robot

Abstract

To provide a robot which can accurately display an operational state of an action part of a robot arm.SOLUTION: A robot 1 comprises: an indicator 6 which displays an operation state of a robot arm 10. The indicator 6 accommodated in a recessed groove 5 formed on an outer peripheral surface of the robot arm 10 includes: a plurality of light-emitting parts 72; a diffusion part 8; and a light transmissive display panel 9. The plurality of light-emitting parts 72 are arranged in a circumferential direction H1 along a peripheral surface 51 of the recessed groove 5 opposite to a shading cover member 5A in the recessed groove 5. The diffusion part 8 is arranged out of a coating range of the cover member 5A in the recessed groove 5 to diffuse light irradiated from the plurality of light-emitting parts 72. The display panel 9 is arranged to cover the diffusion part 8 from a radial direction H2 outside.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a robot equipped with a robot arm having a moving part. [Background technology]

[0002] As a robot equipped with a robot arm having a moving part, a robot in which an indicator for displaying the moving state of the moving part is attached to the robot arm is known. For example, Patent Document 1 discloses an indicator (display device) in which a tape-shaped base part on which a plurality of light-emitting parts are provided at a predetermined interval is attached to the outer circumferential surface of the robot arm. This indicator displays the moving state of the robot arm by controlling the color of light emitted from each light-emitting part and the lighting and blinking light emission pattern of each light-emitting part based on the operating mode of each light-emitting part. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-171528 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the indicator disclosed in Patent Document 1, multiple light-emitting units are arranged in a circumferential direction on the outer circumferential surface of the robot arm at a predetermined interval. In this case, a difference in brightness may occur between the area where the light-emitting units are arranged and the area between the light-emitting units. For this reason, there is a risk that the operating state of the operating unit of the robot arm cannot be accurately displayed.

[0005] An object of the present invention is to provide a robot capable of accurately displaying the operating state of a moving part of a robot arm. [Means for solving the problem]

[0006] According to one aspect of the present invention, a robot includes a robot arm having an operating unit, and an indicator attached to the robot arm and displaying an operating state of the operating unit. The robot arm includes a groove formed on an outer circumferential surface of the robot arm extending in a circumferential direction and recessed radially inward to accommodate the indicator, and a cover member having light-shielding properties and arranged radially outward with respect to a side peripheral surface of the groove along the circumferential direction so as to cover a part of the groove width direction of the groove. The indicator includes a plurality of light-emitting units arranged side by side in the circumferential direction along the side peripheral surface of the groove so as to face the cover member in the groove, a diffusion unit arranged in the groove so as to be spaced apart from the plurality of light-emitting units in the groove width direction and outside the coverage area of ​​the cover member, and diffusing light emitted from the plurality of light-emitting units, and a display panel provided to cover the diffusion unit from the radially outward side and having light-transmitting properties. The robot arm has a housing that houses a motor serving as a drive source for operating the operating unit, and a control board that controls the driving of the motor and controls the light emission of the multiple light-emitting units. The control board executes multiple operation modes including a first operation mode in which the driving of the motor is controlled so that the operating unit operates at a first speed, and a second operation mode in which the driving of the motor is controlled so that the operating unit operates at a second speed faster than the first speed. In this case, the control board controls the light emission of the multiple light-emitting units so that the multiple light-emitting units operate in different modes when the operating unit operates at a speed within a first allowable range corresponding to the first speed and when the operating unit operates at a speed outside the first allowable range during the execution of the first operation mode. Furthermore, the control board controls the light emission of the multiple light-emitting units so that the multiple light-emitting units operate in different modes when the operating unit operates at a speed within a second allowable range corresponding to the second speed and when the operating unit operates at a speed outside the second allowable range during the execution of the second operation mode.

[0007] According to this robot, an indicator is housed in a groove formed on the outer circumferential surface of the robot arm. In the indicator, light emitted from a plurality of light-emitting elements is diffused by a diffusion part, and the diffused light passes through a light-transmitting display panel. In this case, the indicator controls the color of light emitted from each light-emitting element and the lighting and blinking light emission pattern of each light-emitting element to control the color and brightness change pattern of the display panel, and can display the operating status of the operating part of the robot arm via the display panel.

[0008] The light-emitting units are arranged in the groove in a circumferential direction along the side circumferential surface of the groove so as to face a light-shielding cover member arranged radially outward from the side circumferential surface of the groove. This allows the light emitted from the light-emitting units to be restricted from advancing toward the outer circumferential surface of the robot arm by the light-shielding cover member. Moreover, a diffusion unit is arranged in the groove so as to be outside the coverage area of ​​the cover member, and a display panel is provided so as to cover the diffusion unit from the radially outward side. In this case, the light incident on the display panel is diffused by the diffusion unit, so that color unevenness and brightness differences can be suppressed across the entire display panel. This makes the color and brightness change patterns of the display panel clear, and the operating state of the operating unit of the robot arm can be accurately displayed via the display panel.

[0009] In the robot described above, the plurality of light-emitting units may be configured to be arranged such that a light emission surface that emits light faces the diffusion unit.

[0010] In this aspect, since the light exit surfaces of the plurality of light emitting sections face the diffusion section side, the light from the light emitting sections that is emitted from the light exit surfaces can be made to efficiently enter the diffusion section.

[0011] In the above robot, the groove may be configured to extend around the entire circumference in the circumferential direction on the outer circumferential surface of the robot arm. In this case, the cover member has an annular shape extending around the entire circumference in the circumferential direction of the groove. The multiple light-emitting units are arranged at predetermined intervals from each other on a base material extending around the entire circumference in the circumferential direction along the side surface of the groove. The diffusion unit has an annular shape extending around the entire circumference in the circumferential direction along the side surface of the groove. The display panel has an annular shape covering the entire circumference in the circumferential direction of the diffusion unit.

[0012] In this embodiment, the groove extends over the entire circumference of the outer circumferential surface of the robot arm, and the annular cover member is arranged so that a part of the groove width direction of the groove is covered over the entire circumference. In this case, the annular cover member can restrict the light emitted from the plurality of light emitting units scattered on the base material extending over the entire circumference along the side circumferential surface of the groove from proceeding toward the outer circumferential surface of the robot arm over the entire circumference of the robot arm. Furthermore, the diffusion unit has an annular shape extending over the entire circumference along the side circumferential surface of the groove, and the display panel has an annular shape covering the entire circumference of the diffusion unit. In this case, the light emitted from the plurality of light emitting units is diffused by the annular diffusion unit, and the diffused light passes through the annular display panel. As a result, the indicator can display the operating state of the operating unit of the robot arm via the annular display panel over the entire circumference of the robot arm.

[0013] In the robot described above, the plurality of light-emitting units may be arranged at equal intervals on the base material.

[0014] In this aspect, the multiple light-emitting units are disposed at equal intervals on the side peripheral surface of the recessed groove extending around the entire circumference of the outer peripheral surface of the robot arm. In this case, the amount of light emitted from the multiple light-emitting units and incident on the annular diffusion unit is uniform in the circumferential direction. This allows the amount of light diffused by the diffusion unit and incident on the annular display panel to be uniform in the circumferential direction. This more reliably prevents color unevenness and brightness differences from occurring in the circumferential direction of the annular display panel. As a result, the color and brightness change pattern of the display panel becomes clearer in the circumferential direction, and the operating state of the operating unit of the robot arm can be more accurately displayed via the display panel.

[0015] In the robot, the robot arm may have a plurality of the recessed grooves, and the indicators may be housed in the plurality of recessed grooves, respectively.

[0016] In this embodiment, an indicator is housed in each of a plurality of recessed grooves formed on the outer circumferential surface of the robot arm. That is, a plurality of indicators are attached to the outer circumferential surface of the robot arm. This makes it possible to display the operating state of the operating part of the robot arm via the indicator display panel at a plurality of points on the outer circumferential surface of the robot arm.

[0017] In the above robot ,before A wire harness is arranged inside the robot arm to electrically connect the plurality of light emitting units and the control board.

[0018] In this embodiment, a wire harness electrically connecting a plurality of light emitting units arranged in grooves formed on the outer circumferential surface of the robot arm and a control board accommodated in the accommodation unit of the robot arm is routed inside the robot arm, which makes it possible to protect the wire harness compared to a case in which the wire harness is routed outside the robot arm, and also makes it easier to set a route for the wire harness so as not to interfere with the operation of the operating unit.

[0019] In the above robot, the control board may be configured to divide the plurality of light-emitting units into a plurality of blocks and to control light emission of the light-emitting units belonging to each of the plurality of blocks.

[0020] In this embodiment, the control board performs light emission control to control the color of light emitted from the multiple light-emitting units and the lighting and blinking light emission patterns of each light-emitting unit. In this case, the control board performs light emission control for each light-emitting unit for each of multiple blocks. This makes it possible to change the light emission mode of the multiple light-emitting units for each block. In this case, it is possible to change the color and brightness change pattern of the display panel in the circumferential direction of the display panel in response to the blocks of the light-emitting units. This makes it possible for the indicator to display the operating state of the operating unit in different modes in the circumferential direction of the display panel in cases such as when the operating range of the operating unit differs in the circumferential direction of the robot arm.

[0021] In the robot, each of the light-emitting units may be configured with a light-emitting diode having an element of each of the three primary colors of red, green, and blue. In this case, the control board adjusts the color of the light emitted from the light-emitting diode by controlling the brightness of each element.

[0022] In this embodiment, the control board adjusts the color of the light emitted from the multiple light-emitting units by controlling the brightness of each element of the three primary colors of light. In this case, the color of the light emitted from the multiple light-emitting units can be expressed in full color. This allows the color of the display panel based on the light emitted from the multiple light-emitting units to be expressed in full color. Therefore, the indicator can display the operating state of the operating unit of the robot arm in more detail based on the changing pattern of the color and brightness of the display panel.

[0023] In the above robot, the control board ,before Light emission control of the plurality of light-emitting units is performed so that the plurality of light-emitting units operate in different modes for each of the plurality of operation modes.

[0024] In this aspect, the control board controls the light emission of the multiple light-emitting units so that the multiple light-emitting units operate in different ways for each of the multiple operation modes. In this case, the color and other aspects of the light emitted from the multiple light-emitting units differ for each of the multiple operation modes. This allows the indicator to display the operating state of the operating unit of the robot arm in different ways for each of the multiple operation modes, based on the color and other aspects of the display panel corresponding to the light emitted from the multiple light-emitting units.

[0025] In the above robot, the control board may be configured to control the light emission of the multiple light-emitting units so that the multiple light-emitting units operate in a manner corresponding to the operating state of the operating unit and the driving state of the motor while the multiple operation modes are being executed.

[0026] In this aspect, the control board controls the light emission of the multiple light-emitting units so that the multiple light-emitting units operate in a manner corresponding to the operating state of the operating unit and the drive state of the motor. In this case, the light emission patterns of the multiple light-emitting units, such as lighting and blinking, differ depending on the operating state of the operating unit and the drive state of the motor. This allows the indicator to display the operating state of the operating unit of the robot arm and the drive state of the motor based on the pattern of change in brightness of the display panel corresponding to the light emitted from the multiple light-emitting units. Effect of the Invention

[0027] As described above, according to the present invention, it is possible to provide a robot capable of accurately displaying the operating state of the operating part of a robot arm. [Brief description of the drawings]

[0028] [Figure 1] 1 is a perspective view of a robot according to an embodiment of the present invention. [Diagram 2] FIG. 4 is a cross-sectional view of a second swing joint in a robot arm of a robot. [Diagram 3] FIG. 2 is a perspective view showing an indicator housed in a recessed groove of a first rotating joint in a robot arm of a robot. [Figure 4] 11 is a cross-sectional view of the first rotation joint portion near an indicator. FIG. [Diagram 5] 4 is a diagram showing a circuit configuration of a plurality of light-emitting units provided in the indicator. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] A robot according to an embodiment of the present invention will be described in detail below with reference to the drawings. The robot according to the present invention comprises a robot arm having a motion unit, and an indicator attached to the robot arm for displaying the motion status of the motion unit. The motion unit is a concept that includes not only a normal arm portion, but also a body portion that rotates around an axis perpendicular to a base, a wrist unit at the tip of the robot arm, and the like. In this embodiment, an articulated robot is illustrated that includes a robot arm having a plurality of motion units and joints that rotatably connect these motion units.

[0030] 1, the robot 1 according to this embodiment is a vertically articulated seven-axis robot. The robot 1 includes a robot arm 10 having seven rotation axes, namely, a first axis 2A, a second axis 2B, a third axis 2C, a fourth axis 2D, a fifth axis 2E, a sixth axis 2F, and a seventh axis 2G. The robot arm 10 includes a base 11, and a torso 12, a first arm 13, a second arm 14, a third arm 15, and a head 16 as operating parts.

[0031] The base 11 is a housing that is fixedly installed on a floor surface, a pedestal, or the like. The trunk 12 is connected to the upper surface of the base 11 via a first pivot joint 21. The trunk 12 can be rotated in both forward and reverse directions around a first axis 2A extending vertically by the first pivot joint 21. The first arm 13 has a predetermined length, and its base end is connected to the trunk 12 via a first pivot joint 22. The first arm 13 can be swung around a second axis 2B extending horizontally by the first pivot joint 22. The first arm 13 has a second pivot joint 23 in the middle. The tip piece of the first arm 13 can be swung around a third axis 2C extending in the arm axis direction by the second pivot joint 23.

[0032] The second arm 14 is an arm connected to the lower end of the first arm 13, and its base end is connected to the tip end of the first arm 13 via a second swing joint 24. The second arm 14 is capable of swinging around a fourth axis 2D extending in the horizontal direction by the second swing joint 24. The second arm 14 is provided with a third rotating joint 25 in the middle. The tip piece of the second arm 14 is capable of swinging around a fifth axis 2E extending in the arm axial direction by the third swing joint 25.

[0033] The third arm 15 is an arm connected to the lower end of the second arm 14, and its base end is connected to the tip of the second arm 14 via a third swing joint 26. The third arm 15 is capable of swinging about a sixth axis 2F extending in the horizontal direction by the third swing joint 26. The head unit 16 is connected to the tip of the third arm 15 via a fourth rotating joint 27. The head unit 16 is capable of rotating about a seventh axis 2G extending in the vertical direction by the fourth rotating joint 27.

[0034] In the robot arm 10, the first pivot joint 21, the second pivot joint 23, the third pivot joint 25, and the fourth pivot joint 27 have a generally cylindrical housing shape extending vertically, while the first pivot joint 22, the second pivot joint 24, and the third pivot joint 26 have a generally cylindrical housing shape extending horizontally.

[0035] The robot arm 10 has storage sections for storing the drive mechanisms of the robot arm 10, which have substantially the same structure, in the first swing joint section 22, the second swing joint section 24, and the third swing joint section 26. FIG. 2 shows the drive mechanism 4 stored in the storage section 3 of the second swing joint section 24. The second swing joint section 24 is configured in such a manner that the upper end portion of the housing of the first arm 13 and the lower end portion of the housing of the second arm 14 are aligned in the horizontal direction, and has a substantially cylindrical shape as described above. The storage section 3 is a substantially cylindrical storage space provided inside the second swing joint section 24, which is substantially cylindrical.

[0036] The drive mechanism 4 housed in the housing 3 of the second oscillating joint 24 includes a motor 41, a reducer 42, a brake 43, a torque sensor 44, and a control board 45. The motor 41 is a servo motor that serves as a drive source for rotating the second arm 14 around the fourth axis 2D, and includes a motor shaft 41S that generates a rotational force. The reducer 42 reduces the rotation speed of the motor shaft 41S at a predetermined reduction ratio and transmits the rotational force to the rotation mechanism. The brake 43 applies braking to the rotation of the motor shaft 41S. The torque sensor 44 detects the rotational torque that the motor 41 applies to the second arm 14. The control board 45 controls the drive of the motor 41 based on commands from a control device outside the machine and detection results of the torque sensor 44, and also controls the emission of a plurality of light-emitting units 72 (FIGS. 3 and 4) provided on the indicator 6 described below.

[0037] 1 and 2, a wire harness 73 for electrically connecting a control board 45 that controls light emission and a plurality of light emitting units 72 is arranged inside the robot arm 10. This makes it possible to protect the wire harness 73 compared to the case where the wire harness 73 is arranged on the outside of the robot arm 10, and also makes it easier to set an arrangement path for the wire harness 73 that does not interfere with the operation of the robot arm 10.

[0038] As shown in FIG. 1, the robot 1 includes an indicator 6 that displays the operation state of the robot arm 10. The indicator 6 is attached to the outer circumferential surface of the robot arm 10. The attachment position of the indicator 6 to the outer circumferential surface of the robot arm 10 is not particularly limited. The indicator 6 is attached to the outer circumferential surface of at least one of the first rotation joint 21, the second rotation joint 23, the third rotation joint 25, and the fourth rotation joint 27, which are substantially cylindrical and extend in the vertical direction. The number of indicators 6 is not particularly limited, and may be one or may be two or more.

[0039] In this embodiment, as shown in FIG. 1, a first indicator 6A is attached to the outer circumferential surface of the first rotating joint 21, and a second indicator 6B is attached to the outer circumferential surface of the third rotating joint 25. The first indicator 6A and the second indicator 6B have substantially the same structure. In addition, the outer circumferential surface of the first rotating joint 21 to which the first indicator 6A is attached and the outer circumferential surface of the third rotating joint 25 to which the second indicator 6B is attached have substantially the same structure. In the following, the details of the first indicator 6A attached to the outer circumferential surface of the first rotating joint 21 will be described with reference to FIG. 3 and FIG. 4. In this case, the first indicator 6A will be simply referred to as indicator 6.

[0040] The first rotation joint 21 constituting the robot arm 10 is configured such that the upper end portion of the base portion 11 and the lower end portion of the body portion 12 are aligned vertically, and has a generally cylindrical shape as described above. The first rotation joint 21 includes a groove 5 and a cover member 5A.

[0041] The groove 5 is formed on the outer circumferential surface of the first rotating joint portion 21, extending in the circumferential direction H1 and recessed inward in the radial direction H2, and is a groove for accommodating the indicator 6. Specifically, the groove 5 is formed in the upper end portion of the base portion 11, and has a side peripheral surface 51 along the circumferential direction H1 and a bottom surface 52 facing upward along the groove width direction H3 of the groove 5.

[0042] The cover member 5A is a member disposed on the radially outward side of the side peripheral surface 51 of the groove 5 in the radial direction H2 so as to cover a part of the groove 5 in the groove width direction H3. Specifically, the cover member 5A is disposed on the radially outward side of the side peripheral surface 51 of the groove 5 in the radial direction H2 so as to cover a part of the groove 5 from the upper end to a substantially central position in the groove width direction H3. An upper end portion of the cover member 5A on the upper side along the groove width direction H3 is fixed to an upper end portion of the base portion 11 by a fixing member such as a screw member. The cover member 5A has a light-shielding property so as to restrict the transmission of light.

[0043] The indicator 6 is attached to the outer circumferential surface of the first rotation joint portion 21 in a form housed in the recessed groove 5. The indicator 6 includes a light emitting structure 7, a diffusion portion 8, and a display panel 9.

[0044] The light emitting structure 7 has a base material 71 and a plurality of light emitting units 72. The base material 71 is a flexible tape-like plate material, for example, a flexible printed circuit board. The plurality of light emitting units 72 are arranged at predetermined intervals on one surface of the base material 71. As shown in Fig. 5, each of the plurality of light emitting units 72 is composed of a light emitting diode (LED) equipped with a red light emitting element 721, a green light emitting element 722, and a blue light emitting element 723, which are the three primary colors of light.

[0045] In the light-emitting structure 7, the surface of the base material 71 opposite to the side on which the light-emitting units 72 are arranged is attached along the side peripheral surface 51 of the groove 5. As a result, the multiple light-emitting units 72 are arranged side by side in the circumferential direction H1 along the side peripheral surface 51 of the groove 5 so as to face the cover member 5A within the groove 5. With the multiple light-emitting units 72 arranged within the groove 5, they are operated by the control of the control board 45 connected via the wire harness 73.

[0046] The diffusion unit 8 is disposed within the groove 5 so as to be spaced downward from the multiple light emitting units 72 in the groove width direction H3 and to be outside the coverage area of ​​the cover member 5A. The diffusion unit 8 is disposed so that its inner surface in the radial direction H2 abuts against the side peripheral surface 51 of the groove 5 and its lower surface in the groove width direction H3 abuts against the bottom surface 52 of the groove 5. The diffusion unit 8 diffuses the light emitted from the multiple light emitting units 72.

[0047] The display panel 9 is a plate-like body provided so as to cover the diffusion section 8 from the outer side in the radial direction H2. The display panel 9 is disposed so that an upper end portion along the groove width direction H3 abuts against a lower end portion of the cover member 5A, and a lower end portion along the groove width direction H3 abuts against the bottom surface 52 of the recessed groove 5. The display panel 9 is translucent so as to allow the light diffused by the diffusion section 8 to pass therethrough.

[0048] In the robot 1 configured as described above, the indicator 6 is accommodated in the recessed groove 5 formed on the outer circumferential surface of the robot arm 10. In the indicator 6, light emitted from a plurality of light-emitting units 72 is diffused by the diffusion unit 8, and this diffused light passes through the light-transmitting display panel 9. In this case, the indicator 6 controls the color of light emitted from each light-emitting unit 72 and the lighting and blinking light emission patterns of each light-emitting unit 72, thereby controlling the color and brightness change pattern of the display panel 9, and can display the operating state of the robot arm 10 via the display panel 9.

[0049] The light emitting units 72 are arranged in the groove 5 in the circumferential direction H1 along the side circumferential surface 51 of the groove 5 so as to face the light-shielding cover member 5A arranged on the radially outer side of the side circumferential surface 51 of the groove 5. This allows the light emitted from the light emitting units 72 to be restricted from proceeding toward the outer circumferential surface of the robot arm 10 by the light-shielding cover member 5A. Moreover, the diffusion unit 8 is arranged in the groove 5 so as to be out of the coverage area of ​​the cover member 5A, and the display panel 9 is provided so as to cover the diffusion unit 8 from the radially outer side of the diffusion unit 8. In this case, the light incident on the display panel 9 is diffused by the diffusion unit 8, so that color unevenness and brightness differences can be suppressed from occurring over the entire area of ​​the display panel 9. This makes the color and brightness change patterns of the display panel 9 clearer, and the operating state of the robot arm 10 can be accurately displayed via the display panel 9.

[0050] 4, in the indicator 6, the multiple light-emitting sections 72 are desirably arranged so that the light exit surface 72A that emits light faces the diffusion section 8. In this case, the diffusion section 8 is arranged on the optical axis 72B of the multiple light-emitting sections 72. Since the light exit surfaces 72A of the multiple light-emitting sections 72 face the diffusion section 8, the light from the light-emitting sections 72 that is emitted from the light exit surface 72A can be efficiently incident on the diffusion section 8.

[0051] In this embodiment, as shown in FIG. 3, the groove 5 extends over the entire circumference in the circumferential direction H1 on the outer circumferential surface of the robot arm 10. In this case, although not shown in FIG. 3, the cover member 5A has an annular shape extending over the entire circumference in the circumferential direction H1 of the groove 5 so that a part of the groove width direction H3 of the groove 5 is covered over the entire circumference. In the indicator 6, the light emitting parts 72 are arranged at predetermined intervals from each other on the base material 71 extending over the entire circumference in the circumferential direction H1 along the side surface 51 of the groove 5. The diffusion part 8 has an annular shape extending over the entire circumference in the circumferential direction H1 along the side surface 51 of the groove 5. The display panel 9 has an annular shape covering the entire circumference in the circumferential direction H1 of the diffusion part 8.

[0052] In the above configuration, the groove 5 extends over the entire circumference of the outer circumferential surface of the robot arm 10, and the annular cover member 5A is arranged so that a part of the groove width direction H3 of the groove 5 is covered over the entire circumference. In this case, the annular cover member 5A can restrict the light emitted from the plurality of light emitting units 72 scattered on the base material 71 extending over the entire circumference along the side surface 51 of the groove 5 from proceeding toward the outer circumferential surface side of the robot arm 10 over the entire circumference of the robot arm 10. Furthermore, the diffusion unit 8 has an annular shape extending over the entire circumference along the side surface 51 of the groove 5, and the display panel 9 has an annular shape covering the entire circumference of the diffusion unit 8. In this case, the light emitted from the plurality of light emitting units 72 is diffused by the annular diffusion unit 8, and the diffused light passes through the annular display panel 9. As a result, the indicator 6 can display the operating state of the robot arm 10 via the annular display panel 9 over the entire circumference of the robot arm 10.

[0053] As shown in FIG. 3, the light emitting units 72 are desirably arranged on the base material 71 at equal intervals in the circumferential direction H1 with respect to the side peripheral surface 51 of the groove 5. The light emitting units 72 are arranged at equal intervals with respect to the side peripheral surface 51 of the groove 5 extending over the entire circumference of the outer circumferential surface of the robot arm 10. In this case, the amount of light emitted from the light emitting units 72 and incident on the annular diffusion unit 8 is uniform in the circumferential direction H1. As a result, the amount of light diffused by the diffusion unit 8 and incident on the annular display panel 9 can also be made uniform in the circumferential direction H1. Therefore, it is possible to more reliably suppress the occurrence of color unevenness and brightness differences in the circumferential direction H1 of the annular display panel 9. As a result, the color and brightness change pattern of the display panel 9 becomes clearer in the circumferential direction H1, and the operating state of the robot arm 10 can be more accurately displayed via the display panel 9.

[0054] The robot arm 10 also has a plurality of recessed grooves 5 formed on its outer circumferential surface. In the example of FIG. 1, in the robot arm 10, recessed grooves 5 are formed on the outer circumferential surfaces of the first rotating joint 21 and the third rotating joint 25. In this case, a first indicator 6A is housed in the recessed groove 5 of the first rotating joint 21, and a second indicator 6B is housed in the recessed groove 5 of the third rotating joint 25. That is, a plurality of indicators 6 are attached to the outer circumferential surface of the robot arm 10. This makes it possible to display the operating state of the robot arm 10 via the display panel 9 of the indicator 6 at a plurality of points on the outer circumferential surface of the robot arm 10.

[0055] As described above, the plurality of light-emitting units 72 on the base material 71 disposed in the groove 5 of the robot arm 10 and the control board 45 disposed in the housing portion 3 inside the robot arm 10 are connected by a wire harness 73. The control board 45 controls the drive of the motors 41 corresponding to the body 12, first arm 13, second arm 14, third arm 15 and head unit 16 constituting the operating portion of the robot arm 10, and also controls the light emission of the plurality of light-emitting units 72.

[0056] As described above, each of the light-emitting units 72 is composed of a light-emitting diode (LED) equipped with a red light-emitting element 721, a green light-emitting element 722, and a blue light-emitting element 723, each of which is a three primary color element. In this case, the control board 45 adjusts the color of the light emitted from each light-emitting unit 72 by controlling the adjustment of the brightness of each of the red light-emitting elements 721, the green light-emitting element 722, and the blue light-emitting element 723. In this case, the color of the light emitted from the light-emitting units 72 can be expressed in full color. As a result, the color of the display panel 9 based on the light emitted from the light-emitting units 72 can also be expressed in full color. Therefore, the indicator 6 can display the operating state of the robot arm 10 in more detail based on the change pattern of the color and brightness of the display panel 9.

[0057] As shown in FIG. 5, the control board 45 divides the light-emitting units 72 into a plurality of blocks and controls the light emission of the light-emitting units 72 belonging to each block for each of the plurality of blocks. The control board 45 controls the light emission of the light-emitting units 72 by controlling the color of the light emitted from the light-emitting units 72 and the light emission pattern of the light-emitting units 72, i.e., the lighting and blinking. At this time, the control board 45 controls the light emission of each of the light-emitting units 72 for each of the plurality of blocks. This makes it possible to change the light emission mode of the light-emitting units 72 for each block. In this case, it is possible to change the color and brightness change pattern of the display panel 9 in the circumferential direction H1 of the display panel 9 in accordance with the blocks of the light-emitting units 72. This makes it possible for the indicator 6 to display the operating state of the robot arm 10 in different modes in the circumferential direction H1 of the display panel 9, for example, when the operating range of the robot arm 10 differs in the circumferential direction H1 of the robot arm 10.

[0058] The control board 45 executes a plurality of operation modes including a first operation mode, a second operation mode, a third operation mode, and a preparation mode shown in Table 1 below for drive control of the motors 41 corresponding to the torso 12, first arm 13, second arm 14, third arm 15, and head unit 16 that constitute the operating part of the robot arm 10. Hereinafter, the operating part constituted by the torso 12, first arm 13, second arm 14, third arm 15, and head unit 16 will be collectively referred to as the robot arm 10.

[0059] [Table 1]

[0060] The first operation mode is an operation mode assuming that a worker working with the robot 1 performs work by approaching the operating range of the robot arm 10. When the first operation mode is executed, the control board 45 controls the drive of the motor 41 so that the robot arm 10 operates continuously at a preset first speed. In the first operation mode, the motor 41 is excited and the drive state of the motor 41 is in the "on" state.

[0061] The second operation mode is an operation mode assuming that a worker working with the robot 1 does not approach the operating range of the robot arm 10. When the second operation mode is executed, the control board 45 controls the drive of the motor 41 so that the robot arm 10 operates continuously at a preset second speed that is faster than the first speed. In the second operation mode, the motor 41 is excited and the drive state of the motor 41 is in the "on" state.

[0062] The third operation mode is an operation mode in which it is assumed that an operator directly applies force to the robot arm 10 to guide it and teach the robot arm 10 how to operate. When the third operation mode is executed, the control board 45 controls the drive of the motor 41 so as to restrict the robot arm 10 from operating at a speed exceeding a preset third speed. In the third operation mode, the motor 41 is excited and the drive state of the motor 41 is in the "on" state.

[0063] The preparation mode is a mode in which the robot 1 is prepared for its initial state when the power supply that supplies power to the control board 45 is turned on. In the preparation mode, the motor 41 is in a non-excited state, and the drive state of the motor 41 is in the "off" state.

[0064] In addition, common to all of the multiple operating modes, if an error occurs in the operation of the robot arm 10 and the robot 1 stops, or if the robot 1 undergoes an emergency stop, the motor 41 is placed in a de-energized state, and the drive state of the motor 41 is placed in the "off" state.

[0065] The control board 45 controls the light emission of the light-emitting units 72 so that the light-emitting units 72 operate in different modes for each of the operation modes, including the first operation mode, the second operation mode, the third operation mode, and the preparation mode. That is, the control board 45 controls the light emission of the light-emitting units 72 so that either the color of the light emitted from the light-emitting units 72 or the light-emitting pattern of the light-emitting units 72 (lighting and blinking) is different for each of the operation modes. In this embodiment, the control board 45 controls the light emission of the light-emitting units 72 so that the color of the light emitted from the light-emitting units 72 is different for each of the operation modes. As a result, the indicator 6 can display the operating state of the robot arm 10 in different modes for each of the operation modes, based on the color of the display panel 9 according to the light emitted from the light-emitting units 72.

[0066] In the example shown in Table 1 above, the control board 45 controls the light emission of the multiple light-emitting units 72 in the first indicator 6A and the second indicator 6B so that the color of light emitted from the multiple light-emitting units 72 is "white" corresponding to the first operation mode, "blue" corresponding to the second operation mode, "yellow" corresponding to the third operation mode, and "green" corresponding to the preparation mode. Note that, common to all of the multiple operation modes, when the robot 1 stops due to an error occurrence or when the robot 1 is stopped in an emergency, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the color of light emitted from the multiple light-emitting units 72 is "orange."

[0067] Further, during execution of a plurality of operation modes including the first operation mode, the second operation mode, the third operation mode, and the preparation mode, the control board 45 controls the light emission of the plurality of light-emitting units 72 so that the plurality of light-emitting units 72 operate in a manner corresponding to the driving state of the motor 41 and the operating state of the robot arm 10. That is, the control board 45 controls the light emission of the plurality of light-emitting units 72 so that either the color of the light emitted from the plurality of light-emitting units 72 or the lighting and blinking light emission pattern of each light-emitting unit 72 corresponds to the driving state of the motor 41 and the operating state of the robot arm 10. In this embodiment, the control board 45 controls the light emission of the plurality of light-emitting units 72 so that the lighting and blinking light emission pattern of the plurality of light-emitting units 72 corresponds to the driving state of the motor 41 and the operating state of the robot arm 10. As a result, the indicator 6 can display the operating state of the robot arm 10 and the driving state of the motor 41 based on the manner of the change pattern of the brightness of the display panel 9 corresponding to the light emitted from the plurality of light-emitting units 72.

[0068] In the example shown in Table 1 above, with regard to the lighting patterns of the multiple light-emitting elements 72 in the first indicator 6A and the second indicator 6B, the control board 45 sets the multiple light-emitting elements 72 to a "lit" state when the robot 1 stops due to an error occurrence, and sets the multiple light-emitting elements 72 to a "flashing" state when the robot 1 stops in an emergency stop, so that the control board 45 can distinguish between a stop of the robot 1 due to an error occurrence and an emergency stop in all of the multiple operating modes.

[0069] During execution of the first operation mode, when the robot arm 10 is performing a normal operation in which it operates at a speed within a first allowable range corresponding to the first speed, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the light emission pattern of the multiple light-emitting units 72 becomes a "lit" state. On the other hand, during execution of the first operation mode, when the robot arm 10 is performing a transition operation to transition the speed of the robot arm 10 into the first allowable range in response to the robot arm 10 operating at a speed outside the first allowable range, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the light emission pattern of the multiple light-emitting units 72 becomes a "blinking" state.

[0070] During execution of the second operation mode, when the robot arm 10 is performing a normal operation in which it operates at a speed within a second allowable range corresponding to the second speed, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the light emission pattern of the multiple light-emitting units 72 becomes a "lit" state. On the other hand, during execution of the second operation mode, when the robot arm 10 is performing a transition operation to transition the speed of the robot arm 10 into the second allowable range in response to the robot arm 10 operating at a speed outside the second allowable range, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the light emission pattern of the multiple light-emitting units 72 becomes a "blinking" state.

[0071] During execution of the third operation mode, when the robot arm 10 is performing a normal operation in which it operates at a speed within a third allowable range corresponding to the third speed, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the light emission pattern of the multiple light-emitting units 72 becomes a "lit" state. On the other hand, during execution of the third operation mode, when the robot arm 10 is performing a transition operation to transition the speed of the robot arm 10 into the third allowable range in response to the robot arm 10 operating at a speed outside the third allowable range, the control board 45 controls the light emission of the multiple light-emitting units 72 so that the light emission pattern of the multiple light-emitting units 72 becomes a "blinking" state.

[0072] Also, during execution of the third operation mode, when the robot arm 10 performs a specific operation in which the operating range of the robot arm 10 differs in the circumferential direction H1 of the robot arm 10, the control board 45 may control the light emission of each of the light emitting units 72 for each of the multiple blocks. Specifically, the control board 45 controls the light emission of the multiple light emitting units 72 so that the light emission pattern of the light emitting units 72 belonging to a block arranged in an area with a relatively large operating range in the circumferential direction H1 of the robot arm 10 (an area in which the operation of the robot arm 10 is permitted) is in the "on" state, and the light emission pattern of the light emitting units 72 belonging to a block arranged in the remaining area (such as an area in which the operation of the robot arm 10 is prohibited) is in the "blinking" state. As a result, when the operating range of the robot arm 10 differs in the circumferential direction H1 of the robot arm 10, the indicator 6 can display the operating state of the robot arm 10 in a manner in which the brightness change pattern is different in the circumferential direction H1 of the display panel 9. [Explanation of symbols]

[0073] 1. Robot 10 Robot Arm 11 Base 12 Torso (moving part) 13 First arm (moving part) 14 Second arm (operating part) 15 Third arm (moving part) 16 Head section (operating section) 3. Storage section 4. Drive mechanism 41 Motor 45 Control Board 5 Groove 51 Side surface 5A Cover material 6. Indicators 6A First indicator 6B Second indicator 7. Light-emitting structure 71 Base material 72 Light emitting part 721 Red light emitting element 722 Green light emitting element 723 Blue light emitting element 73 Wire Harness 8 Diffusion section 9 Display Panel

Claims

1. A robot arm having a motion unit; an indicator attached to the robot arm and displaying a state of operation of the operation unit; The robot arm includes: a recessed groove formed on the outer circumferential surface thereof so as to extend in the circumferential direction and to be recessed radially inward, the recessed groove housing the indicator; a cover member having a light-shielding property, the cover member being disposed radially outward with respect to a side surface of the groove along the circumferential direction so as to cover a portion of the groove width direction of the groove, The indicator is a plurality of light emitting units arranged side by side in the circumferential direction along the side circumferential surface of the groove so as to face the cover member in the groove; a diffusion portion disposed in the groove, spaced apart from the light emitting portions in a groove width direction and outside a coverage area of ​​the cover member, and diffusing light emitted from the light emitting portions; a display panel having translucency and provided to cover the diffusion portion from the radially outer side, the robot arm has a housing portion that houses a motor serving as a drive source for operating the operating portion and a control board that controls the drive of the motor and controls the light emission of the plurality of light-emitting portions; The control board includes: execute a plurality of operation modes including a first operation mode in which the motor is driven and controlled so that the operation unit operates at a first speed, and a second operation mode in which the motor is driven and controlled so that the operation unit operates at a second speed that is higher than the first speed; performing light emission control of the plurality of light-emitting units such that the plurality of light-emitting units operate in different modes when the operation unit operates at a speed within a first allowable range corresponding to the first speed during execution of the first operation mode and when the operation unit operates at a speed outside the first allowable range; The robot controls light emission of the multiple light-emitting units so that, during execution of the second operation mode, the multiple light-emitting units operate in different manners when the operating unit operates at a speed within a second allowable range corresponding to the second speed and when the operating unit operates at a speed outside the second allowable range.

2. The robot according to claim 1 , wherein the plurality of light-emitting units are arranged such that light emission surfaces that emit light face the diffusion unit.

3. The groove extends over the entire circumference in the circumferential direction on the outer circumferential surface of the robot arm, The cover member has an annular shape extending around the entire circumference of the recessed groove in the circumferential direction, The plurality of light emitting portions are arranged at predetermined intervals from one another on a base material that extends along the side peripheral surface of the groove over the entire circumference in the circumferential direction, the diffusion portion has an annular shape extending along the side peripheral surface of the groove over the entire circumference in the circumferential direction, The robot according to claim 1 , wherein the display panel has an annular shape that covers the entire circumference of the diffusion portion in the circumferential direction.

4. The robot according to claim 3 , wherein the plurality of light-emitting units are arranged at equal intervals on the base material.

5. The robot arm has a plurality of the grooves, The robot according to any one of claims 1 to 4, wherein the indicators are housed individually in the plurality of grooves.

6. A robot described in any one of claims 1 to 5, wherein a wire harness is arranged inside the robot arm to electrically connect the multiple light-emitting elements and the control board.

7. The robot according to any one of claims 1 to 6, wherein the control board divides the plurality of light-emitting units into a plurality of blocks and controls the light emission of the light-emitting units belonging to each of the plurality of blocks.

8. Each of the plurality of light-emitting units is constituted by a light-emitting diode equipped with an element of each of the three primary colors of red, green, and blue, 8. The robot according to claim 1, wherein the control board adjusts the color of the light emitted from the light emitting diode by controlling the brightness of each of the elements.

9. The robot according to any one of claims 1 to 8, wherein the control board controls the light emission of the plurality of light-emitting elements so that the plurality of light-emitting elements operate in different manners for each of the plurality of operation modes.

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