UI-equipped end effector

Abstract

Provided is a UI-equipped end effector with which: autonomy of the end effector in direct teaching of a robot or the like makes it possible to control operation of work units or 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.　This UI-equipped end effector 1 can be connected to a distal end of a robot arm 80, the UI-equipped end effector comprising 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 able to control the work drive unit 3 and the user interface 4 independently.

Description

End effector with UI

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

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

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

[0004] Furthermore, since the end effector attached to the robot operates according to commands from the robot, it is not possible to operate the working unit independently (for example, to open and close the gripper) while the end effector is being taught.

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

[0006] Furthermore, even when multiple robots and workers are working together, the robots are all controlled by a control panel in the robot system, and the operation panel is generally a single unit. This creates the problem that when an error occurs, the production status can only be confirmed on the display on the robot system's operation panel.

[0007] Furthermore, there is also the problem of increased costs if multiple control panels are required to perform highly coordinated work using multiple robots.

[0008] Patent No. 7084135

[0009] Therefore, the inventors of the present invention have conceived an invention that can solve all of the above problems at once. Specifically, the object of the present invention is to provide an end effector with a UI that, when performing direct teaching of a robot, allows the end effector to independently control the operation of the working unit, thereby further improving efficiency and accuracy, allows the state and situation of the robot system to be confirmed on the end effector without checking the display on the robot system's operation panel, and allows the worker to obtain information from the end effector without going through the robot system's operation panel or control panel, thereby enabling them to respond and cooperate with the robot system, thereby enabling higher value-added work to be achieved more easily and at lower cost.

[0010] The above problem is solved by an end effector with a UI that can be connected to the tip of a robot arm, characterized in that it has a working unit, a working drive unit for driving the working unit, and a user interface (UI) with a display.

[0011] The user interface (UI) may be a touch panel display. The end effector with a UI may have a control unit capable of autonomously controlling the work drive unit and the user interface (UI). The end effector with a UI may have a microphone and a speaker, and the microphone and the speaker may be configured to be autonomously controllable by the control unit. The end effector with a UI may have a gyro sensor, and the gyro sensor may be configured to be autonomously controllable by the control unit. The end effector with a UI may have a camera, and the camera may be configured to be autonomously controllable by the control unit. The end effector with a UI may have a communication device, and the communication device may be configured to be autonomously controllable by the control unit. The end effector with a UI may have a temperature sensor, and the temperature sensor may be configured to be autonomously controllable by the control unit.

[0012] According to the end effector with a UI as set forth in claim 1, during direct teaching of the robot, the end effector can independently control the operation of the working unit, thereby improving efficiency and accuracy, and the state and status of the robot system can be confirmed on the end effector without checking the display on the operation panel of the robot system, allowing the operator to respond and cooperate with the robot system by obtaining information from the end effector without going through the operation panel or control panel of the robot system, thereby enabling higher value-added work to be achieved more easily and at low cost. According to the end effector with a UI as set forth in claim 2, during direct teaching of the robot, the end effector can independently control the operation of the working unit, thereby improving efficiency and accuracy, and the state and status of the robot system can be confirmed on the end effector without checking the display on the operation panel of the robot system, allowing the operator to respond and cooperate with the robot system by obtaining information from the end effector without going through the operation panel or control panel of the robot system, thereby enabling higher value-added work to be achieved more easily and at low cost. According to the end effector with UI described in claim 3 or 4, when performing direct teaching of a robot, the end effector can independently control the operation of the working unit, thereby further improving efficiency and accuracy. The state and status of the robot system can be confirmed on the end effector without checking the display on the operation panel of the robot system. The operator can obtain information from the end effector without going through the operation panel or control panel of the robot system, and can respond and cooperate with the robot system, thereby enabling higher value-added work to be achieved more easily and at low cost. In particular, the robot system operates the robot arm to move the working unit (gripper) holding the target workpiece near the operator, and if the operator determines that the target workpiece is defective, the target workpiece can be ejected from the machine. By using the user interface (UI) and coordinating with the robot system, higher value-added work can be achieved more easily and at low cost.According to the UI-equipped end effector described in claim 5, during direct teaching of the robot, the end effector can independently control the operation of the working unit, further improving efficiency and accuracy. The state and status of the robot system can be confirmed on the end effector without checking the display on the robot system's operation panel. Operators can obtain information from the end effector without going through the operation panel or control panel of the robot system, allowing them to respond and cooperate with the robot system, thereby enabling higher-value-added work to be achieved more easily and inexpensively. In particular, during defect inspection, the details of each defect can be displayed to the operator via a user interface (UI). Using the UI and coordinating with the robot system makes higher-value-added work easier and more inexpensive. According to the UI-equipped end effector described in claim 6, a UI-equipped end effector that achieves the effects of the above claims can be constructed simply and inexpensively. According to the UI-equipped end effector described in claim 7, in addition to the effects of the above claims, communication with the operator is possible via voice control, improving workability and productivity. According to the end effector with UI described in claim 8, in addition to the effects of the above claims, it becomes possible to link with external devices and networks such as the Internet, making it easier to achieve work with higher added value.

[0013] 1 is an external view of an embodiment of an end effector with a UI according to the present invention, where (a) is a front view, (b) is a right side view, and (c) is a perspective view. It is a configuration example of a robot system using the end effector with a UI shown in FIG. 1. It is a connection diagram of the end effector with a UI in the robot system shown in FIG. 2. It is a functional block diagram of the end effector with a UI shown in FIG. 1. It is an explanatory diagram for explaining the operation of the end effector with a UI shown in FIG. 1 (operation during direct teaching), and is a diagram showing a display screen of a touch panel display. It is an explanatory diagram for explaining the operation of the end effector with a UI shown in FIG. 1 (operation during direct teaching), and is a diagram showing a display screen of a touch panel display. It is an explanatory diagram for explaining another operation of the end effector with a UI shown in FIG. 1 (operation during a confirmation inspection by operator A), where (a) is an explanatory diagram for explaining one inspection state, and (b) is a diagram showing a display screen of a touch panel display. 1 (operation in a confirmation inspection by operator B), (a) is an explanatory diagram illustrating one inspection state, and (b) is a diagram illustrating a display screen of a touch panel display. FIG. 1 (operation in a confirmation inspection by operator C) is an explanatory diagram illustrating another operation of the UI-equipped end effector shown in FIG. 1 (operation in a confirmation inspection by operator C), (a) is an explanatory diagram illustrating one inspection state, and (b) is a diagram illustrating a display screen of a touch panel display. FIG. 1 (operation in a product confirmation inspection) is an explanatory diagram illustrating another operation of the UI-equipped end effector shown in FIG. 1. FIG. 1 (operation in a product confirmation inspection) is an external view of another embodiment of the UI-equipped end effector of the present invention, (a) is a front view, (b) is a right side view, and (c) is a perspective view.

[0014] In the present invention, by having a working unit 2, a work drive unit 3 for driving the working unit 2, a user interface 4 equipped with a display, and a control unit 5 that can independently control the work drive unit 3 and the user interface 4 equipped with a display, when performing direct teaching of the robot, the end effector can independently control the operation of the working unit, thereby further improving efficiency and accuracy, and the state and situation of the robot system can be confirmed on the end effector without checking the display on the operation panel of the robot system, and information can be obtained from the end effector without going through the operation panel or control panel of the robot system, allowing the worker to respond and cooperate with the robot system, thereby realizing an end effector 1 with a UI that can perform higher value-added work more easily and at lower cost.

[0015] An end effector with a UI of the present invention will be described using an embodiment shown in Figures 1 to 11. As shown in Figures 1 and 2, the end effector with a UI 1 of this embodiment is an end effector with a UI that can be connected to the tip of a robot arm 80, and has a working unit 2, a work drive unit 3 for driving the working unit 2, a user interface 4 equipped with a display, and a control unit 5 that can independently control the work drive unit 3 and the user interface 4 equipped with a display. Each component will be described in detail below.

[0016] The UI-equipped end effector 1 of this embodiment is connected to the tip of a robot arm 80 in the robot system 70 shown in FIG. 2, for example, and is used as a robot hand.

[0017] The robot system 70 comprises 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, a UI-equipped end effector 1 connected to the tip of the robot arm 80, and a control panel 76 capable of controlling these components (the operation panel 74, the robot teaching pendant 75, the robot arm 80, and the UI-equipped end effector 1). In this embodiment, the UI-equipped end effector 1 is connected to the control panel 76 together with the operation panel 74 and the robot arm 80, as shown in FIG. 3, and is configured to be controllable by operating the operation panel 74.

[0018] The working unit 2 is a part that comes into contact with a target workpiece to perform various operations, and in this embodiment, the working unit 2 is configured as a gripper having a pair of gripping hands 2a, 2b, as shown in Fig. 1. Specifically, the working unit 2 in this embodiment is a working unit that performs operations by clamping or releasing the target workpiece between the flat inner surfaces 2c, 2d of the gripping hands 2a, 2b as the flat inner surfaces 2c, 2d of the opposing gripping hands 2a, 2b move closer to or farther apart.

[0019] However, the working unit in the UI-equipped end effector of the present invention is not limited to such a gripper, but widely includes various types of working units depending on the work content, such as a suction hand, a magnetic hand, etc. Furthermore, examples of the work performed by the working unit in the UI-equipped end effector include screw tightening, assembly, part sorting, alignment, boxing, picking, transporting, coating, inspection, and measurement.

[0020] The work drive unit 3 drives the working unit 2, and in this embodiment, as shown in Figure 4, the work drive unit 3 has a motor driver 3a and a motor (a servo motor capable of detecting torque) 3b. This embodiment also has a plurality of motor drivers 3a to enable more complex movements of the working unit. However, the work drive unit in the UI-equipped end effector of the present invention is not limited to one having an electric motor as in this embodiment, but broadly includes hydraulic, pneumatic, or other drive devices depending on the type of working unit, as well as those that operate the working unit using mechanical elements such as electromagnets, springs, link mechanisms, and cam mechanisms.

[0021] The exterior 6 of the UI-equipped end effector 1, including the working unit 2 and work drive unit 3, may be produced using a 3D printer, allowing for flexible construction of working units and exteriors tailored to the target workpiece, which is not possible with mass-produced products. While resin is preferred as a material for forming the working unit and exterior, due to its light weight, they may also be made of metal. Furthermore, the other end of the exterior 6 is provided with an attachment 7 for connection to the tip of the robot arm 80.

[0022] The user interface (UI) 4 equipped with a display is a characteristic feature of the UI-equipped end effector of the present invention, and in this embodiment, a touch panel display is used. However, the user interface (UI) equipped with a display in the UI-equipped end effector of the present invention is not limited to a touch panel display, but may be a combination of a display (display) and an input device (e.g., a device with selectable buttons) through which the user inputs information. Furthermore, the UI is not limited to a contact-type input unit such as a touch panel display, but may also have a non-contact input unit through which the user inputs information, for example, via a sensor or voice. In this application, the user interface refers to an interface through which a user (e.g., an operator) exchanges information with a control unit.

[0023] In the UI-equipped end effector 1 of this embodiment, information from a user (e.g., a worker) can be input to a control unit (controller) 5 of the UI-equipped end effector 1 via a touch panel display 4, which is a user interface equipped with a display, and various information can be output to the user (e.g., a worker).Furthermore, based on input from the user (e.g., a worker) via the touch panel display 4, the control unit (controller) 5 is configured to be able to independently control the operation of each part of the UI-equipped end effector 1 (e.g., the working unit 2, the work drive unit 3, the touch panel display 4), or the operation of each part connected to the UI-equipped end effector 1 (e.g., the microphone 8, the speaker 9, the gyro sensor 10, the camera 11, the communication device 12, the temperature sensor 13).

[0024] As shown in FIG. 4, the UI-equipped end effector 1 of this embodiment has an LCD (liquid crystal display) 4 that functions as a touch panel, and buttons A, B, and C that are displayed on the screen of the LCD 4, which together form a UI (user interface) that can input and output data to and from a user (e.g., an operator).

[0025] However, the UI (user interface) in the UI-equipped end effector of the present invention is not limited to the touch panel display 4, and in addition to the touch panel display 4 or a display (display device), end effectors with UIs that include user interfaces provided by other means (for example, a keyboard, a mouse, a microphone 8, a speaker 9, etc.) are also broadly included in the scope of the present invention.

[0026] The control unit 5 is a controller that enables the work drive unit 3, the touch panel display 4, etc. to be controlled independently from the control panel 76 of the robot system 70, and is provided in the UI-equipped end effector 1. As a result, even for control to the extent of gripping a workpiece, the control panel 76 of the robot system 70 can add and set more detailed gripping control (for example, gripping control for a soft workpiece) on the UI-equipped end effector side, or can replace it with a UI-equipped end effector specialized for detailed control, so that even control that is complex and difficult to control by the control panel of the connected robot system can be set to be performed simply and inexpensively on the UI-equipped end effector side.

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

[0028] More specifically, the control unit 5 (controller) of this embodiment is configured as an MCU (microcontroller unit) as shown in Figure 4, and has a built-in CPU (Central Processing Unit), RAM, flash memory, SD card, etc., and performs input / output processing of data or information between each unit, data calculation processing, data or information storage processing, and various program writing processing, and is configured to be able to overall control and unify the operation of each unit such as the work drive unit 3, touch panel display (LCD) 4, microphone 8, speaker 9, gyro sensor 10, camera 11, communication device 12, and 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 one example, and it does not necessarily have to have all of the above components, and additional components may also be included.

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

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

[0031] The camera 11 is a component for remotely monitoring, recording operations, and accurately recognizing images of target workpieces, barcodes, characters, etc.

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

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

[0034] Next, we will explain an example of the operation of the UI-equipped end effector 1 of the present invention. The UI-equipped end effector 1 of this embodiment is configured so that an operator can perform direct teaching using the touch panel display (UI) 4.

[0035] Direct teaching is a method of teaching an industrial robot a movement by having the operator directly move the UI-equipped end effector 1 with his or her hands. The UI-equipped end effector 1 of this embodiment includes a torque-sensing servo motor 3b and a gyro sensor 10. Based on input from the touch panel display 4 by the operator or direct movement instruction given to the UI-equipped end effector 1, torque, speed, rotation angle, and other parameters are calculated and stored as robot programming. The stored movements and controls (torque control, speed control, positioning control, etc.) are then repeatedly fed back to the robot to perform various tasks. This eliminates the need to set conditions in advance on a computer, making direct teaching extremely easy.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0049] Note that the functions of the UI-equipped end effector 1 of the present invention shown in Figures 5 to 11 are merely examples, and the UI-equipped end effector of the present invention broadly encompasses end effectors with UIs that can perform higher-value-added tasks more easily and inexpensively by having a user interface with a display (e.g., a touch panel display: UI), or by having a user interface with a display (e.g., a touch panel display: UI) and other UIs in the end effector itself, and by having these controls independently controlled by a control unit in the end effector, and by having functions realized by linking these controls with a robot system.

[0050] Next, another embodiment of the UI-equipped end effector of the present invention will be described with reference to Fig. 12. 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 working unit; otherwise, they are the same. Components identical to those of the UI-equipped end effector 1 are designated by the same reference numerals, and their description will be omitted.

[0051] The working unit 21 of this embodiment is also configured as a gripper having a pair of gripping hands 21 a, 21 b. Specifically, the working unit 21 of this embodiment is configured to perform work by clamping or releasing a cylindrical or columnar target workpiece between the generally semicircular inner surfaces 21 c, 21 d of the gripping hands 21 a, 21 b in a front view as the opposing gripping hands 21 a, 21 b move closer to or farther apart. As such, the configuration of the working unit in the UI-equipped end effector of the present invention can take a wide variety of forms depending on the type of work and the shape of the target workpiece.

[0052] DESCRIPTION OF SYMBOLS 1 End effector with UI 2 Working unit 3 Working drive unit 4 User interface with display (touch panel display) 5 Control unit 6 Exterior unit 7 Mounting unit 8 Microphone 9 Speaker 10 Gyro sensor 11 Camera 12 Communication device 13 Temperature sensor 20 End effector with UI 21 Working unit 70 Robot system 71 Machine base 72 Work table 73 Display 74 Operation panel 75 Robot teaching pendant 76 Control panel 80 Robot arm

Claims

1. An end effector with a UI that can be connected to the tip of a robot arm, comprising a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit that can independently control the work drive unit and the user interface (UI), wherein the control unit is configured to be able to control the opening and closing of a gripper of the working unit via the user interface (UI).

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

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

4. The end effector with a UI according to claim 3, wherein control by the robot system and the control unit is performed for a plurality of workers located in different positions.

5. An end effector with a UI that can be connected to the tip of a robot arm, comprising a working unit, a work drive unit for driving the working unit, a user interface (UI), and a control unit that can independently control the work drive unit and the user interface (UI), wherein when a camera finds a defect in a target workpiece, the robot system operates the robot arm, the working unit indicates the defective part, and the control unit determines the content of the defect in the defective part and controls the user interface (UI) to display the content of the defect on the display.

6. An end effector with a user interface (UI) according to any one of claims 1 to 5, wherein the UI is a touch panel display.

7. An end effector with a UI according to any one of claims 1 to 5, wherein the end effector with a UI has a microphone and a speaker, and the microphone and the speaker are configured to be independently controllable by the control unit.

8. The end effector with a UI according to any one of claims 1 to 5, wherein the end effector with a UI has a communication device, and the communication device is configured to be independently controllable by the control unit.

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