (working unit) 2. This allows the worker who performs the operation teaching to open and close the gripper (working unit) 2 while having the operator memorize the operation by directly moving the UI-equipped end effector 1 with his or her hand, making it possible to perform teaching more accurately and easily.

[0037] Also, the initial screen 25 on the touch panel display 4 is configured to display a torque display 30, a position display 31 based on a gyro sensor, a travel distance 32 calculated from the motor drive amount, and an angle 33. Furthermore, when a message for the worker is received, the screen automatically switches to a message display (pop-up) screen 26 as shown in the right diagram of FIG. 5, and the message content 27 is displayed on the touch panel display 4. When the worker checks the message content and presses button B, it becomes OK (the worker has understood the message content), and the screen returns to the initial screen 25. In this way, information and the like can be transmitted to the worker via the touch panel display 4, and it functions to improve workability or productivity.

[0038] Furthermore, when the worker wants to set the torque of the gripper (working unit) 2, pressing button A on the initial screen 25 shown in Fig. 5 displays a setting screen 28 on the touch panel display 4 as shown in Fig. 6, and by pressing torque setting 29 on this setting screen 28 and then pressing button B (set), a torque setting screen 34 shown on the right in Fig. 6 is displayed, and after determining the torque by increasing the torque with button B or decreasing the torque with button C, pressing button A returns to the setting screen 28 and sets the torque. This makes it possible to set the gripping force (torque) of the working unit 2 even while the gripper (working unit) 2 is performing an inching operation.

[0039] On the other hand, when the worker wants to set the speed of the gripper (working unit) 2, by pressing button C on the setting screen 28 on the display 4 shown in Fig. 5 to set the speed 35 (left diagram in Fig. 7) and then pressing button B (set), the speed setting screen 36 shown in the right diagram in Fig. 7 is displayed, and after the speed is determined by increasing the speed with button B or decreasing the speed with button C, pressing button A returns to the setting screen 28 and the speed is set. This makes it possible to set the speed of the working unit 2 even while the gripper (working unit) 2 is performing an inching operation.

[0040] Furthermore, the operator can set voice recognition 37, speaker 38, camera ON / OFF 39, etc. on the setting screen 28 shown in FIG. 6, and the UI-equipped end effector 1 is configured to be able to independently control things other than the working unit 2, the working drive unit 3, and the touch panel display 4.

[0041] Next, another example of the operation of the UI-equipped end effector 1 of the present invention shown in Figs. 8 to 10 will be described. The function of the end effector 1 with UI shown in Figures 8 to 10 is an operation in which workers A, B, and C, who are located in different positions, visually inspect a target workpiece (not shown) gripped by a working unit (gripper) 2 to check whether it is normal or abnormal.

[0042] Specifically, as shown in Fig. 8(a), the robot system 70 operates the robot arm 80 and moves the working unit (gripper) 2 gripping the target workpiece to the worker A side, and when the worker A visually checks the target workpiece and judges it to be normal, he presses button B on the inspection judgment screen 40 on the touch panel display 4 as shown in Fig. 8(b). This judges the workpiece to be OK for the worker A, and in order to move to the next inspection by the worker B, the robot system 70 operates the robot arm 80 and moves the working unit (gripper) 2 gripping the target workpiece to the worker B side as shown in Fig. 9(a). On the other hand, when the worker A visually judges the target workpiece to be abnormal and presses button C on the inspection judgment screen 40 on the touch panel display 4, it is judged to be NG, and the target workpiece is discharged from the machine as a defective product.

[0043] Next, when operator B visually checks the target work and judges it to be normal, he presses button B on the inspection judgment screen 40 on the touch panel display 4, as shown in Fig. 9(b). This also gives OK to operator B, and in order to move to the next inspection by operator C, the robot system 70 operates the robot arm 80 and moves the working unit (gripper) 2 gripping the target work to the operator C side, as shown in Fig. 10(a). On the other hand, if operator B visually judges the target work to be abnormal and presses button C on the inspection judgment screen 40 on the touch panel display 4, it is judged NG, and the target work is discharged from the machine as a defective product.

[0044] Furthermore, if operator C visually checks the target work and judges it to be normal, he presses button B on the inspection judgment screen 40 on the touch panel display 4, as shown in Fig. 10(b). This also judges it to be OK for operator C, and the product moves to the product discharge process as a good product. On the other hand, if operator C visually judges the target work to be abnormal and presses button C on the inspection judgment screen 40 on the touch panel display 4, the product becomes NG, and the target work is discharged from the machine as a defective product.

[0045] In this way, the UI-equipped end effector 1 of the present invention can use the touch panel display 4 (UI) and cooperate with the robot system 70 to more easily and inexpensively accomplish tasks with higher added value.

[0046] Further, another example of the operation of the UI-equipped end effector 1 of the present invention shown in FIG. 11 will be described. The action of the UI-equipped end effector 1 shown in FIG. 11 is an action during a defect confirmation inspection in which the working unit (gripper) 2 indicates a defective portion of a target workpiece 50 and displays the details of the defect on a defect display screen 51 on the touch panel display 4.

[0047] Specifically, when the camera 11 finds a defective portion of the target workpiece 50, the robot system 70 operates the robot arm 80 and has the working unit (gripper) 2 point out the defective portion as shown in Fig. 11. Then, the control unit 5 of the UI-equipped end effector 1 determines whether the defective portion is a scratch, an uneven surface, or a poor color, and controls the display of the determination result (defect content) on the defect display screen 51 on the touch panel display 4. This allows the worker to easily inspect and check the presence or absence of defects and the defect content for each target workpiece 50.

[0048] In this way, the end effector with UI of the present invention can show the operator the defect details for each defective part via the touch panel display 4 (UI) during defect confirmation inspection, and in cooperation with the robot system 70, it becomes possible to carry out work with higher added value more easily and at lower cost.

[0049] Note that the functions of the UI-equipped end effector 1 of the present invention shown in Figures 5 to 11 are merely examples, and the UI-equipped end effector of the present invention broadly includes an end effector with a UI that can perform work with higher added value more easily and at lower cost by having a user interface with a display (e.g., a touch panel display: UI), or by having a user interface with a display (e.g., a touch panel display: UI) and other UIs in the end effector itself, and by being able to independently control these by a control unit possessed by the end effector, and by functions realized by cooperation between such control and a robot system.

[0050] Next, another embodiment of the UI-equipped end effector of the present invention shown in FIG. 12 will be described. The UI-equipped end effector 20 of this embodiment differs from the UI-equipped end effector 1 described above only in the shape of the working unit, and the rest is similar. The same components as those of the UI-equipped end effector 1 are given the same reference numerals and will not be described.

[0051] The working unit 21 of this embodiment is also configured as a gripper having a pair of gripping hands 21a, 21b. Specifically, the working unit 21 of this embodiment is configured to perform work by clamping or releasing a cylindrical or cylindrical target workpiece between the roughly semicircular inner surfaces 21c, 21d of the gripping hands 21a, 21b in a front view as the roughly semicircular inner surfaces 21c, 21d of the gripping hands 21a, 21b in a front view approach or move away from each other. In this way, the form of the working unit in the UI-equipped end effector of the present invention broadly includes various forms depending on the work content and the form of the target workpiece. [Explanation of symbols]

[0052] 1 End effector with UI 2 Working section 3. Working Drive Unit 4 User interface with display (touch panel display) 5. Control section 6 Exterior part 7 Mounting part 8. Mike 9 Speakers 10 Gyro sensor 11 Camera 12. Communications Equipment 13 Temperature Sensor 20 End effector with UI 21 Working Section 70 Robot Systems 71 machine 72 Work table 73 Display 74 Control panel 75 Robot Teaching Pendant 76 Control Panel 80 Robot Arm

Claims

1. An end effector with a UI that can be connected to the tip of a robot arm, the end effector having a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit that can independently control the work drive unit and the user interface (UI), The UI-equipped end effector is moved by a robot system that controls the operation of the robot arm to a position where an operator can inspect the target workpiece gripped by the gripper of the working unit, The control unit is characterized in that when it determines that there is an abnormality in the target work based on a normal / abnormal signal received by an operator via the user interface (UI), it controls the target work to be ejected from the machine.

2. The end effector with a UI according to claim 1 , wherein the control by the robot system and the control unit is performed for a plurality of workers located at different positions.

3. An end effector with a UI that can be connected to the tip of a robot arm, the end effector having a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit that can independently control the work drive unit and the user interface (UI), An end effector with a UI, characterized in that when the camera finds a defect in the target workpiece, the robot system operates the robot arm, causing the working unit to point out the defective part, and the control unit determines the content of the defect in the defective part and displays the content of the defect on the display of the user interface (UI).

4. An end effector with a UI that can be connected to the tip of a robot arm, the end effector having a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit that can independently control the work drive unit and the user interface (UI), The control unit is configured to be able to control the torque, speed, or positioning of the working unit via the user interface (UI).

5. 5. The end effector with a user interface (UI) according to claim 1, 3 or 4, wherein the UI is a touch panel display.

6. 5. The end effector with a UI according to claim 1, 3 or 4, wherein the end effector with a UI has a microphone and a speaker, and the microphone and the speaker are configured to be independently controllable by the control unit.

7. 5. The end effector with a UI according to claim 1, 3 or 4, further comprising a communication device, the communication device being configured to be independently controllable by the control unit.

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