Robot, robot control method, drive device, drive device control method, article manufacturing method, program, and recording medium

Abstract

To provide a robot that allows light emitted to show a state of a robot to be easily visually recognized by humans around the robot unlike conventional light emitting units provided to show the state of the robot that may cause depending on circumstances, difficulty in humans around the robot visually recognizing the light.SOLUTION: There is provided a robot comprising at least one joint connecting two links. The joint includes: light sources each mounted on a substrate; and diffusion units configured to diffuse light from the light source. A space accommodating wiring therein is provided between a virtual plane on the substrate and the diffusion unit.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a robot or the like equipped with a light emitting unit. [Background technology]

[0002] For example, robots having movable parts such as arms are expected to perform various tasks in various places such as manufacturing lines, and inevitably, opportunities for robots and humans to come into close contact with each other are increasing. For example, when teaching a robot an action by so-called direct teaching, a method may be used in which an operator directly holds a movable part such as an arm and moves it in the same manner as when the robot is moving, and the movement trajectory is registered in the control unit of the robot. In addition, there is an increasing need for collaborative work in which humans and robots work together in close proximity.

[0003] When a robot and a human are performing a task in close proximity to each other, it is necessary for the worker's safety to make it easy for the worker to recognize the robot's state.

[0004] Patent Document 1 describes a robot in which a movable arm is supported by a columnar base, and a light-emitting unit that can be visually recognized by an operator is disposed on the columnar base.

[0005] Patent document 2 describes a robot in which a first space and a second space are formed between a first housing and a second housing of the robot, a light-emitting element is arranged in the first space, and a drive unit is arranged in the second space. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2016-43438 A [Patent Document 2] JP 2019-63938 A Summary of the Invention [Problem to be solved by the invention]

[0007] Conventional robots equipped with light-emitting parts are not necessarily designed to make it easy for workers to see the light, so there were concerns that the safety of workers could not be ensured when performing teaching tasks or collaborative tasks in close proximity to the robot.

[0008] In the robot described in Patent Document 1, a light-emitting unit is arranged in a strip shape around the bottom of the robot, specifically, the base side fixed part on the cylinder on which the robot is installed. For example, when making the robot perform automatic assembly work or performing direct teaching work for that, if jigs and parts feeders required for the work are placed around the installation part of the robot, the visibility of the light-emitting unit will be reduced because they are blocked by them. This will cause problems for workers to recognize the light emitted by the light-emitting unit and understand the operating status of the robot.

[0009] In the robot described in Patent Document 2, a light-emitting element is arranged in the space between the housings, but during teaching work or collaborative work with humans, depending on the posture and operating state (orientation) of the robot arm, there is a risk that the light-emitting element will be hidden and not visible.

[0010] As described above, conventional light-emitting parts provided to indicate the robot's status can be difficult for people in the vicinity to see depending on the situation. Therefore, there has been a demand for a robot whose light-emitting display indicating the robot's status can be easily seen by people in the vicinity. [Means for solving the problem]

[0011] A first aspect of the present invention is a robot having at least one joint connecting two links, the joint comprising a light source mounted on a substrate and a diffusion unit that diffuses light from the light source, and a space in which wiring is stored is provided between a virtual plane on the substrate and the diffusion unit.

[0012] A second aspect of the invention is a drive device for driving a robot having at least one joint connecting two links, the joint comprising a light source mounted on a substrate and a diffusion section for diffusing light from the light source, and a space is provided between the substrate and the diffusion section in which wiring for driving the robot is stored. Effect of the Invention

[0013] According to the present invention, it is possible to provide a robot whose light emission indicating the state of the robot is easily visible to people in the vicinity. [Brief description of the drawings]

[0014] [Figure 1] 1A is a schematic side view illustrating an example of the overall configuration of a robot according to an embodiment, and FIG. [Diagram 2] FIG. 2 is a schematic block diagram for explaining a control system. [Diagram 3] FIG. 2 is a schematic cross-sectional view for explaining the configuration of a joint. [Figure 4] FIG. 13 is an enlarged partial cross-sectional view of a part of the joint for explaining the configuration around the support body. [Diagram 5] FIG. 4 is a schematic cross-sectional view for explaining a display unit. [Figure 6] 6(a) is a cross-sectional view taken along line X1-X1 shown in Fig. 5. (b) is a cross-sectional view taken along line Y1-Y1 shown in Fig. 5. [Figure 7] (a) A perspective view of the side of the joint in one pose, looking along the axis of rotation of the joint, (b) A perspective view of the side of the joint in another pose, looking along the axis of rotation of the joint, (c) A perspective view of the side of the joint in yet another pose, looking along the axis of rotation of the joint. [Figure 8](a) A schematic cross-sectional view showing a cross section of Fig. 7(a) taken along the line Z1-Z1 shown in Fig. 7(b), (b) A schematic cross-sectional view showing a cross section of Fig. 7(b) taken along the line Z1-Z1 shown in Fig. 7(b), (c) A schematic cross-sectional view showing a cross section of Fig. 7(c) taken along the line Z1-Z1 shown in Fig. 7(b). [Figure 9] 6A is a cross-sectional view of Modification 1 taken along a direction similar to that of line X1-X1 shown in Fig. 5. (b) is a cross-sectional view of Modification 1 taken along a direction similar to that of line Y1-Y1 shown in Fig. 5. [Figure 10] 6A is a cross-sectional view of Modification 2 taken along a direction similar to that of line X1-X1 shown in Fig. 5. (b) is a cross-sectional view of Modification 2 taken along a direction similar to that of line Y1-Y1 shown in Fig. 5. [Figure 11] 6 is a cross-sectional view of Modification 3 taken along a direction similar to the Y1-Y1 line shown in FIG. 5. [Figure 12] 6A is a cross-sectional view of Modification 4 taken along the same direction as line Y1-Y1 shown in Fig. 5. (b) is an enlarged partial cross-sectional view showing the vicinity of the diffusion plate. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A robot or the like according to an embodiment of the present invention will be described with reference to the drawings. The embodiment described below is merely an example, and those skilled in the art can appropriately modify and implement the detailed configuration without departing from the spirit and scope of the present invention.

[0016] In the drawings referred to in the following description of the embodiments, elements denoted by the same reference numerals have the same functions unless otherwise noted. When a plurality of identical elements are arranged in a drawing, the reference numerals and their descriptions may be omitted.

[0017] In addition, since the drawings may be represented diagrammatically for the convenience of illustration and explanation, the shape, size, arrangement, etc. of the elements depicted in the drawings may not strictly correspond to the actual objects.

[0018] [Embodiment] First, the overall configuration of the robot and the control system will be described, and then the configuration of the joints of the robot arm and the displays equipped at the joints will be described.

[0019] [Overall configuration of the robot] Fig. 1(a) is a schematic side view for explaining the overall configuration of an example of a robot according to an embodiment, and Fig. 1(b) is a schematic external view of the robot arm 1 in the posture shown in Fig. 1(a) as seen from behind (along the X direction). The figure shows the coordinate axes of a three-dimensional coordinate system used for controlling the robot arm 1. As shown in FIG. 1( a ), the robot includes a robot arm 1 and a control device 91 that controls the robot arm 1 .

[0020] The robot arm 1 is a so-called serial link type robot arm in which multiple links are connected in series via multiple joints. In the figure, a six-axis controlled robot arm is shown, but the embodiment of the present invention is not limited to the exemplified robot arm.

[0021] The robot arm 1 is fixed to a base via a fixed link 300. A link 10 is connected to the fixed link 300 via a joint 11 whose rotation axis is parallel to the Z axis, and a link 20 is connected to the link 10 via a joint 21 whose rotation axis is parallel to the Y axis. Similarly, from the base side to the tip side, a joint 31 whose rotation axis is parallel to the Y axis, a link 30, a joint 41 whose rotation axis is parallel to the X axis, a link 40, a joint 51 whose rotation axis is parallel to the Y axis, a link 50, a joint 61 whose rotation axis is parallel to the X axis, and a link 60 are connected in series. In the above description, the direction of the rotation axis of each joint has been described according to the state (initial state) of the robot arm shown in the figure.

[0022] The movable range of each joint is set as follows, based on the initial posture: For example, the movable range of joint 11 is approximately ±180 degrees, the movable range of joint 21 is approximately ±80 degrees, the movable range of joint 31 is approximately ±70 degrees, the movable range of joint 41 is approximately ±180 degrees, the movable range of joint 51 is approximately ±120 degrees, and the movable range of joint 61 is approximately ±240 degrees.

[0023] The rotation axis of each of joints 11, 41, and 61 is arranged parallel to or coaxial with the central axis (shown by a dashed line) of the two links to which it is connected, and is configured so that the (relative) angle of the two links can be changed around the rotation axis.

[0024] Meanwhile, the rotation axis of each of the joints 21, 31, and 51 is disposed so as to intersect with the central axis (shown by a dashed line) of the two links to which it is connected, and is configured so that the (relative) angle of the two links can be changed around the rotation axis. In the following description, joints such as the joints 21, 31, and 51, whose rotation axis intersects with the central axis of the two links to which it is connected, may be referred to as bending joints. Also, the joint that controls the second axis as viewed from the base end side may be referred to as the second joint, the joint that controls the third axis as the third joint, and the joint that controls the fifth axis as the fifth joint.

[0025] An end effector 70 suitable for the work performed by the robot is connected to a link 60 at the tip of the robot arm 1. For example, when a robot performs assembly work or transport work on a production line, a hand driven by electricity or air pressure, for example, may be attached to the robot arm 1 as the end effector 70. The end effector 70 is fixedly or detachably attached to the link 60 by a fixing means (not shown). The fixing means may be, for example, a fixing means such as a screw fastener or a detachable fixing means such as a ratchet fastener. When a detachable end effector 70 is attached, the control device 91 may control the robot arm 1 to attach or replace the end effector placed in the storage position by the operation of the robot itself.

[0026] As shown diagrammatically by dotted lines, wiring members 80 including signal lines, power lines, and the like that connect the robot arm 1 and a control device 91 are disposed inside the robot arm 1. In the case where the robot arm 1 is equipped with joints or end effectors that are operated by fluid drive such as air pressure or hydraulic pressure, the wiring members 80 may include fluid piping. The wiring members 80 are flexible, and are disposed from the base end to the tip end of the robot arm 1. The electric wires and piping that constitute the wiring members 80 branch out appropriately at various points in the robot arm 1, and are connected to the actuators and sensors of each joint, the actuators and sensors of the end effector 70, and the like.

[0027] [Control System] 2 is a schematic block diagram for explaining a control system 97 centering around a control device 91. The control device 91 is a computer that controls the operation of the robot arm 1, and includes a motion control unit 93, an operation status monitoring unit 98, and a display control unit 90 as functional blocks.

[0028] The control device 91 is configured by a computer (not shown) and includes a CPU (Central Processing Unit). In addition, as a storage unit, the control device 91 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disc Drive), and a recording disc drive. In addition, the control device 91 includes an interface for communicating with external devices. The CPU, ROM, RAM, and interface are connected by a bus so that they can communicate with each other.

[0029] Of these, the RAM is used for temporary storage of data such as teaching points and control commands input by operating the teaching pendant. The ROM stores basic programs such as the BIOS for causing the CPU to execute various arithmetic processes. The CPU executes various arithmetic processes based on the control programs recorded (stored) in the HDD. The HDD can store various data and the like that are the results of the CPU's arithmetic processes. The recording disk drive can read out various data and control programs recorded on a recording disk. Furthermore, the interface is connected to a monitor that displays various images, a rewritable non-volatile memory, an external storage device such as an external HDD, etc.

[0030] Each of the functional blocks of the operation control unit 93, the operation status monitoring unit 98, and the display control unit 90 can be configured by, for example, a CPU reading and executing a control program stored in a storage device or a non-transitory recording medium. Alternatively, some or all of the functional blocks may be configured by hardware such as an ASIC provided in the control device 91.

[0031] A command device 94 is connected to the control device 91, and a robot control system 97 including the robot arm 1 is configured. The command device 94 can be, for example, a teaching device such as a teaching pendant. The command device 94 has an operation unit including, for example, operation keys, and an operator can command the control device 91 via the operation unit as to the attitude (position and angle) of the joints of the robot arm 1, or the position of a reference point arranged at a predetermined position (for example, the tip) of the robot arm 1.

[0032] The command device 94 may be another computer device (PC or server) capable of editing a robot program. The command device 94 can be connected to the control device 91 via a wired or wireless communication means, and has a user interface function for operating the robot and displaying its status.

[0033] An operation control unit 93 of the control device 91 executes a robot control program read from the storage unit to control each unit of the robot arm 1. Detection values ​​are input to the control device 91 from an encoder 95 that detects the rotation of a motor 92 that drives each joint, a current detection unit 96 that detects the drive current value of the motor 92, and torque sensors 12 to 62 provided in the joints 11 to 61. The operation control unit 93 uses these detection values ​​to control the operation of the robot arm by a control method according to the task, such as position control or torque control.

[0034] The operation state monitoring unit 98 included in the control device 91 monitors the operation state of the robot arm 1. For example, it monitors whether the force applied to the joint is within the range assumed for the work, whether an excessive load exceeding the allowable range is applied to the joint, etc. In addition, it is possible to monitor the temperature of the exterior of the robot arm 1 using, for example, a temperature sensor (not shown), and to monitor whether there is any problem even if a worker approaches or comes into contact with it.

[0035] The operation status monitoring unit 98 includes an abnormality status determination unit 99, which determines whether or not the operation status of the robot arm is normal based on the detection values ​​input from each sensor.

[0036] Using the state of the robot arm 1 analyzed by the operation state monitoring unit 98 (including the judgment result by the abnormal state judgment unit 99), the control device 91 judges whether to continue or stop the work operation, and controls the operation of the robot arm 1.

[0037] A display control unit 90 included in the control device 91 controls a light source 111 of a display unit provided in a joint mechanism described later. An operation control unit 93 of the control device 91 determines a display pattern to be displayed by the display unit based on the state of the robot arm 1 analyzed by an operation state monitoring unit 98, and issues a command to the display control unit 90. Based on the command, the display control unit 90 causes the light source 111 of the display unit provided in the joint mechanism to emit light in accordance with the display pattern. The display pattern may include settings related to a spatial pattern (which light source among multiple light sources is to emit light), a temporal pattern (whether to light continuously or blink), a light emission color, a light emission intensity, and the like.

[0038] [joint] The structure of the joints included in the robot according to the embodiment will be described using the bending joint 31 as an example. The joints 21 and 51 are also bending joints, and have the same or similar basic configuration as the joint 31.

[0039] Fig. 3 is a schematic cross-sectional view for explaining the configuration of the joint 31, and Fig. 4 is a partial cross-sectional view in which a part of the joint 31 is enlarged for explaining the configuration around the support 200. As shown in the figure, the joint 31 includes a fixed link 20, a movable link 30, and a support 200. The frame portion of the fixed link 20 has a concave shape and supports the support 200 via a bearing 209. A wiring member 80 including a signal line, a power line, etc. is arranged in the internal space of the joint 31.

[0040] The drive section of the joint 31 includes a motor 205 that rotates around a rotation axis indicated by a dashed line in FIG. 4, an encoder 206 that detects the rotation of the motor 205, a reducer 208 for increasing the output torque, a brake 207, and an oil seal 210.

[0041] The support body 200 is connected to the output side of the drive unit and a torque sensor 211, and transmits the output torque of the drive unit to the torque sensor 211. The output torque transmitted to the torque sensor 211 is transmitted to the movable link 30 side via the torque sensor 211, causing the link 30 to rotate.

[0042] The stator side of the motor 205 is connected to the fixed side link 20 by a connecting plate 203. The components of the drive unit that should be arranged concentrically with the rotation shaft of the motor 205 are integrated by the connecting plate 203 and the support 200.

[0043] A display having a light-emitting unit is provided on the exterior cover 102 covering the side surface of the joint 31. In FIG. 3, a display DPL surrounded by a dotted line is provided on the left side surface of the joint 31, and a display DPR surrounded by a dotted line is provided on the right side surface. In the robot of this embodiment, since a display having a light-emitting unit is provided on the side surface (preferably both side surfaces) of the bending joint, the worker can check the display with high visibility regardless of the position or posture of the robot arm. The side surface of the bending joint is a position that is easy to see regardless of the angle of the link to which the joint is connected, and is therefore suitable for providing a display.

[0044] [Display] Fig. 5 is a schematic cross-sectional view for explaining the display DPR, and is also a partially enlarged view of Fig. 3. Fig. 6(a) is a cross-sectional view taken along the line X1-X1 shown in Fig. 5, and Fig. 6(b) is a cross-sectional view taken along the line Y1-Y1 shown in Fig. 5.

[0045] The display DPR includes a substrate 114, a plurality of light sources 111 mounted on the substrate 114, and a light-transmitting diffusion plate 112 as a diffusion section that diffuses the light emitted by the light sources 111.

[0046] The substrate 114 may be, for example, a solid substrate made of glass epoxy resin or paper phenol resin, or a flexible substrate (sheet-shaped substrate) made of polyimide or the like. The plane PL on which the main surface of the substrate 114 exists is indicated by a dotted line in FIG. 5, but the plane PL may be called a virtual plane on which the main surface of the substrate is disposed. The substrate 114 is disposed on a component (e.g., the fixed frame 100) of the fixed link 20. The substrate 114 is installed so that the plane PL intersects with the rotation axis of the joint and is approximately parallel to the side surface of the joint. The substrate 114 is a member having a main surface on which the light source 111 is mounted, and therefore the substrate 114 may also be called a surface member.

[0047] The substrate 114 is provided with an opening HL for passing the wiring member 80 at a position corresponding to the rotation axis of the joint, and the shape of the substrate 114 in a plan view is typically a circular ring shape surrounding the opening HL. A wiring guide 109 is provided near the edge of the opening HL to prevent the wiring member 80 from interfering with the edge of the opening HL when the joint moves, and to prevent the wiring member 80 from being worn or damaged. The material and surface of the wiring guide 109 are configured so that the wiring member 80 can move smoothly when the joint moves. The wiring member 80 extends from the fixed link (link 20 in this example) to the movable link (link 30 in this example) through the opening HL.

[0048] Light sources 111 are arranged on the substrate 114 so as to surround the rotation axis of the joint. The light sources 111 are light-emitting elements such as LEDs, and the light emission is controlled by the display control unit 90 (FIG. 2). The light sources 111 emit light in the direction of a light-transmitting diffusion plate 112. For example, a plurality of light-emitting elements can be arranged along a circumference centered on the rotation axis of the joint, and the diffusion plate may be an annular (donut-shaped) plate provided at a position facing the light-emitting elements, or may be a plate of a circular or other shape. The light-transmitting diffusion plate 112 is arranged in an opening of an exterior cover 102 attached to the fixed link 20.

[0049] In this embodiment, in order to prevent the wiring member 80 from interfering with the substrate 114 or the diffusion plate 112 when the joint moves, a space S is provided between the plane PL on which the main surface of the substrate 114 exists and the diffusion plate 112. Strictly speaking, the space S is secured between the plane PL and the diffusion plate 112 so that not only the substrate 114 itself but also the components mounted on the substrate 114 do not interfere with the wiring member 80.

[0050] The behavior of the wiring member 80 when the joint is operated to change its posture will be described in relation to the space S. Figures 7(a) to 7(c) are perspective views of the side of the joint along the direction of the rotation axis of the joint, and show three cases in which the angle of the movable link 30 relative to the fixed link 20 is changed within the movable range α. Figures 8(a) to 8(c) are schematic cross-sectional views showing the cross sections of the joints shown in Figures 7(a) to 7(c) cut along the direction of line Z1-Z1 shown in Figure 7(b).

[0051] When the joint 31 is driven by a command from the control device 91 to change the angle of the link 30 relative to the link 20, the wiring member 80 swings in the X direction (left and right direction in the figure) within the XZ plane as shown in Figures 7(a) to 7(c). Even if the wiring member 80 swings within the XZ plane, there is no problem because the wiring member may come into contact with the wiring guide 109.

[0052] Furthermore, when viewed within the YZ plane as shown in Figures 8(a) to 8(c), when the angle of the movable link 30 relative to the fixed link 20 changes, the way in which the wiring member 80 bends changes, and the position of the apex of the bent portion swings in the Y direction within space S as shown in Ga, Gb, and Gc.

[0053] In this embodiment, the height of the space S in the rotation axis direction (Y direction) is sufficiently ensured so that the bent wiring member 80 does not come into contact with the components mounted on the substrate 114, the exterior cover 102, or the inner surface of the diffusion plate 112. In other words, the distance between the substrate 114 and the diffusion plate 112 is set so that the bent portion of the wiring member 80 does not come into contact with the components mounted on the substrate 114 or the inner surface of the diffusion plate 112 even if the bending state of the wiring member 80 changes.

[0054] Therefore, according to this embodiment, even if the wiring members are laid through the display, wear and friction resistance of the wiring members when the joints are operated is suppressed, and the robot arm 1 can be stably operated for a long period of time. In addition, damage to the light source 111 and electric circuit components mounted on the substrate 114 due to contact with the wiring members is suppressed, so the display can be stably operated for a long period of time, and surrounding people including the worker can recognize the operating state of the robot.

[0055] Here, the display DPR (FIG. 3) provided on one side of the joint 31 has been described, but the display DPL provided on the opposite side can be configured in the same manner as the display DPR. The wiring member 80 connecting the links may be laid only on the display DPR side, or the wiring member 80 may be divided into two and laid on both the display DPR side and the display DPL side. Alternatively, the wiring connected to the drive unit of the joint 31 can be branched from the wiring member 80 and passed through the opening HL of the display DPL to connect to a motor, an encoder, a torque sensor, or the like.

[0056] When the outer shape of the side surface of the joint 31 is circular, it is preferable that the light source 111 is arranged along a circumference centered on the rotation axis, and the diffusion plate 112 is also circular or doughnut shaped, but the arrangement of the light source 111 and the shape of the diffusion plate 112 can be changed appropriately according to the outer shape of the joint 31. In short, the shape of the display can be set so as to provide high visibility to people positioned around the robot arm 1.

[0057] [Display unit light emission pattern control] As already mentioned, the operating status of the robot monitored by the operation status monitoring unit 98 and the judgment results by the abnormal state judgment unit 99 are used not only for controlling the operation of the robot arm 1, but also for controlling the display by the display control unit 90.

[0058] For example, multiple color LEDs are provided as the light source 111, and multiple types of display patterns (or light emission patterns) that make it easy for an operator to distinguish the operating status of the robot arm, etc. can be configured by combining the position and color of the LEDs to be lit with continuous lighting / blinking. Multiple display patterns that combine the colors and blinking of the LEDs can be assigned to the operating status, work status, and abnormal state determination results of the robot arm 1, etc.

[0059] For example, if the robot is operating normally, all the blue light sources on the display can be lit, if an abnormal stop occurs, all the red light sources can be lit, and if a teaching operation is being performed, all the yellow light sources can be lit. Alternatively, the display pattern may be set in association with the state of the robot or the content of the work as follows. Power is ON (servo motor is ON): All green lights are on - High-speed operation without human collaboration (during automatic operation): All blue lights -Work involving human collaboration: Blue flashing motion - Robot arm teaching operation (using command unit 94): All yellow lights on - Robot arm teaching operation (direct teaching using the robot): Yellow light flashing - When an abnormal stop occurs: All red lights are on - Joint overloaded and stopped: Flashing red

[0060] The above are merely examples of display patterns (or light emission patterns), and display patterns can be set appropriately depending on the type of robot and the content of the work so that workers can easily recognize them. That is, the display control unit 90 can control at least one of the light emission color of the light source, the light emission intensity, the temporal light emission pattern of the light source, the spatial light emission pattern of the light source, etc., in association with the state of the robot and the content of the work. According to this embodiment, it is possible to provide a robot in which the light emission pattern indicating the state of the robot and the content of the work is easily visible to people in the vicinity.

[0061] Next, a modification of the embodiment according to the present invention will be described. [Variation 1] 9(a) is a cross-sectional view of modified example 1 cut along a direction similar to line X1-X1 shown in FIG. 5, and FIG. 9(b) is a cross-sectional view of modified example 1 cut along a direction similar to line Y1-Y1 shown in FIG. 5.

[0062] In the above-described embodiment, the light sources 111 are arranged in a ring shape along a circumference centered on the rotation axis, but in this modified example, the light sources 111 are not arranged on a part of the circumference, but are arranged in a C-shape. Depending on the shape of the joint, even if a light emitting unit is provided, there may be an area that is not visible to people in the vicinity. By configuring in such an area not to include light emitting elements, the number of parts can be reduced and energy consumption can be reduced.

[0063] In this modification, a flexible substrate is used as substrate 114, and the flexible substrate is attached so as to conform to mounting surface 103 provided within fixed frame 100. Even in this modification, it is possible to provide a robot in which light emission patterns indicating the state of the robot and the contents of the work are easily visible to people in the vicinity.

[0064] [Variation 2] 10(a) is a cross-sectional view of modified example 2 cut along a direction similar to line X1-X1 shown in FIG. 5, and FIG. 10(b) is a cross-sectional view of modified example 2 cut along a direction similar to line Y1-Y1 shown in FIG. 5.

[0065] The substrate 114 is disposed on a mounting surface A within the fixed frame 100 so that the light beam emitted from the light source 111 travels toward the diffusion plate 112. Between the light source 111 and the diffusion plate 112, there is a space surrounded by walls B and C which are approximately parallel to each other, and the light beam travels toward the diffusion plate 112 within the space.

[0066] At least a part of the mounting surface A of the substrate 114 in the fixed frame 100 and the wall surfaces B and C surrounding the periphery of the light source 111 has a reflectance of 50% or more for the light (visible light) of the wavelength emitted from the light source 111. That is, it is preferable that at least a part of the wall surfaces defining the space S has a reflectance of 50% or more for the light (visible light) emitted from the light source 111. This is to guide the light flux emitted from the light source 111 to the diffusion plate 112 with high efficiency. A reflectance of 50% or more for the visible light emitted from the light source can be imparted by appropriate means such as using a metal material such as aluminum for the fixed frame 100 and mirror-polishing each surface, using a white material, covering with a reflective film made of metal or the like, painting with white paint, etc. This modified example also provides a robot in which the light emission pattern indicating the state of the robot and the contents of the work are easily visible to people around.

[0067] [Variation 3] FIG. 11 is a cross-sectional view of the third modification taken along the same direction as the Y1-Y1 line shown in FIG. 5. This modification includes a light guide member connecting between the light source 111 and the diffusion plate 112. The light pipe 113 as the light guide member does not necessarily need to abut both the light source 111 and the diffusion plate 112 to connect them, and may be disposed only in a part of the light path from the light source 111 to the diffusion plate 112. Alternatively, the light pipe 113 may be a member integral with the diffusion plate 112. As the light guide member, an optical fiber bundle or a light guide lens may be used instead of the light pipe 113. According to this modification, the light emitted by the light source 111 can be guided to the diffusion plate 112 with high efficiency. This modification also provides a robot in which the light emission pattern for indicating the state of the robot and the contents of the work are easily visible to people around.

[0068] [Variation 4] Fig. 12(a) is a cross-sectional view of Modification 4 taken along the same direction as line Y1-Y1 shown in Fig. 5. Fig. 12(b) is a partial cross-sectional view showing an enlarged view of the vicinity of the diffusion plate 112.

[0069] In this modification, in order to improve visibility from people in various directions or when the robot arm 1 is in various postures, a part of the emission surface of the diffusion plate 112 is protruded from the exterior surface M of the exterior cover 102. That is, as shown in FIG. 12(b), a convex portion is arranged on a part of the diffusion plate 112, so that light is emitted in various directions. There may be one or more convex portions. In this modification as well, it is possible to provide a robot whose light emission pattern indicating the state of the robot and the contents of the work are easily visible to people in the vicinity.

[0070] The robot according to the embodiment or modified example is not limited to a form having a six-axis vertical articulated arm as shown in the figure, and various types of robots are possible, such as vertical articulated types with a different number of axes, parallel link types, and linear joint types.

[0071] The display device is preferably provided on both sides of a joint (a so-called bending joint) whose rotation axis intersects with the central axis of the two links that are connected, but may be provided on only one side. It is preferable to provide display devices on all bending joints of the robot arm, but may be provided on only some of the bending joints. Also, display devices may be provided on joints other than the bending joints.

[0072] The operations to be executed by the robot device according to the embodiment or the modified example are typically operations related to the manufacture of articles, such as part assembly operations, conveying operations, processing operations (including cutting, polishing, drilling, painting, gluing, welding, etc.), cleaning operations, etc. However, the robot device may also be made to execute operations other than those.

[0073] The joint mechanism according to the embodiment or the modified example can be applied to various machines and equipment, such as industrial robots, service robots, and processing machines that operate under numerical control by a computer. For example, the joint mechanism can be applied to the joints of machines and equipment that can automatically perform operations such as expansion and contraction, bending and stretching, vertical movement, horizontal movement, or rotation, or a combination of these operations, based on information in a storage device provided in a control device. A driving device for driving the robot according to the embodiment, a control method or control program for operating the robot according to the embodiment, and a computer-readable recording medium storing the control program are also included in the embodiments of the present invention.

[0074] [Other embodiments] The present invention is not limited to the above-described embodiment and modifications, and many modifications are possible within the technical spirit of the present invention. For example, the above-described embodiment and modifications may be combined in whole or in part.

[0075] This specification discloses at least the following: [Matter 1] A robot having at least one joint connecting two links, The joint includes a light source mounted on a substrate and a diffusion unit that diffuses light from the light source, A space in which wiring is stored is provided between a virtual plane of the substrate and the diffusion portion. A robot characterized by: [Matter 2] The substrate has an opening through which the wiring passes. 2. The robot according to item 1, [Matter 3] A wiring guide is provided in the opening. 3. The robot according to item 2, [Matter 4] The wiring is a wiring extending between the two links. 4. The robot according to any one of claims 1 to 3. [Matter 5] The wiring is connected to a drive unit of the joint. 4. The robot according to any one of claims 1 to 3. [Matter 6] The substrate is a solid substrate or a flexible substrate. 6. A robot according to any one of claims 1 to 5. [Matter 7] The diffusion portion is disposed on a side of the joint. 7. A robot according to any one of claims 1 to 6. [Matter 8] The diffusion portion is disposed on both sides of the joint. 8. The robot according to item 7, [Matter 9] The diffusion section is a light-transmitting diffusion plate. 9. The robot according to any one of claims 1 to 8, [Matter 10] The diffusion portion has a portion protruding from a cover covering a side surface of the joint. 10. A robot according to any one of claims 1 to 9. [Matter 11] The light source includes a plurality of light emitting elements arranged around the rotation axis of the joint. 11. The robot according to any one of claims 1 to 10. [Matter 12] The plurality of light emitting elements are arranged along a circumference centered on the rotation axis. 12. The robot according to item 11, [Matter 13] The plurality of light-emitting elements are arranged along a portion of a circumference centered on the rotation axis. 12. The robot according to item 11, [Matter 14] At least a part of the wall surface defining the space has a reflectance of 50% or more for visible light emitted by the light source. 14. A robot according to any one of claims 1 to 13. [Matter 15] A light guide member is disposed between the light source and the diffusion portion. 14. A robot according to any one of claims 1 to 13. [Matter 16] a display control unit that changes the light emission pattern of the light source according to the state of the robot or the content of the work performed by the robot; 16. A robot according to any one of claims 1 to 15, characterized in that [Matter 17] The display control unit controls at least one of a light emission color and a light emission intensity of the light source. 17. The robot according to item 16, [Matter 18] The display control unit controls a temporal light emission pattern of the light source. 18. The robot according to item 16 or 17, [Matter 19] The display control unit controls a spatial light emission pattern of the light source. 19. A robot according to any one of claims 16 to 18. [Matter 20] The joint is a joint in which a rotation axis intersects with the central axis of the two links that connect the joint. 20. A robot according to any one of claims 1 to 19, characterized in that [Matter 21] The robot is a six-axis controlled robot, and the light source and the diffusion unit are provided in at least one of a second joint for controlling a second axis, a third joint for controlling a third axis, and a fifth joint for controlling a fifth axis from the base end side. 20. A robot according to any one of claims 1 to 19, characterized in that [Matter 22] the space is provided between the diffusion portion and a virtual plane on which the main surface of the substrate is disposed. 22. A robot according to any one of claims 1 to 21. [Matter 23] A method for controlling a robot according to any one of claims 1 to 22, comprising: The control unit changes the light emission pattern of the light source according to the state of the robot or the content of the work performed by the robot. A method for controlling a robot comprising the steps of: [Matter 24] A drive device for driving a robot having at least one joint connecting two links, The joint includes a light source mounted on a substrate and a diffusion unit that diffuses light from the light source, Between the substrate and the diffusion unit, a space is provided in which wiring for driving the robot is stored. A drive device characterized by: [Matter 25] 25. A method for controlling a drive device according to item 24, comprising the steps of: changing the light emission pattern of the light source according to the state of the robot or the content of the work performed by the robot; A method for controlling a drive device comprising: [Matter 26] A method for manufacturing an article using a robot according to any one of items 1 to 22, The light emission pattern of the light source is changed according to the state of the robot or the content of the work performed by the robot while manufacturing the article. A method for producing an article. [Matter 27] 26. A program for causing a computer to execute the control method according to item 22 or 25. [Matter 28] 28. A computer-readable recording medium storing the program according to item 27. [Explanation of symbols]

[0076] 1···Robot arm / 10, 20, 30, 40, 50, 60···Link / 11, 21, 31, 41, 51, 61···Joint / 70···End effector / 80···Wiring member / 90···Display control unit / 91···Control device / 92···Motor / 93···Motion control unit / 94···Command device / 97···Control system / 100···Fixed frame / 102···Exterior cover / 109···Wiring guide / 111···Light source / 112···Diffuser / 113···Light pipe / 114···Board / 300···Link / DPL···Display / DPR···Display / HL···Opening / S···Space

Claims

1. A robot having at least one joint connecting two links, The joint includes a light source mounted on a substrate and a diffusion unit that diffuses light from the light source, A space in which wiring is stored is provided between a virtual plane of the substrate and the diffusion portion. A robot characterized by:

2. The substrate has an opening through which the wiring passes.

2. The robot according to claim 1 .

3. A wiring guide is provided in the opening.

3. The robot according to claim 2 .

4. The wiring is a wiring extending between the two links.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

5. The wiring is connected to a drive unit of the joint.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

6. The substrate is a solid substrate or a flexible substrate.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

7. The diffusion portion is disposed on a side of the joint.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

8. The diffusion portion is disposed on both sides of the joint.

8. The robot according to claim 7 .

9. The diffusion section is a light-transmitting diffusion plate.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

10. The diffusion portion has a portion protruding from a cover covering a side surface of the joint.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

11. The light source includes a plurality of light emitting elements arranged around the rotation axis of the joint.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

12. The plurality of light emitting elements are arranged along a circumference centered on the rotation axis.

12. The robot according to claim 11 .

13. The plurality of light-emitting elements are arranged along a portion of a circumference centered on the rotation axis.

12. The robot according to claim 11 .

14. At least a part of the wall surface defining the space has a reflectance of 50% or more with respect to visible light emitted by the light source.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

15. A light guide member is disposed between the light source and the diffusion portion.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

16. a display control unit that changes the light emission pattern of the light source according to the state of the robot or the content of the work performed by the robot; 4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

17. The display control unit controls at least one of a light emission color and a light emission intensity of the light source.

17. The robot according to claim 16.

18. The display control unit controls a temporal light emission pattern of the light source.

17. The robot according to claim 16.

19. The display control unit controls a spatial light emission pattern of the light source.

17. The robot according to claim 16.

20. The joint is a joint in which a rotation axis intersects with a central axis of the two links that connect the joint.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

21. The robot is a six-axis controlled robot, and the light source and the diffusion unit are provided in at least one of a second joint for controlling a second axis, a third joint for controlling a third axis, and a fifth joint for controlling a fifth axis from a base end side.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

22. the space is provided between the diffusion portion and a virtual plane on which the main surface of the substrate is disposed.

4. The robot according to claim 1, wherein the first and second movable members are arranged in a first and second direction.

23. A method for controlling the robot according to claim 1, comprising the steps of: The control unit changes the light emission pattern of the light source according to the state of the robot or the content of the work performed by the robot. A method for controlling a robot comprising the steps of:

24. A drive device for driving a robot having at least one joint connecting two links, The joint includes a light source mounted on a substrate and a diffusion unit that diffuses light from the light source, Between the substrate and the diffusion unit, a space is provided in which wiring for driving the robot is stored. A drive device characterized by:

25. A method for controlling the drive device according to claim 24, comprising the steps of: changing the light emission pattern of the light source according to the state of the robot or the content of the work performed by the robot; A method for controlling a drive device comprising:

26. A method for manufacturing an article using the robot according to any one of claims 1 to 3, comprising the steps of: The light emission pattern of the light source is changed according to the state of the robot or the content of the work performed by the robot while manufacturing the article. A method for producing an article.

27. A program for causing a computer to execute the control method according to claim 23 or 25.

28. A computer-readable recording medium storing the program according to claim 27.

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