UI-equipped end effector

Abstract

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

Description

Technical Field

[0001] The present invention relates to a UI-equipped end effector that can be connected to the tip of a robot arm.

Background Art

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

[0003] Specifically, for example, in the direct teaching of a robot, the operations of the robot and the end effector are taught. However, when the working part of the end effector is a gripper that holds a target workpiece, for example, the gripping force (torque) and the gripping speed had to be set in advance. That is, in conventional direct teaching, the gripping force and speed are directly controlled by I / O assigned to the end effector using a teaching pendant, and it was not possible to adjust the gripping force (torque) and speed while performing an inching operation with the gripper.

[0004] In addition, since the end effector attached to the robot operates according to a command from the robot side, it was not possible for the end effector to independently operate the working part (for example, the opening and closing operation of the gripper) during teaching.

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

[0006] Furthermore, even when multiple robots and workers were involved in the operation, the multiple robots were controlled by a single control panel for the robot system, and the operation panel was basically a single unit. As a result, there was a problem in that production status and other information in the event of an error could only be checked on the display of the robot system's operation panel.

[0007] Furthermore, there was the problem that preparing multiple control panels to enable advanced coordinated work by multiple robots would increase costs. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Patent No. 7084135 [Overview of the project] [Problems that the invention aims to solve]

[0009] Therefore, the inventor of the present invention has conceived of an invention that can solve the above problems all at once. In other words, the object of the present invention is to provide an end effector with a UI that can independently control the movement of the work unit during direct teaching of a robot, thereby improving efficiency and accuracy, allowing the status of the robot system to be checked on the end effector without having to check the display on the robot system's control panel, enabling the operator to obtain information from the end effector without going through the robot system's control panel or control panel, enabling them to respond and cooperate with the robot system, and enabling higher value-added work to be realized more easily and inexpensively. [Means for solving the problem]

[0010] The solution to the above problem is an end effector with a UI that can be connected to the tip of a robot arm, comprising a work unit, a work drive unit for driving the work unit, a user interface (UI), and a control unit capable of independently controlling the work drive unit and the user interface (UI), wherein the end effector with the UI is moved by a robot system that controls the movement of the robot arm to a position where the target workpiece gripped by the gripper of the work unit can be inspected by an operator, and the control unit, Based on the normal / abnormal signals received by the operator via the user interface (UI) regarding the target workpiece, if the target workpiece is determined to be normal, the system controls it to either discharge it as a good product or to proceed to inspection by the next operator. This is an end effector with a user interface (UI) that, based on the operator receiving signals indicating whether the target workpiece is normal or abnormal via the UI, determines that there is an abnormality in the target workpiece and controls the machine to eject the target workpiece (Claim 1).

[0011] The control by the robot system and the control unit may be performed on multiple workers positioned at different locations (Claim 2). The user interface (UI) is preferably a touch panel display (Claim 3).

[0012] The UI-equipped end effector preferably has a microphone and a speaker, and the microphone and speaker are configured to be independently controllable by the control unit (Claim 4). The UI-equipped end effector preferably has a communication device, and the communication device is configured to be independently controllable by the control unit (Claim 5). [Effects of the Invention]

[0013] According to the UI-equipped end effector described in claim 1 or 2, when direct teaching of a robot, the end effector can autonomously control the movement of the work unit, further improving efficiency and accuracy. The status and condition of the robot system can be checked on the end effector without having to check the display on the robot system's control panel. Information can be obtained from the end effector without going through the robot system's control panel, enabling the operator to respond and cooperate with the robot system, making it possible to perform higher value-added work more easily and inexpensively. In particular, when the robot system operates the robot arm, the work unit (gripper) that is gripping the target workpiece can be moved to the vicinity of the operator, and if the operator determines that it is a defective product, the target workpiece can be ejected from the machine. By using a user interface (UI) and coordinating with the robot system, higher value-added work can be performed more easily and inexpensively. Claim 3According to the UI-equipped end effector described above, a UI-equipped end effector that achieves the aforementioned effects can be constructed simply and inexpensively. Claim 4 According to the UI-equipped end effector described above, voice control enables communication with the worker, further improving work efficiency and productivity. Claim 5 According to the UI-equipped end effector described above, collaboration with external devices and networks such as the internet becomes possible, making it easier to perform higher value-added tasks. [Brief explanation of the drawing]

[0014] [Figure 1] This is an external view of one embodiment of the UI-equipped end effector of the present invention, where (a) is a front view, (b) is a right side view, and (c) is a perspective view. [Figure 2] Figure 1 shows an example configuration of a robot system using an end effector with a UI. [Figure 3] Figure 2 shows the connection diagram of the UI-equipped end effector in the robot system. [Figure 4] Figure 1 is a functional block diagram of the end effector with a user interface. [Figure 5] Figure 1 is an explanatory diagram illustrating the operation of the UI-equipped end effector (operation during direct teaching), and shows the display screen of the touch panel display. [Figure 6] Figure 1 is an explanatory diagram illustrating the operation of the UI-equipped end effector (operation during direct teaching), and shows the display screen of the touch panel display. [Figure 7] Figure 1 is an explanatory diagram illustrating the operation of the UI-equipped end effector (operation during direct teaching), and shows the display screen of the touch panel display. [Figure 8]It is an explanatory diagram for explaining other operations of the end effector with UI shown in FIG. 1 (operations in the confirmation inspection by operator A). (a) is an explanatory diagram for explaining a first inspection state, and (b) is a diagram showing the display screen of the touch panel display. [Figure 9] It is an explanatory diagram for explaining other operations of the end effector with UI shown in FIG. 1 (operations in the confirmation inspection by operator B). (a) is an explanatory diagram for explaining a first inspection state, and (b) is a diagram showing the display screen of the touch panel display. [Figure 10] It is an explanatory diagram for explaining other operations of the end effector with UI shown in FIG. 1 (operations in the confirmation inspection by operator C). (a) is an explanatory diagram for explaining a first inspection state, and (b) is a diagram showing the display screen of the touch panel display. [Figure 11] It is an explanatory diagram for explaining other operations of the end effector with UI shown in FIG. 1 (operations in the product confirmation inspection). <000​​​​​​​​​​​

[0016] The UI-equipped end effector of the present invention will be explained using an embodiment shown in Figures 1 to 11. The UI-equipped end effector 1 of this embodiment, as shown in Figure 1 or Figure 2, is a UI-equipped end effector that can be connected to the tip of a robot arm 80, and comprises a work unit 2, a work drive unit 3 for driving the work unit 2, a user interface 4 equipped with a display, and a control unit 5 capable of independently controlling the work drive unit 3 and the user interface 4 equipped with a display. Each of these components will be described in detail below.

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

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

[0019] The work section 2 is the part that comes into contact with the target workpiece and performs various operations. In this embodiment, the work section 2 is composed of a gripper having a pair of gripping hands 2a and 2b, as shown in Figure 1. Specifically, the work section 2 in this embodiment is a work section that performs operations by gripping or releasing the target workpiece with the flat inner surfaces 2c and 2d of the gripping hands 2a and 2b as the flat inner surfaces 2c and 2d of the gripping hands 2a and 2b move closer together or further apart.

[0020] However, the work section in the UI-equipped end effector of the present invention is not limited to such a gripping gripper, but broadly encompasses various forms of work sections depending on the work content, such as suction hands and magnetic hands. Furthermore, examples of tasks performed by the work section in the UI-equipped end effector include screw tightening, assembly, parts sorting, alignment, boxing, picking, transport, coating, inspection, and measurement.

[0021] The work drive unit 3 is for driving the work unit 2, and in this embodiment, the work drive unit 3 has a motor driver 3a and a motor (torque-sensing servo motor) 3b, as shown in Figure 4. In this embodiment, there are multiple motor drivers 3a to enable more complex operation of the work unit. However, the work drive unit in the UI-equipped end effector of the present invention is not limited to having an electric motor as in this embodiment, but broadly includes drive devices such as hydraulic and pneumatic types, as well as mechanical elements such as electromagnets, springs, link mechanisms, and cam mechanisms that operate the work unit, depending on the type of work unit.

[0022] Furthermore, the exterior parts 6, such as the work section 2 and work drive unit 3 of the UI-equipped end effector 1, may be manufactured using a 3D printer. This allows for the creation of highly flexible work sections and exterior parts tailored to specific workpieces that cannot be handled by mass-produced products. While resin materials are preferred for forming the work sections and exterior parts due to their lightweight properties, they may also be made of metal. Additionally, a mounting section 7 for connecting to the tip of the robot arm 80 is provided on the other end of the exterior part 6.

[0023] User interface with a display (UI: User Interface) nterface)4 is a characteristic configuration of the UI-equipped end effector of the present invention, and in this embodiment, a touch panel display is used. However, the user interface (UI) equipped with a display in the UI-equipped end effector of the present invention is not limited to a touch panel display, and may be a combination of a display (indicator) and an input device (for example, a device equipped with selectable buttons) into which the user inputs information, and is not limited to having a contact-type input part such as a touch panel display, but may also have a non-contact type input part into which information is input from the user side by means of a sensor or voice, for example. In this application, a user interface refers to an interface for a user (operator, for example, a worker) to exchange information with a control unit.

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

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

[0026] The control unit 5 is a controller that enables the work drive unit 3 and the touch panel display 4, etc., to be controlled independently from the control panel 76 of the robot system 70, and is located inside the UI-equipped end effector 1. This allows the control panel 76 of the robot system 70 to easily and inexpensively perform complex and difficult controls on the UI-equipped end effector side, even for simple controls such as gripping a workpiece, by adding more detailed gripping control (e.g., gripping control for soft workpieces) on the UI-equipped end effector side, or by replacing it with a UI-equipped end effector specialized for detailed control.

[0027] Specifically, as shown in Figure 1, the control unit 5 in this embodiment is built into the outer casing 6 on the back side of the touch panel display 4. In this embodiment, the control of information input and output on the user interface such as the touch panel display 4, and other control of the UI-equipped end effector 1, can also be performed from the control panel 76 of the robot system 70.

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

[0029] The microphone 8 and speaker 9 transmit information from the worker to the control unit 5 via voice, and transmit information from the control unit 5 to the worker via voice, functioning as a type of UI (user interface) (a second user interface). Voice control, with the microphone 8 and speaker 9 acting as input / output units, enables communication between the worker and the control unit 5, further improving work efficiency and productivity.

[0030] The gyro sensor 10 is a component that makes positioning easier by allowing confirmation of the posture of the work unit 2, and it functions to enable detection that is even more accurate than the robot's collision detection.

[0031] Camera 11 is a component that enables remote monitoring, motion recording, and accurate image recognition of target workpieces, barcodes, characters, etc.

[0032] The communication device 12 is a component that communicates with external devices and networks such as the Internet, and cooperates with the UI-equipped end effector. It may be a wired communication device, or it may be a wireless communication device using, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark). This enables cooperation via external devices and networks, making it easier to perform higher value-added tasks.

[0033] The temperature sensor 13 is intended to enable more accurate temperature control for tasks requiring it. Note that the parts controlled by the control unit 5 in the above embodiment are merely examples, and the control unit of the UI-equipped end effector of the present invention is not necessarily limited to controlling all of the above parts, nor may it control additional components.

[0034] Next, we will sequentially explain examples of the operation of the UI-equipped end effector 1 of the present invention. In this embodiment, the UI-equipped end effector 1 is configured to allow the operator to perform direct teaching using the touch panel display (UI) 4 during direct teaching.

[0035] Direct teaching is a method of teaching an industrial robot to perform actions by having the operator directly move the UI-equipped end effector 1 by hand. The UI-equipped end effector 1 in this embodiment has a torque-sensing servo motor 3b and a gyro sensor 10, and calculates torque, speed, rotation angle, etc. based on input from the operator via the touch panel display 4 and direct action teaching to the UI-equipped end effector 1. hand The robot programs are stored as data. The stored movements and controls (torque control, speed control, positioning control, etc.) are then repeatedly fed back to the robot to execute various tasks. Therefore, it is unnecessary to set conditions in advance on a computer, making direct teaching extremely easy.

[0036] Specifically, in this embodiment, as shown in Figure 5, when button B is pressed by the operator on the initial screen 25 on the touch panel display 4, the control unit 5 opens the gripper (working part) 2 which has a pair of gripping hands 2a and 2b. On the other hand, when button C is pressed, the control unit 5 controls the gripper (working part) 2 to close. This allows the operator performing the operation teaching to directly move the UI-equipped end effector 1 by hand to learn the operation, and to open and close the gripper (working part) 2, enabling more accurate and easier teaching.

[0037] Furthermore, the initial screen 25 on the touch panel display 4 is configured to display torque 30, position 31 based on the gyro sensor, distance 32 calculated from the motor drive amount, and angle 33. In addition, when a message is received for the operator, the system automatically switches to a message display (pop-up) screen 26, as shown in the right diagram of Figure 5, and the message content 27 is displayed on the touch panel display 4. When the operator confirms the message content and presses button B, it becomes OK (indicating that the operator has understood the message content), and the system returns to the initial screen 25. Through these features, information can be transmitted to the operator via the touch panel display 4, thereby improving work efficiency or productivity.

[0038] Furthermore, when an operator wants to set the torque of the gripper (working part) 2, pressing button A on the initial screen 25 shown in Figure 5 displays the setting screen 28 on the touch panel display 4, as shown in Figure 6. On this setting screen 28, pressing torque setting 29 and then button B (set) displays the torque setting screen 34 shown in the right-hand diagram of Figure 6. After determining the torque by increasing it with button B or decreasing it with button C, pressing button A returns to the setting screen 28 and sets the torque. This configuration allows the gripping force (torque) of the working part 2 to be set even while performing an inching operation with the gripper (working part) 2.

[0039] On the other hand, when an operator wants to set the speed of the gripper (working part) 2, they can press button C on the setting screen 28 on the display 4 shown in Figure 5 to set the speed to 35 (left diagram in Figure 7), and then press button B (set). This displays the speed setting screen 36 shown in the middle right diagram in Figure 7. After determining the speed by increasing the speed with button B or decreasing the speed with button C, pressing button A returns to the setting screen 28 and sets the speed. This configuration allows the operator to set the speed of the working part 2 even while performing an inching operation with the gripper (working part) 2.

[0040] Furthermore, the system is configured so that the operator can configure settings such as voice recognition settings 37, speaker settings 38, and camera ON / OFF settings 39 on the settings screen 28 shown in Figure 6, and the UI-equipped end effector 1 is configured to allow independent control of functions other than the work unit 2, work drive unit 3, and touch panel display 4.

[0041] Next, other examples of the operation of the UI-equipped end effector 1 of the present invention, shown in Figures 8 to 10, will be described. The UI-equipped end effector 1 shown in Figures 8 to 10 functions in a process where a target workpiece (not shown) gripped by the workpiece (gripper) 2 is visually inspected by workers A, B, and C positioned at different locations to determine if it is normal or abnormal.

[0042] Specifically, as shown in Figure 8(a), the robot system 70 operates the robot arm 80 to move the workpiece gripper 2, which is holding the target workpiece, towards worker A. When worker A visually inspects the target workpiece and determines that it is normal, they press button B on the inspection judgment screen 40 on the touch panel display 4, as shown in Figure 8(b). This indicates that worker A has determined it to be OK, and the inspection will proceed to worker B. To do this, as shown in Figure 9(a), the robot system 70 operates the robot arm 80 to move the workpiece gripper 2, which is holding the target workpiece, towards worker B. On the other hand, if worker A visually inspects the target workpiece and determines it to be abnormal, and presses button C on the inspection judgment screen 40 on the touch panel display 4, it indicates NG, and the target workpiece is ejected from the machine as a defective product.

[0043] Next, when worker B visually inspects the workpiece and determines it is normal, they press button B on the inspection judgment screen 40 on the touch panel display 4, as shown in Figure 9(b). This means that worker B also approves it, and the inspection proceeds to worker C. To do this, the robot system 70 moves the robot arm 80 and moves the work unit (gripper) 2 holding the workpiece towards worker C, as shown in Figure 10(a). On the other hand, if worker B visually inspects the workpiece and determines it is abnormal, and presses button C on the inspection judgment screen 40 on the touch panel display 4, it is deemed NG, and the workpiece is ejected from the machine as a defective product.

[0044] Furthermore, if worker C visually inspects the workpiece and determines it to be normal, they press button B on the inspection judgment screen 40 on the touch panel display 4, as shown in Figure 10(b). This results in worker C also confirming it is OK, and the product proceeds to the product discharge process as a good product. On the other hand, if worker C visually inspects the workpiece and determines it to be abnormal, and presses button C on the inspection judgment screen 40 on the touch panel display 4, it results in NG, and the workpiece is discharged from the machine as a defective product.

[0045] Thus, the UI-equipped end effector 1 of the present invention, by using a touch panel display 4 (UI) and coordinating with a robot system 70, makes it possible to perform higher value-added tasks more easily and at a lower cost.

[0046] Furthermore, other examples of the operation of the UI-equipped end effector 1 of the present invention, shown in Figure 11, will be described. The UI-equipped end effector 1 shown in Figure 11 functions in a defect confirmation inspection where the work unit (gripper) 2 points to a defective part of the target workpiece 50 and displays the defect details on the defect display screen 51 on the touch panel display 4.

[0047] Specifically, when the camera 11 detects a defect in the target workpiece 50, the robot system 70 moves the robot arm 80 to point to the defect with the workpiece (gripper) 2, as shown in Figure 11. The control unit 5 of the UI-equipped end effector 1 then determines whether the defect is a scratch, an uneven surface, or a discoloration, and controls the system to display the result of this determination (defect details) on the defect display screen 51 on the touch panel display 4. This configuration allows the operator to easily inspect and confirm the presence and details of defects for each target workpiece 50.

[0048] Thus, in defect confirmation inspection, the UI-equipped end effector of the present invention can show the operator the details of each defect via the touch panel display 4 (UI), and in cooperation with the robot system 70, it becomes possible to realize higher value-added work more easily and at a lower cost.

[0049] The operation of the UI-equipped end effector 1 of the present invention shown in Figures 5 to 11 is merely illustrative. The UI-equipped end effector of the present invention has a user interface with a display (e.g., a touch panel display: UI), or a user interface with a display (e.g., a touch panel display: UI) and other UIs, and these can be autonomously controlled by the control unit of the end effector. the law of nature This broadly encompasses UI-equipped end effectors that enable higher value-added work more easily and at a lower cost, through the actions they perform and the actions achieved through their control and coordination with robotic systems.

[0050] Furthermore, another embodiment of the UI-equipped end effector of the present invention shown in Figure 12 will be described. The only fundamental difference between the UI-equipped end effector 20 of this embodiment and the UI-equipped end effector 1 described above is the shape of the work section; otherwise, they are the same. Components identical to those of the UI-equipped end effector 1 are denoted by the same reference numerals and their descriptions are omitted.

[0051] The work section 21 of this embodiment is also composed of a gripper having a pair of gripping hands 21a and 21b. Specifically, the work section 21 of this embodiment is configured to perform work by gripping or releasing a cylindrical or cylindrical target workpiece with the approximately semicircular inner surfaces 21c and 21d of the gripping hands 21a and 21b, which are positioned opposite each other, as viewed from the front. Thus, the configuration of the work section in the UI-equipped end effector of the present invention broadly encompasses various configurations depending on the work content and the shape of the target workpiece. [Explanation of symbols]

[0052] 1 UI-equipped end effector 2. Work area 3. Working drive unit 4. User interface with a display (touch panel display) 5. Control Unit 6 Exterior part 7 Mounting part 8 microphones 9 speakers 10. Gyroscope 11 Cameras 12. Communication equipment 13 Temperature sensor 20 UI-equipped end effectors 21 Work Unit 70 Robot Systems 71 machine 72 Workbenches 73 Display 74 Control panel 75 Robot Teaching Pendant 76 Control Panel 80 Robot Arms

Claims

1. An end effector with a UI that can be connected to the tip of a robot arm, comprising a work unit, a work drive unit for driving the work unit, a user interface (UI), and a control unit capable of independently controlling the work drive unit and the user interface (UI), The UI-equipped end effector is moved by a robot system that controls the movement of the robot arm to a position where the workpiece held by the gripper of the work section can be inspected by the operator. The control unit controls the end effector with a user interface (UI) to either discharge the product as a good product or proceed to inspection by the next operator if it determines that the target workpiece is normal based on the operator's normal / abnormal signal of the target workpiece via the user interface (UI), and to discharge the target workpiece from the machine if it determines that there is an abnormality in the target workpiece based on the operator's normal / abnormal signal of the target workpiece via the user interface (UI).

2. The control by the robot system and the control unit is performed on a plurality of workers positioned at different locations, as described in claim 1, for the UI-equipped end effector.

3. The end effector with a user interface (UI) according to claim 1 or 2, wherein the user interface (UI) is a touch panel display.

4. The UI-equipped end effector according to claim 1 or 2, wherein the UI-equipped end effector has a microphone and a speaker, and the microphone and the speaker are configured to be independently controllable by the control unit.

5. The UI-equipped end effector according to claim 1 or 2, wherein the UI-equipped end effector has a communication device, and the communication device is configured to be independently controllable by the control unit.

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