Collaborative robots

Abstract

Multiple light sources and light-diffusing members are housed together in the grooves, and a certain amount of space is provided between the multiple light sources and light-diffusing members, so the grooves and pivot members are large. [Solution] The collaborative robot 1 is pivotally mounted to one rotation axis selected from the first axis A1 to the sixth axis A6. An indicator 2 is provided between one pivot member and the other, selected from a turntable, lower arm, shoulder 14, upper arm 15, support arm, and end member. The indicator 2 has multiple light sources 21 and a light diffusing member 22 that diffuses the light emitted from each of the multiple light sources 21. An annular groove 18 is formed around the rotation axis by the one pivot member and the other pivot member. The light diffusing member 22 is housed in the groove 18. Multiple through holes 14b are formed in one pivot member, connecting the groove 18 and the internal space S of the one pivot member. Each light source 21 is arranged in the internal space S facing each through hole 14b.

Description

Technical Field

[0001] The present invention relates to a collaborative robot.

Background Art

[0002] As this type of technology, for example, Patent Document 1 describes a collaborative robot provided with an indicator provided between two pivot members among a plurality of pivot members (swivel base, lower arm, shoulder, upper arm, support arm, and tip member). The indicator has a plurality of light sources and a light diffusing member that diffuses the irradiation light of each of the plurality of light sources, and displays the operating state of pivot members and the like by diffusion of the irradiation light by the light diffusing member. The plurality of light sources and the light diffusing member are accommodated in a concave groove formed annularly around a rotation axis by the two pivot members.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the collaborative robot described in Patent Document 1, since the plurality of light sources and the light diffusing member are both accommodated in the concave groove and a certain space is provided between the plurality of light sources and the light diffusing member, the concave groove tends to become large by this space, and the pivot member also becomes large as the concave groove is formed.

[0005] The present invention has been made in view of such points, and an object thereof is to provide a collaborative robot capable of suppressing an increase in the pivot member even when a light diffusing member is accommodated in a concave groove formed by two pivot members.

Means for Solving the Problems

[0006] In view of the above problems, the collaborative robot according to the present invention comprises: a turntable pivotally attached to a base so as to be rotatable around a first axis; a lower arm pivotally attached to the turntable so as to be rotatable around a second axis; a shoulder pivotally attached to the lower arm so as to be rotatable around a third axis parallel to the second axis; an upper arm pivotally attached to the shoulder so as to be rotatable around a fourth axis along the longitudinal direction; a support arm pivotally attached at the tip of the upper arm so as to be rotatable around a fifth axis perpendicular to the fourth axis; and a tip member pivotally attached to the support arm so as to be rotatable around a sixth axis along the longitudinal direction, wherein the collaborative robot is selected from the first to the sixth axes. The system includes an indicator provided between one pivoting member and the other pivoting member, which is pivotally mounted to one pivot axis, and is selected from the turntable, lower arm, shoulder, upper arm, support arm, and tip member, wherein the indicator has a plurality of light sources and a light diffusing member that diffuses the light emitted from each of the plurality of light sources, and the one pivoting member and the other pivoting member form an annular groove around the pivot axis, the light diffusing member is housed in the annular groove, and the one pivoting member has a plurality of through holes that communicate the groove with the internal space of the one pivoting member, and each of the light sources is arranged in the internal space so as to face each of the through holes.

[0007] According to the present invention, an annular groove is formed around the pivot axis by one pivot member selected from a turntable, lower arm, shoulder, upper arm, support arm, and tip member and the other pivot member. Furthermore, while the light-diffusing member of the indicator is housed in the groove, the multiple light sources are housed not in the groove but in the internal space of one of the pivot members. In addition, in order to allow the light emitted from the multiple light sources to reach the light-diffusing member housed in the groove, each light source is positioned to face each of the multiple through holes formed in one of the pivot members that communicate the groove and the internal space of one of the pivot members. Thus, unlike conventional methods that secure the distance between the light source and the light-diffusing member within the groove, the distance between the light source and the light-diffusing member can be secured by the internal space and through holes formed in one of the pivot members, allowing the size of the groove to be reduced compared to before. As a result, it is possible to suppress the increase in the size of the pair of pivot members that occurs when the groove becomes larger.

[0008] In a more preferred embodiment, the plurality of light sources are mounted on one side of the substrate, and the one pivot member has a body with an opening formed therein and a cover that covers the opening and is attachable to the body.

[0009] In this embodiment, since the light source is housed in one of the pivot members, the circuit board on which the light source is mounted is also housed in the same pivot member. As a result, a worker can easily replace multiple light sources by reaching through the opening and removing the circuit board.

[0010] In a more preferred embodiment, the substrate is fixed to the shoulder, and connectors for supplying power to the plurality of light sources are arranged on the other side of the substrate in a position visible from the opening.

[0011] In this embodiment, since the connector is positioned in a location visible from the opening in the shoulder, a cable that supplies power to the light source can be easily connected from a connector on the other side of the substrate while the substrate is fixed to the shoulder.

[0012] In a more preferred embodiment, the light diffusing member has recesses formed at positions facing the plurality of through holes, and the wall surface forming the recess has a reflective surface within the space of the recess that reflects the irradiated light from the light source that has passed through the through holes toward the outer periphery of the light diffusing member.

[0013] In this embodiment, the light emitted from each light source passing through the through-hole is incident on the recessed space of the light-diffusing member facing the through-hole, and a portion of the emitted light is reflected by the reflective surface forming the recess. The reflected light reflected by the reflective surface is directed toward the outer periphery of the light-diffusing member within the recessed space, and the reflected light is diffused at this outer periphery. As a result, the reflected light reflected from the surface of the light-diffusing member can also be incident on the light-diffusing member, so the reflected light can also be effectively utilized for light diffusion.

[0014] In a more preferred embodiment, one of the pivot members is the shoulder, and the other pivot member is the upper arm.

[0015] In this embodiment, multiple light sources are housed in the shoulder, and the light-diffusing member is housed in a groove formed in an annular shape around the fourth axis by the shoulder and the upper arm. Since the upper arm rotates significantly around the third axis, an indicator located between the shoulder and the upper arm can be illuminated to improve visibility, thereby ensuring a high level of safety against the rotation of the upper arm. [Effects of the Invention]

[0016] According to the present invention, even if a light diffusing member is housed in a groove formed by two pivot members, it is possible to suppress the increase in the size of the pivot members. [Brief explanation of the drawing]

[0017] [Figure 1] This is a perspective view of the collaborative robot according to this embodiment. [Figure 2]An enlarged view centered on the opening of the collaborative robot shown in FIG. 1. [Figure 3] (A) is a view of the shoulder of the collaborative robot according to the present embodiment as viewed from a direction along the third axis. (B) is a view of the collaborative robot shown in FIG. 3(A) excluding the indicator. (C) is a schematic diagram showing the positional relationship of the light diffusing member, the through hole, and the LED as viewed from the X-X direction of FIG. 3(A). [Figure 4] A cross-sectional view along the fourth axis centered on the indicator of the collaborative robot according to the present embodiment. [Figure 5] (A) is an enlarged view of the portion surrounded by the dashed line shown in FIG. 4. (B) is a perspective view of FIG. 5(A) as viewed from a cross-section along the fourth axis of the shoulder and the upper arm.

Mode for Carrying Out the Invention

[0018] 〔Embodiment〕 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings of FIGS. 1 to 5. The embodiments shown below are one aspect of the present invention and do not limit the technical scope of the present invention.

[0019] <Device Configuration> FIG. 1 is a perspective view of a collaborative robot 1 according to the present embodiment. As shown in FIG. 1, the collaborative robot 1 is an articulated robot, and is used by attaching an end effector (not shown) such as a welding device (torch) to the tip member 17 of the collaborative robot 1.

[0020] The collaborative robot 1 includes a base 11 installed on an installation surface such as a floor surface, and a swivel base 12 pivotally attached to the base 11 so as to be rotatable around a first axis A1 along a direction orthogonal to the installation surface. An output shaft of a first-axis motor (not shown) fixed to the base 11 is connected to the swivel base 12. Thereby, the swivel base 12 can be rotated around the first axis A1 by driving the first-axis motor. A first reduction gear (not shown) is attached to the output shaft of the first-axis motor. The first-axis motor and the first reduction gear are housed inside the base 11 and the swivel base 12.

[0021] Further, the collaborative robot 1 includes a lower arm 13 pivotally attached to the swivel base 12 so as to be rotatable around a second axis A2, and a shoulder 14 pivotally attached to the lower arm 13 so as to be rotatable around a third axis A3 parallel to the second axis A2. The proximal end of the lower arm 13 is pivotally attached to the swivel base 12 so as to be rotatable around the second axis A2. Here, the second axis A2 is an axis orthogonal to the first axis A1, but one of the two orthogonal axes may be offset so that these axes are in a twisted positional relationship. By the power of the second-axis motor, the lower arm 13 rotates around the second axis A2 with respect to the swivel base 12. The second-axis motor (not shown) is housed inside the swivel base 12. A second reduction gear (not shown) is attached to the output shaft of the second-axis motor. The lower arm 13 is a cylindrical housing, and various cables (not shown) are inserted therein.

[0022] A part of the shoulder 14 is pivotally attached to the lower arm 13 so as to be rotatable around the third axis A3 via a third reduction gear 311 (shown in FIG. 2). By the power of the third-axis motor 31, the shoulder 14 rotates around the third axis A3 with respect to the lower arm 13. The third-axis motor 31 is housed inside the shoulder 14. A third reduction gear 311 is attached to the output shaft of the third-axis motor 31.

[0023] Furthermore, the collaborative robot 1 includes an upper arm 15 pivotally attached to the shoulder 14 so as to be rotatable around a fourth axis A4 along the longitudinal direction, a support arm 16 pivotally attached at the tip of the upper arm 15 so as to be rotatable around a fifth axis A5 perpendicular to the fourth axis A4, and a tip member 17 that is rotatable around a sixth axis A6 along the longitudinal direction relative to the support arm 16. Here, the lower arm 13, the upper arm 15, and the support arm 16 are made of metal, for example, cast iron or aluminum alloy castings.

[0024] The base end of the upper arm 15 is pivotally attached to the shoulder 14 via a fourth reduction gear 144 (shown in Figure 4) so ​​as to be rotatable around the fourth shaft A4. Here, the fourth shaft A4 is an axis perpendicular to the third shaft A3, but one of the two perpendicular axes may be offset so that these axes are in a torsional position. Powered by the fourth shaft motor 41, the upper arm 15 rotates around the fourth shaft A4 relative to the shoulder 14. The fourth shaft motor 41 is housed in the internal space S of the main body 141, which will be described later. The fourth reduction gear 144, which constitutes the shoulder 14, is attached to the output shaft of the fourth shaft motor 41 in the main body 141.

[0025] A portion of the support arm 16 is pivotally attached to the upper arm 15 so as to be rotatable around the fifth axis A5. Here, the fifth axis A5 is an axis perpendicular to the fourth axis A4, but one of the two perpendicular axes may be offset, so that these axes are in a torsional position. Powered by a fifth axis motor (not shown), the support arm 16 rotates around the fifth axis A5 relative to the upper arm 15. The fifth axis motor is housed inside the upper arm 15. A fifth reduction gear (not shown) is attached to the output shaft of the fifth axis motor.

[0026] The end member 17 is pivotally attached to the support arm 16 so as to be rotatable around the sixth axis A6. Here, the sixth axis A6 is an axis perpendicular to the fifth axis A5, but one of the two perpendicular axes may be offset, so that these axes are in a torsional position. Powered by a sixth axis motor (not shown), the end member 17 rotates around the sixth axis A6 relative to the support arm 16. The sixth axis motor is housed inside the support arm 16. A sixth reduction gear (not shown) is attached to the output shaft of the sixth axis motor.

[0027] Thus, in this embodiment, the collaborative robot 1 is equipped with motors for the first axis A1 to the sixth axis A6, each of which performs driving around the axis.

[0028] Furthermore, the control device (not shown) of the collaborative robot 1 controls the drive of each motor of the collaborative robot 1, and accordingly, the operating mode of each arm of the collaborative robot 1 differs. Also, if an error occurs in the operation of each arm, for example, due to contact by a worker with each arm, the control device stops the operation of each arm. In this embodiment, in order to enable a worker to immediately grasp the operating mode of each arm of the collaborative robot 1 and any errors in the operation of each arm, the collaborative robot 1 is equipped with an indicator 2 provided between the shoulder 14 and the upper arm 15.

[0029] The indicator 2 includes a plurality of LEDs 21 (shown in Figure 2) and a light-diffusing member 22 (shown in Figure 3(C)) that diffuses the light L1 emitted from each of the plurality of LEDs 21. The plurality of LEDs 21 are arranged in the internal space S of the shoulder 14 so that the light L1 emitted from each of them reaches the light-diffusing member 22, and the light L1 is diffused to the outside of the collaborative robot 1 via the indicator 2 by the light-diffusing member 22. The color and brightness of the light L1 are variable, and the illumination pattern of the LEDs 21 (on and off) can also be switched. The light from the LEDs 21 is diffused into the light-diffusing member 22 with a color and brightness corresponding to the light L1, and the illumination pattern of the light-diffusing member 22 is switched in accordance with the illumination pattern of the LEDs 21. Therefore, by checking the color, brightness, and illumination pattern of the light-diffusing member 22, the operator can immediately grasp the operation mode of each arm of the collaborative robot 1 and errors in the operation of each arm, which are predetermined and linked to the color, brightness, and illumination pattern. Further details regarding the direction in which the irradiated light L1 travels in a straight line are shown in Figures 5(A) and 5(B) described later.

[0030] Here, LED21 corresponds to the light source in the present invention, but the light source may be, for example, an incandescent bulb or a halogen bulb, as long as the color or brightness of indicator 2 can be made variable and the light emission pattern of indicator 2 can also be switched.

[0031] Furthermore, the shoulder 14 has a main body 141 with an opening 14a formed therein, and a cover 142 that covers the opening 14a and can be attached to the main body 141. The cover 142 is fixed to the opening edge 143 by screws (not shown), and as shown in Figure 2, by removing the cover 142 from the opening edge 143, the internal space S of the shoulder 14 can be viewed through the opening 14a. In addition, a pair of circuit boards 71 ​​are arranged in the internal space S of the shoulder 14 along a part of the outer circumference of the fourth axis gear case 411. The circuit boards 71 ​​are printed circuit boards on which electrical components and electronic components that control the light emission of the LED 21 are mounted, for example. Note that in Figure 2, the third axis motor 31 that rotates the shoulder 14 around the third axis A3 and the fourth axis motor 41 that rotates the upper arm 15 around the fourth axis A4 are not shown.

[0032] Multiple LEDs (for example, three) are mounted on one side 71a of the circuit board 71 (the side facing the inside of the upper arm 15) along the shape of the circuit board 71. The circuit board 71 is fixed to the bracket 73 by fasteners 8A such as screws, and the bracket 73 is fixed to the gear case 411 for the fourth axis by fasteners 8B such as screws. By removing the fasteners 8B with a tool such as a screwdriver and pulling the bracket 73 along the fourth axis A4, the circuit board 71, which is fixed to the bracket 73 by fasteners 8A, can be easily removed from the opening 14a along with the bracket 73. As a result, the LEDs 21 can be easily replaced.

[0033] Furthermore, the circuit board 71 is fixed to the shoulder 14, and on the other side 71b of the circuit board 71 (the side opposite to the first side 71a), a connector 72 for supplying power to multiple LEDs 21 is positioned so as to be visible from the opening 14a. Because the connector 72 is positioned so as to be visible from the opening 14a of the shoulder 14, a cable (not shown) for supplying power to the LEDs 21 can be easily connected from the connector 72 on the other side 71b of the circuit board 71 while the circuit board 71 is fixed to the shoulder 14. Note that since the circuit board 71 is fixed to the shoulder 14, the circuit board 71 does not need to be fixed to the bracket 73.

[0034] Figure 3(A) is a view of the shoulder 14 of the collaborative robot 1 according to this embodiment, viewed from a direction along the third axis A3. The shoulder 14 and the upper arm 15 form an annular groove 18 around the fourth axis A4, and the indicator 2 is housed in the annular groove 18. For this reason, the groove 18 is normally invisible from the outside of the collaborative robot 1, but when the indicator 2 is removed from the collaborative robot 1, the groove 18 can be seen from the outside of the collaborative robot 1, as shown in Figure 3(B). The shoulder 14 also has a plurality of (for example, six) through holes 14b that connect the groove 18 and the internal space S of the shoulder 14. Note that the shoulder 14 corresponds to one pivot member of the present invention, the upper arm 15 corresponds to the other pivot member of the present invention, and the fourth axis A4 corresponds to the rotation axis of the present invention, but these correspondences are just one example, and other correspondences may be described later.

[0035] Figure 3(C) is a schematic diagram showing the positional relationship between the light diffusion member 22, the through hole 14b, and the LED 21 as viewed from the XX direction in Figure 3(A). When viewed from the same direction, the light diffusion member 22, the through hole 14b, and the LED 21 are arranged in this order. Of the indicator 2, the light diffusion member 22 is housed in the groove 18, and the LED 21 is positioned in the internal space S so as to face the through hole 14b. With this arrangement, the light L1 emitted from the LED 21 can pass through the through hole 14b and reach the light diffusion member 22. Figure 4 is a cross-sectional view of the collaborative robot 1 according to this embodiment, along the fourth axis A4, centered on the indicator 2. From Figure 4, it can also be seen that the shoulder 14 has multiple through holes 14b that connect the groove 18 and the internal space S, and that the light diffusion member 22 is housed in the groove 18 and the LED 21 is positioned in the internal space S.

[0036] Unlike conventional designs where the distance between the light source and the light-diffusing member is secured within a groove, the distance between the LED 21 and the light-diffusing member 22 can be secured by the internal space S of the shoulder 14 and the through-hole 14b, allowing the size of the groove 18 to be reduced compared to previous designs. As a result, the increase in size of the shoulder 14 and upper arm 15 that would occur as the groove 18 increases can be suppressed.

[0037] Figure 5(A) is an enlarged view of the area enclosed by the dashed line in Figure 4. Figure 5(B) is a perspective view of Figure 5(A) as seen from a cross-section along the fourth axis A4 of the shoulder 14 and upper arm 15. Below, using Figures 5(A) and 5(B), the process from the illumination light L1 of the LED 21 to the diffusion of reflected light L2 to the outside of the collaborative robot 1 will be explained in detail.

[0038] The light-diffusing member 22 is made of a material that is translucent and allows light to pass through, and within which light is diffused. For example, it is a material in which inorganic particles or light-reflecting resin particles are dispersed in a translucent resin. Since the material of the light-diffusing member 22 is the same as the material used for general light-diffusing members used in the indicator 2, specific examples of materials are omitted.

[0039] The light-diffusing member 22 has recesses 22a formed at positions facing the multiple through-holes 14b. The wall surface forming the recesses 22a has a reflective surface 22b that, within the space 22d of the recesses 22a, reflects the light L1 emitted from the LEDs 21 that has passed through the through-holes 14b toward the outer peripheral portion 22c of the light-diffusing member 22. As a result, the light L1 emitted from each LED 21 that has passed through the through-holes 14b is incident on the space 22d of the recesses 22a of the light-diffusing member 22 facing the through-holes 14b, and a portion of the emitted light L1 is reflected by the reflective surface 22b that forms the recesses 22a. The reflected light L2 reflected by the reflective surface 22b is directed toward the outer peripheral portion 22c of the light-diffusing member 22 within the space 22d of the recesses 22a, and the reflected light L2 can be diffused by this outer peripheral portion 22c. As a result, the reflected light L2 reflected from the surface of the light-diffusing member 22 can also be incident on the light-diffusing member 22, so the reflected light L2 can also be effectively utilized for light diffusion.

[0040] The space 22d may be filled with a material that diffuses the irradiated light L1, and the recessed portion 22a may not be formed. In this embodiment, the recessed portion 22a is formed intermittently in the circumferential direction, but this recessed portion 22a may be a continuous circular groove.

[0041] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design modifications can be made without departing from the spirit of the invention as described in the claims.

[0042] For example, in the above embodiment, the LED 21 is housed in the internal space S of the shoulder 14, and the light diffusing member 22 is housed in a groove 18 formed in an annular shape around the fourth axis A4 by the shoulder 14 and the upper arm 15. Since the upper arm 15 rotates significantly around the third axis A3, positioning the light diffusing member 22 in this way allows the indicator 2 located between the shoulder 14 and the upper arm 15 to light up, improving visibility and thus ensuring high safety against rotation of the upper arm 15.

[0043] However, in other embodiments, the arrangement of the LED 21 and the light-diffusing member 22, and the position where the groove 18 is formed are not limited to those described above. In other embodiments, an indicator may be provided between one pivoting member selected from the turntable 12, lower arm 13, shoulder 14, upper arm 15, support arm 16, and end member 17 and the other pivoting member, excluding the combination of shoulder 14 and upper arm 15, which is pivotally mounted to one pivot axis selected from the first axes A1 to the sixth axes A6, excluding the fourth axis A4. Furthermore, the LED may be housed in the internal space of one of the pivoting members, and an annular groove may be formed around either pivot axis by one of the pivoting members and the other. For example, one pivoting member may be the lower arm 13, the other pivoting member may be the shoulder 14, and the selected pivot axis may be the third axis A3. In other words, an indicator may be provided between the lower arm 13 and the shoulder 14, and the LED may be housed in the internal space of the lower arm 13.

[0044] Regardless of which of the two pivot members the light-diffusing member is housed in the groove formed by them, the effect is obtained in that the size of these two pivot members is kept from increasing. Alternatively, multiple grooves may be formed, with each groove housing a light-diffusing member. This allows the operator to visually observe the operating status of multiple pivot members at multiple locations on the external appearance of the collaborative robot 1.

[0045] Furthermore, similar to the above embodiment, in other embodiments as well, the swivel base 12, lower arm 13, upper arm 15, and support arm 16 are also composed of a main body and a cover, in addition to the shoulder 14. As previously described, in other embodiments, multiple LEDs may be housed in any of these pivot members in addition to the shoulder 14, so in any case, the effects of being able to easily replace the LEDs and easily connect the power supply cable to the connector can be obtained. [Explanation of symbols]

[0046] 1: Collaborative robot, 11: Base, 12: Turntable, 13: Lower arm, 14: Shoulder, 141: Main body, 142: Cover, 14a: Opening, 14b: Through hole, 15: Upper arm, 16: Support arm, 17: Tip member, 18: Groove, 2: Indicator, 21: LED (light source), 22: Light diffusion member, 22a: Recessed part, 22b: Reflective surface, 22c: Outer periphery, 71: Substrate, 71a: One side, 71b: Other side, A1~A6: 1st axis~6th axis, L1: Irradiated light, L2: Reflected light, S: Internal space

Claims

1. A swivel base is pivotally attached to the base so as to be rotatable around the first axis, A lower arm is pivotally attached to the aforementioned turntable so as to be rotatable around a second axis, A shoulder is pivotally attached to the lower arm so as to be rotatable around a third axis parallel to the second axis, An upper arm is pivotally attached to the shoulder so as to be rotatable around a fourth axis along the longitudinal direction, At the tip of the upper arm, a support arm is pivotally attached so as to be rotatable around a fifth axis perpendicular to the fourth axis, A collaborative robot comprising a support arm and an end member that is rotatable about a sixth axis along the longitudinal direction, The aforementioned collaborative robot, The turntable, the lower arm, the shoulder, the upper arm, the support arm, and the tip member are pivotally mounted to one pivot axis selected from the first to the sixth axes, and an indicator is provided between one pivot member and the other pivot member, the turntable being pivotally mounted to one pivot axis selected from the first to the sixth axes, The aforementioned indicator is Multiple light sources, It includes a light diffusing member that diffuses the light emitted from each of the plurality of light sources, The one pivot member and the other pivot member form an annular groove around the pivot axis. The light diffusing member is housed in the annular groove, The one pivot member has a plurality of through holes that connect the groove and the internal space of the one pivot member. A collaborative robot characterized in that each of the light sources is arranged in the internal space so as to face each of the through holes.

2. The aforementioned multiple light sources are mounted on one side of the substrate. The aforementioned pivot member is A main body with an opening formed therein, The collaborative robot according to claim 1, characterized by having a cover that covers the opening and is attachable to the main body.

3. The collaborative robot according to claim 2, characterized in that the substrate is fixed to the shoulder, and connectors for supplying power to the plurality of light sources are arranged on the other side of the substrate in a position visible from the opening.

4. The light diffusing member has recesses formed at positions facing the plurality of through holes, The collaborative robot according to claim 1, characterized in that the wall surface forming the recess has a reflective surface within the space of the recess that reflects the irradiated light from the light source that has passed through the through hole to the outer peripheral portion of the light diffusing member.

5. The collaborative robot according to claim 1, characterized in that one of the pivot members is the shoulder, and the other pivot member is the upper arm.

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