Notification device

Abstract

The present invention provides a notification device for notifying a state of a battery of a robot arm not connected to a robot control device. This notification device comprises: a body part detachably connected to the robot arm; a control part for acquiring state information of the battery; and a notification part. The control part performs notification using the notification part when the acquired state information falls below a predetermined reference.

Description

alarm device

[0001] The present disclosure relates to an alarm device.

[0002] Conventionally, there is known a technique for battery-powering a robot and its control device that are not connected to a power source using a power supply cable. For example, see Patent Documents 1, 2, 3, and 4.

[0003] JP 2021-119023 A JP 2007-144620 A JP 2014-226766 A JP 2022-055096 A

[0004] The motors of each arm member of a robot arm, such as an industrial robot, have an encoder for position detection. Each motor's encoder obtains rotational position information of the motor and stores it in memory. A robot control device uses this position information to control the movement of each arm member. For example, if power is not supplied to the robot arm or the memory during a period of non-use, the position information stored in the motor's encoder will be lost. In this case, to ensure safe and accurate operation of the robot arm, a user or robot administrator must take the time to check and input angle data for each arm member, each motor, etc.

[0005] To prevent or reduce the labor required, a battery installed in an unused robot arm supplies power to the memory to store position information. However, if the battery voltage drops, all of the position information stored in the encoder's memory will be lost. Therefore, a user, robot manager, or other such person must periodically check the battery to prevent the above-mentioned situation from occurring. However, there are concerns that this check is difficult to perform reliably and accurately, and that it takes a long time. Reducing or eliminating this concern would be useful in the technical field.

[0006] A first aspect of the present disclosure is an alarm device that notifies the battery status of a robot arm that is not connected to a robot control device, and includes a main body that is detachably connected to the robot arm, a control unit that acquires status information of the battery, and an alarm unit, and when the acquired status information falls below a predetermined standard, the control unit issues an alarm using the alarm unit.

[0007] A second aspect of the present disclosure is an alarm device that notifies the status of a battery of a robot arm that is not connected to a robot control device, the alarm device comprising: a current path provided on the robot arm, one end of which is connected to the output unit of the battery; a control unit that acquires status information of the battery based on measurement results from a measurement unit that measures the voltage or current on the other end of the current path; and an alarm unit, wherein the control unit issues an alarm using the alarm unit when the acquired status information falls below a predetermined standard.

[0008] FIG. 1 is a schematic diagram of a robot arm and a robot control device according to a first embodiment; FIG. 2 is a perspective view of a part of the robot arm according to the first embodiment; FIG. 3 is a perspective view of an alarm device according to the first embodiment; FIG. 4 is a partially sectional plan view showing a schematic configuration of the alarm device according to the first embodiment, and a schematic diagram of a battery; FIG. 5 is a block diagram of a robot arm and a robot control device according to the first embodiment; FIG. 6 is a schematic diagram of a robot arm and a robot control device according to a second embodiment; FIG. 7 is a partially sectional plan view showing a schematic configuration of the alarm device according to the second embodiment, and a schematic diagram of a battery; FIG. 8 is a partially sectional plan view of a modified example of the alarm device according to the first embodiment, and a schematic diagram of a computer.

[0009] The robot arm 20 and the notification device 70 of the first embodiment will be described below with reference to the drawings. The robot 1 of this embodiment is a vertically articulated robot, and includes a robot arm 20 and a robot control device 30, as shown in FIG.

[0010] The robot arm 20 includes an arm base 10, multiple arm members 21, 22, 23, 24, 25, and 26, and multiple joints. The robot arm 20 also includes multiple motors 27, such as servo motors, that drive the multiple joints (see FIG. 5). Various types of motors, such as rotary motors and linear motors, can be used as each motor 27. Each motor 27 has an operating position detector 27A for detecting its operating position and operating speed. The operating position detector 27A is, for example, an encoder. The detected values ​​of the operating position detector 27A are transmitted to the robot control device 30. The number of arm members may be five or less, or seven or more.

[0011] The robot arm 20 is not limited to a specific type. The robot arm 20 may be the arm of a horizontal articulated robot, the arm of a multi-link robot, or the like. The robot arm 20 may also be supported by a traveling device such as a linear guide, an AGV (Automatic Guided Vehicle), a vehicle, a walking robot, or the like.

[0012] The robot arm 20 may also be a robot arm for a collaborative robot. The collaborative robot has a function of detecting contact between the robot arm 20 and a person, object, etc. using known sensors such as a force sensor, a contact sensor, a visual sensor, etc., and safely stopping the robot arm 20 based on the detection result. In addition, the collaborative robot may also have a function of decelerating and stopping the robot arm 20 immediately before contact with a person, object, etc.

[0013] In this embodiment, the base end side of arm member 21 is supported by base 10, and arm member 21 is rotated around the J1 axis relative to base 10 by motor 27. The base end side of arm member 22 is supported by the tip side of arm member 21, and arm member 22 is rotated around the J2 axis by motor 27. The base end side of arm member 23 is supported by the tip side of arm member 22, and arm member 23 is rotated around the J3 axis by motor 27.

[0014] The base end side of arm member 24 is supported by the tip side of arm member 23, and arm member 24 is rotated around the J4 axis by motor 27. The base end side or middle portion of arm member 25 is supported by the tip side of arm member 24, and arm member 25 is rotated around the J5 axis by motor 27. The base end side of arm member 26 is supported by the tip side of arm member 25, and arm member 26 is rotated around the J6 axis by motor 27.

[0015] 5, the robot control device 30 includes a processor 31 such as a CPU, a display device 32, and a storage unit 33 having non-volatile storage, ROM, RAM, etc. The robot control device 30 also includes an input device 34 such as a keyboard, touch panel, or operation panel, a transmitter / receiver unit 35 for transmitting and receiving signals, and servo controllers 36 connected to each motor 27. The input device 34 and the transmitter / receiver unit 35 function as input units. The storage unit 33 stores a system program 33A, an operation program 33B, etc., and the processor 31 controls each motor 27 based on the operation program 33B and operation signals from the input device 34.

[0016] Conductive wires such as power lines and signal lines for the motors 27 and power lines and signal lines for the end effector 40 (described later) are arranged inside the robot arm 20. The power lines and signal lines are flexible. When power lines and signal lines are provided for each of the motors 27, a bundle of the power lines and signal lines is arranged inside the robot arm 20. In this embodiment, the bundle of power lines and signal lines is referred to as a cable CA. Part or all of the cable CA may be covered with a known sheath made of a flexible material. The cable CA may also be arranged so as to run outside the robot arm 20. On the other hand, for example, the power lines and signal lines for the motors 27 may be bundled together inside the arm member 22. The cable CA is part of the robot arm 20.

[0017] In addition to power and signal lines, flexible tubes and the like may be disposed within the cable CA for supplying fluids, welding wire, etc. to the end effector 40 attached to the robot arm 20. Other flexible, elongated wiring members may also be disposed within the robot arm 20.

[0018] The base end of a cable CA, into which power lines and signal lines for the motor 27 are bundled, is disposed at the base end or the like of the robot arm 20. In the example of Fig. 1, the base end of the cable CA exits from the rear end or the like of the base 10 of the robot arm 20, and the base end of the cable CA has an arm-side connector 50. For example, as shown in Fig. 2, the arm-side connector 50 has an arm-side case 51 and a plurality of pins 53 that are disposed in a hollow portion 52 provided at the end of the arm-side case 51 and are connected to the plurality of power lines and the plurality of signal lines, respectively.

[0019] As shown in FIG. 1 , a control device-side cable 37 extends from the robot control device 30, and the control device-side cable 37 also has power lines and signal lines for the motor 27, power lines and signal lines for the end effector 40, etc. The tip of the control device-side cable 37 has a control device-side connector 55. The control device-side connector 55 has, for example, a control device-side case 56, a protrusion 57 provided on the end of the control device-side case 56, and a plurality of pin receiving portions (not shown) disposed within the protrusion 57. The pin receiving portions are also connected to the plurality of power lines and a plurality of signal lines of the control device-side cable 37, respectively. The arm-side connector 50 is connected to the control device-side connector 55 so that the protrusion 57 engages with, for example, the inner circumferential surface of the hollow portion 52, thereby supplying power and signals from the robot control device 30 to the robot arm 20.

[0020] A battery 60 is provided inside the robot arm 20, and serves as a backup when the robot control device 30 and the robot arm 20 are not connected. The battery 60 is arranged inside any of the arm members 21 to 26, inside each motor 27, etc. Alternatively, a battery 60 arranged outside the robot arm 20 may be connected to the robot arm 20 via a cable. There may be a single battery 60, or multiple batteries 60. The case where a single battery 60 is provided inside the robot arm 20 will be described below.

[0021] As shown in Figure 5, the operating position detection device 27A of each motor 27 has a detection unit 27B that detects the rotational position (operating position) of the main shaft of the motor 27 using a known method such as magnetism, and a memory 27C that stores the detection result of the detection unit 27B as position information of the motor 27.

[0022] The battery 60 supplies power to each operating position detection device 27A to maintain the position information in the memory 27C when the robot control device 30 is not connected to the robot arm 20. This maintains the position information. For example, when the robot arm 20 is not in use, it is disconnected from the robot control device 30, and power is supplied from the battery 60 to the memory 27C. Typically, the battery 60 is attached to the robot arm 20 for this purpose, and in many cases it essentially has only this function.

[0023] Examples of an unused state include a state in which the robot arm 20 is not connected to the robot control device 30 and is stored in a storage location, a state in which it is being transported, etc. Collaborative robots and the like that perform work in the same area as humans often enter the unused state as the type and location of the work changes relatively frequently, so the notification device 70 described below is often useful for collaborative robots.

[0024] As shown in FIGS. 3 and 4 , the alarm device 70 includes a main body 71, a protrusion (mounting portion) 72 provided at an end of the main body 71 as part of the main body 71, and multiple connectable portions (pin receiving portions) 73A, 73B disposed within the protrusion 72. The connectable portions 73A, 73B may be attached to other portions of the main body 71. In this embodiment, each connectable portion 73A, 73B is made of a metal and is a cylindrical member having a substantially C-shaped cross section. In one example, when a pin 53 corresponding to each connectable portion 73A, 73B is inserted, the cylindrical member is slightly expanded by the pin 53, maintaining contact between each connectable portion 73A, 73B and the corresponding pin 53. The alarm device 70 may have three or more connectable portions, or may require only a single connectable portion 73C, as in the second embodiment described below.

[0025] Some of the pins 53 are connected to a voltage detection unit (state detection unit) 61 of the battery 60 via signal lines arranged in the cable CA. In one example, as shown in Fig. 4, the voltage detection unit 61 has a transformer unit 63 connected to an output unit 62 such as the positive terminal of the battery 60, and a potential measurement unit 64 such as a known potential meter that detects the potential (voltage) transformed by the transformer unit 63. The potential measurement unit 64 is connected to a part of the transformer unit 63. The potential measurement unit 64 is, for example, a known IC (microcomputer) having a processor, memory, various circuits, etc.

[0026] The voltage detection unit 61 may also have a known electronic switch 65 using a semiconductor device or the like for grounding the transformer unit 63 as needed, or may not have the transformer unit 63. The transformer unit 63, the potential measurement unit 64, and the electronic switch 65 function as a voltage measurement sensor (status measurement sensor) in this embodiment.

[0027] The voltage detection unit 61 of this embodiment has a detection control unit 66, which is a known IC (microcomputer) having a processor, memory, various circuits, etc., and the electronic switch 65 is operated by the detection control unit 66 or the potential measurement unit 64. The voltage detection unit 61 can detect the potential (voltage) at the position of the potential measurement unit 64 when the electronic switch 65 is in an energized state. The detection result is stored in the memory of the detection control unit 66 or the potential measurement unit 64.

[0028] Although the voltage detection unit 61 of this embodiment detects the potential (voltage) as the status information of the battery 60, a current detection unit that detects the current of the battery 60 as the status information may be provided instead of the voltage detection unit 61. When the voltage of the battery 60 drops, the detected current also drops, so the current detection unit can obtain the status information of the battery 60 in the same way as the voltage detection unit 61.

[0029] In this embodiment, when the robot arm 20 is connected to the robot control device 30, the voltage detection unit 61 operates using power from the robot control device 30. Also, in this embodiment, when the robot arm 20 is not connected to the robot control device 30, the voltage detection unit 61 does not operate using power from the battery 60.

[0030] The alarm device 70 has a battery device 74 provided in a main body 71, and a control unit 75. The alarm device 70 also has a light-emitting device control unit 76 and a sound-emitting device control unit 77, which may be part of the control unit 75. The control unit 75 is, for example, a known computer, microcomputer, etc., and has an arithmetic unit (processor), memory, etc.

[0031] The alarm device 70 has a light-emitting device (alarm unit) 76A such as an LED that is switched between an emitting state and an extinguished state by a light-emitting device control unit 76, and a sound generating device (alarm unit) 77A that outputs sound by a sound generating device control unit 77. Power from the battery device 74 is supplied to each device in the alarm device 70.

[0032] The battery device 74 may have a battery control unit such as a known IC (microcomputer). The control unit 75 controls a known electronic switch 78 for supplying power from the battery device 74 to the corresponding connected part 73A via the control unit. The control unit 75 may also control the electronic switch 78 without going through the battery control unit.

[0033] Furthermore, the control unit 75 is connected to the corresponding receptacle 73B. A first pin of the plurality of pins 53 is a pin for supplying power to the voltage detection unit 61 and / or the status measurement sensor, and a second pin of the plurality of pins 53 is a pin for communication with the detection control unit 66 of the voltage detection unit 61. The alarm device 70 is attached with the control device side connector 55 detached from the arm side connector 50. For example, the attached state is maintained by inserting and engaging the protrusion 72 into the hollow portion 52. At this time, the first pin is connected to the receptacle 73A, and the second pin is connected to the receptacle 73B.

[0034] The control unit 75 supplies power from the battery device 74 and transmits a command signal to the detection control unit 66 of the voltage detection unit 61 of the battery 60. The command signal causes the control unit 75 to output the potential detected by the potential measurement unit 64 or information based on the potential. The command signal may include a command to cause the potential measurement unit 64 to detect the potential. The control unit 75 receives the potential output from the detection control unit 66 of the voltage detection unit 61 or the information based on the potential. Preferably, the power supply is performed for the duration of the communication or the like, and the duration of each power supply is 1 second or less, more preferably 0.1 seconds or less.

[0035] The control unit 75 causes the light-emitting device 76A to emit light using the light-emitting device control unit 76 based on the potential (state information) or the information (state information) received from the voltage detection unit 61. In addition to or instead of this control, the control unit 75 causes the sound generation device control unit 77 to generate a sound such as an alarm sound or a predetermined voice from the sound generation device 77A. An example of the information is the result of the determination of the amount of stored power in the battery 60 by the voltage detection unit 61, the numerical value of the amount of stored power, etc.

[0036] At this time, the control unit 75 determines whether the received status information is below a criterion, and if so, controls the light-emitting device 76A and / or the sound-emitting device 77A as described above. When the voltage detection unit 61 outputs information on the suitability of the amount of charge stored in the battery 60 as the status information, the control unit 75 uses "suitable" as the criterion, and generates the sound when the status information is "not suitable" (below "suitable"). The manufacturer or user of the alarm device 70 can set, as the criterion, numerical values, information, etc. necessary for storing the position information in the memory 27C.

[0037] When the light is emitted, the sound is generated, or the like, the user or the manager of the robot 1 can know that the amount of charge in the battery 60 is decreasing. This configuration leads to the effect of preventing the loss of position information in the memory 27C of the robot arm 20 without using any large-scale device or method.

[0038] Furthermore, the alarm device 70 of the first embodiment can prevent the loss of the position information by simply connecting it to the pin 53 of an existing robot arm 20. In other words, the alarm device 70 of this embodiment has the advantage of being usable with robots 1 that are already in use or stored in factories, etc., without requiring major modifications or long-term work. The position of the pin 53, the shape of the arm-side case 51, etc. may differ depending on the robot 1, but it is sufficient to prepare multiple types of alarm devices 70 that correspond to these.

[0039] Furthermore, the alarm device 70 of the first embodiment is configured to communicate with a voltage detection unit (status detection unit) 61 in the robot arm 20, which detects the status of the battery 60. Furthermore, during this communication, the alarm device 70 supplies power to the voltage detection unit 61 from a battery device 74 provided in the main body 71. Therefore, even when the robot arm 20, which is not connected to the robot control device 30, is not supplying power to the voltage detection unit 61, the alarm device 70 can obtain status information about the battery 60 stored in the voltage detection unit 61 through this communication. This effect is useful in the field of robotics. The battery 60 of an unused robot arm 20 serves to prevent the loss of position information stored in the memory 27C. Therefore, unnecessary consumption of the battery 60's power is undesirable, and the above effect is also useful in this respect.

[0040] Furthermore, the notification device 70 of the first embodiment can supply power from the battery device 74 to the status measurement sensor that detects the status of the battery 60 in the robot arm 20. Therefore, even in situations where measurements are not being taken due to a decrease in the amount of charge stored in the battery 60 or where measurements have not been taken for a while due to too long a measurement interval, the user, the manager, etc. can accurately know the status of the battery 60.

[0041] The battery device 74 also supplies power to the control unit 75. This configuration contributes to miniaturization of the main body 71 and simplification of the configuration within the main body 71.

[0042] A robot arm 20 and an alarm device 70' according to the second embodiment will be described below with reference to the drawings. As shown in FIG. 6 , the robot arm 20 according to the second embodiment has a potential signal line (current path) 62A, one end of which is connected to the output section 62 of the battery 60, and the other end of the potential signal line 62A is connected to one (the third pin) of the multiple pins 53 of the arm-side connector 50. The potential signal line 62A may be a single conductor, multiple conductors connected to each other, or the like. The rest of the configuration of the robot arm 20 is the same as that of the first embodiment.

[0043] 6, in addition to the configuration of the notification device 70 of the first embodiment, the notification device 70' has a voltage measurement unit (measurement unit) 79 connected to the control unit 75, and the voltage measurement unit 79 has a configuration equivalent to that of the potential measurement unit 64. The notification device 70' also has a connection portion (pin receiving portion) 73C, and the voltage measurement unit 79 is connected to the connection portion 73C and can measure the potential of the connection portion 73C. By measuring this potential, the voltage measurement unit 79 can measure the voltage at the other end of the potential signal line 62A, i.e., the voltage of the battery 60. Instead of the potential measurement unit 64, a current measurement unit (measurement unit) that measures the current of the battery 60 using a known method may be provided.

[0044] As in the first embodiment, when the alarm device 70′ is attached to the arm-side connector 50, the voltage measurement unit 79 is able to detect the potential of the output unit 62 of the battery 60. When the potential measured by the voltage measurement unit 79 is lower than a reference value, the control unit 75 of the alarm device 70′ causes the light-emitting device 76A to emit light via the light-emitting device control unit 76. In addition to or instead of this control, the control unit 75 causes the sound generation device control unit 77 to generate a sound such as an alarm sound from the sound generation device 77A. Note that, depending on the conditions, it is also conceivable that the main body unit 71 of the second embodiment is not provided, and the battery device 74, control units 75, 76, 77, light-emitting device 76A, sound generation device 77A, voltage measurement unit 79, etc. are provided in the base 10 or other parts of the robot arm 20.

[0045] In each of the above embodiments, the protrusion (mounting portion) 72 of the alarm device 70, 70' is attached to the arm-side connector 50 from which the robot control device 30 has been removed. This configuration can provide the effects of preventing the arm-side connector 50 from being soiled or dripped by covering the pin 53 of the arm-side connector 50 with the alarm device 70, 70'. This configuration can also provide the effects of preventing the alarm device 70, 70' from being forgotten to be attached when the robot control device 30 has been removed, and of forming a habit of attaching the alarm device 70, 70'.

[0046] In the first and second embodiments, it is also possible to provide an engagement mechanism that prevents the main body 71 from coming off from the arm-side case 51. For example, as shown in Figures 2 and 3, the main body 71 is provided with a first engagement portion 71A that protrudes in the width direction thereof, and the arm-side case 51 is provided with a second engagement portion 51A that is a hole or the like with which the first engagement portion 71A engages. The engagement portions 71A, 51A restrict movement of the protrusion 72 in the direction of coming off from the hollow portion 52 (the direction of removal).

[0047] In each of the above embodiments, the alarm device 70, 70′ may be provided with a display device (alarm unit) such as a liquid crystal monitor, or may be provided with a vibration generator (alarm unit) using a motor or the like with an eccentric weight attached to its rotation axis. In these cases, when the potential or the information falls below a reference value, the control unit 75 controls at least one of the light-emitting device 76A, the sound generating device 77A, the display device, and the vibration generating device.

[0048] In the case of controlling a display device, the control unit 75 causes the display device to display a predetermined display. In the case of controlling a vibration generator, the control unit 75 causes the vibration generator to vibrate. The sound generated by the vibration is also effective as a voltage drop alert to the user. If the alert device 70, 70' is configured to be attachable to the robot arm 20, the vibration also generates a sound from the robot arm 20, etc., which is useful as the alert.

[0049] In each of the above embodiments, as shown in Figures 4, 8, etc., a robot-side mounting part 80 may be provided on the alarm device 70, 70'. The robot-side mounting part 80 has, for example, a hook member, and is attached by being hooked onto a predetermined mounting portion of the robot arm 20. If the robot-side mounting part 80 has a magnet, the robot-side mounting part 80 is attached to a mounting portion such as an iron plate provided on the robot arm 20. This allows the user to position the alarm device 70, 70' so that the alarm is more effective.

[0050] 8, the alarm device 70, 70′ may be provided with a flexible cable 83 that connects a first portion 81 having the protrusion 72 and a second portion 82 having the light-emitting device 76A and / or the sound-generating device 77A. In this case, the degree of freedom in positioning the light-emitting device 76A and / or the sound-generating device 77A is increased, and this configuration can contribute to making the alarm function more effectively.

[0051] In each of the above embodiments, as shown in FIG. 8 , the alarm device 70, 70′ may be provided with a known transceiver 84 having an antenna or the like. In this case, the control unit 75 uses the transceiver 84 to send a signal to a predetermined computer 110 to notify the low voltage. In one example, the computer 110 notifies the low voltage using its display device, speaker, or the like. The computer 110 is a tablet computer, PLC, or the like on which an application for the alarm device 70, 70′ is installed. In this case, the computer 110 functions as the alarm unit. This configuration leads to the effect that the user, the manager, or the like can be notified of the status of the battery 60 of the robot 1 in a timely manner.

[0052] As shown in FIG. 8 , the notification devices 70, 70′ may be provided with a known self-locating device 85 having a GPS or the like. In this case, when the control unit 75 uses the transceiver unit 84 to send a signal to a predetermined computer 110 to notify the user of a low battery capacity, the control unit 75 also sends position information of the notification devices 70, 70′ based on the measurement results of the self-locating device 85. In one example, the computer 110 notifies the user of the low battery capacity and the location information using a display device, a speaker, or the like. When robot arms 20 are placed over a wide area or when multiple robot arms 20 are placed in the same location, the user can easily find the robot arm 20 for which a notification is being issued, and this effect is useful in the technical field.

[0053] In each of the above embodiments, the control unit 75 may also be configured to receive a predetermined request signal from the computer 110 via the transceiver 84. In this case, when the control unit 75 receives the request signal, the control unit 75 causes at least one of the light-emitting device 76A, the sound generating device 77A, the display device, and the vibration generating device to issue the low battery capacity notification ( FIG. 8 ). The predetermined request signal may be transmitted from a predetermined signal transmitter. In this case, for example, in a location where multiple robot arms 20 are stored, a user may transmit the predetermined request signal using the computer 110 or the signal transmitter. As a result, among the multiple control units 75 that received the request signal, the control unit 75 that needs to issue the notification issues the low battery capacity notification. This configuration reduces unnecessary notifications when the user is not present, leading to the effect that the user can easily find the target robot arm 20.

[0054] In each of the above embodiments, a wiring section and a relay wall may be provided on the base 10 of the robot arm 20. For example, relay walls are provided as described in Japanese Patent Application Laid-Open No. 2019-188497, Japanese Patent Application Laid-Open No. 2020-146764, etc. In this case, the base ends of the conductors of the cable CA on the robot arm 20 side, such as the power lines and signal lines, are disposed within the wiring section, and one or more connectors are fixed to the relay wall disposed on the back surface of the base 10. Each connector is exposed on both the inside and outside of the base 10, and multiple conductors of the cable CA are connected to the inside of each of the multiple connectors. Furthermore, multiple conductors of the control device-side cable 37 are connected to the outside of each of the multiple connectors.

[0055] In such a case, the protrusion 72 of the main body 71 in each of the above embodiments is configured to be attachable to the connector fixed to the relay wall. The same effect as described above can be achieved if the first to third pins are arranged on the connector. Also, there may be cases where the arm-side connector 50 is fixed to the relay wall.

[0056] In each of the above embodiments, the main body 71 is removably attached to the robot arm 20 that is not connected to the robot control device 30, and the control unit 75 provided in the main body 71 acquires status information of the battery 60 of the robot arm 20. Then, when the status information falls below the standard, the control unit 75 issues a warning using the warning unit. In this way, simply by attaching the main body 71 to the robot arm 20 in the above state, an effect is obtained in which the user, the administrator, etc. can easily and reliably monitor the battery 60.

[0057] An example of the notification unit is a light-emitting device 76A provided on the main body 71. In many cases, a user, the manager, or the like can easily find the main body 71, which is the light-emitting location. This configuration effectively notifies the robot 1 that requires, for example, a battery 60 replacement, without requiring a complex or expensive structure. The light-emitting device 76A may be attached to the main body 71 so that, when the main body 71 is attached to the connector of the relay wall, light from the optical axis of the light-emitting device 76A or light near the optical axis strikes one of the arm members 21 to 26 of the robot arm 20. This configuration can effectively make it easier for a user, the manager, or the like to find the target robot 1 in a situation where multiple robot arms 20 are stored.

[0058] An example of the notification unit is the sound generating device 77A provided on the main body 71. Therefore, the user, the manager, or the like can relatively easily reach the target robot 1 by relying on the sound. This configuration has the effect of effectively notifying the robot 1 that the battery 60 needs to be replaced, without requiring a complex or expensive structure.

[0059] An example of the notification unit is a display device provided on the main body 71. Therefore, the user, the manager, or the like can reliably know the status of the battery 60 by looking at the display device. This configuration has the effect of effectively notifying the robot 1 that the battery 60 needs to be replaced, without requiring a complex or expensive structure.

[0060] An example of the notification unit is a vibration generator provided on the main body 71. Therefore, the user, the manager, or the like can reach the target robot 1 relatively easily by relying on the sound generated by the vibration. If the vibration generator is attached so as to come into contact with the robot arm 20, the sound may become louder. This configuration has the effect of effectively notifying the robot 1 that the battery 60 needs to be replaced, for example, without requiring a complex or expensive structure.

[0061] Two or more of the various notification units described above may be provided on the main body 71. This configuration has the effect of making it easier for the user, the administrator, or the like to find the target robot 1.

[0062] In the above embodiment, the alarm device 70' is configured such that the robot arm 20, which is not connected to the robot control device 30, has a potential signal line (current path) 62A as shown in FIG. 6, one end of the potential signal line 62A connected to the output unit 62 of the battery 60. The control unit 75 obtains status information of the battery 60 according to the voltage or current at the other end of the potential signal line 62A measured by a voltage measurement unit (measurement unit) 79 or a current measurement unit (measurement unit). When the status information falls below the reference value, the control unit 75 issues an alarm using the alarm unit. This configuration can achieve the effect of easily and reliably monitoring the battery 60, regardless of the communication specifications of the voltage detection unit (status detection unit) 61.

[0063] In the above embodiment, the notification unit, such as the light-emitting device 76A, sound generating device 77A, display device, or vibration generator, and the control unit 75 may be disposed outside the main body 71. For example, the light-emitting device 76A may be configured to be attached to the robot arm 20 separately from the main body 71, and the light-emitting device 76A may communicate with the light-emitting device control unit 76 via wired or wireless communication. The notification unit may be attached or disposed in various locations. An existing light-emitting device, sound generating device, display device, vibration generating device, etc. may be used as the notification unit. A computer outside the main body 71, such as a server computer or tablet computer, may function as a control unit that performs some or all of the functions of the control unit 75. In this case, for example, the computer executes some or all of the functions based on information transmitted from a transceiver having an antenna or the like of the main body 71, and the results are received by the transceiver of the main body 71.

[0064] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the present disclosure or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, partial omissions or additions of components depending on conditions are possible without being bound by the above examples. The same applies when numerical values ​​or mathematical formulas are used to explain the above embodiments.

[0065] [Supplementary Note 1] An alarm device that notifies the battery status of a robot arm that is not connected to a robot control device, comprising: a main body unit detachably connected to the robot arm; a control unit that acquires status information of the battery; and an alarm unit, wherein the control unit issues an alert using the alarm unit when the acquired status information falls below a predetermined standard. [Supplementary Note 2] The alarm device according to Supplementary Note 1, wherein the alert unit is a light-emitting device, and the control unit sets the light-emitting device to an emitting state as the alert. [Supplementary Note 3] The alarm device according to Supplementary Note 1, wherein the alert unit is a sound-generating device, and the control unit generates a sound from the sound-generating device as the alert. [Supplementary Note 4] The alarm device according to Supplementary Note 1, wherein the alert unit is a display device, and the control unit issues the alert using the display device. [Supplementary Note 5] The alarm device according to Supplementary Note 1, wherein the alert unit is a vibration-generating device, and the control unit issues the alert using the vibration-generating device. [Supplementary Note 6] The notification device according to Supplementary Note 1, wherein the notification unit has two or more devices selected from a light-emitting device, a sound generating device, a display device, and a vibration generating device, and the control unit performs the notification using the two or more devices. [Supplementary Note 7] The notification device according to any of Supplements 1 to 6, further comprising a battery device, wherein the control unit acquires the status information from a status detection unit provided on the robot arm and detecting the status of the battery by communicating with the status detection unit, and the control unit is configured to supply power from the battery device to the status detection unit during the communication. [Supplementary Note 8] The notification device according to any of Supplements 1 to 6, further comprising an attachment unit for detachably attaching the main body unit to an end of a cable of the robot arm. [Supplementary Note 9] The notification device according to any of Supplements 1 to 6, further comprising a battery device for supplying power to the control unit. [Supplementary Note 10] The alarm device according to any one of Supplementary Notes 1 to 6, wherein the main body comprises a first part detachably connected to the robot arm and a second part connected to the first part via a flexible cable, and the alarm unit is provided on the second part.[Supplementary Note 11] The notification device according to any one of Supplements 1 to 6, wherein the main body has a robot-side mounting portion, and the main body can be attached to a mounting portion of the robot arm using the robot-side mounting portion. [Supplementary Note 12] The notification device according to Supplementary Note 1, wherein the control unit is configured to send, as the notification, a signal to cause a predetermined computer to issue a battery capacity reduction notification. [Supplementary Note 13] The notification device according to Supplementary Note 12, which includes a self-locating device, and wherein the control unit also transmits position information based on the measurement results of the self-locating device when transmitting the signal to the predetermined computer. [Supplementary Note 14] The notification device according to any one of Supplements 1 to 6, wherein the control unit issues a notification using the notification unit when a request signal is received from a predetermined computer or a predetermined signal transmitter while the acquired status information is below the predetermined standard. [Supplementary Note 15] An alarm device that notifies the state of a battery of a robot arm that is not connected to a robot control device, the alarm device comprising: a current path provided on the robot arm, one end of which is connected to an output unit of the battery; a control unit that acquires state information of the battery based on a measurement result of a measurement unit that measures a voltage or current on the other end of the current path; and an alarm unit, wherein the control unit issues an alarm using the alarm unit when the acquired state information falls below a predetermined standard.

[0066] 20: Robot arm 21 to 26: Arm member 27: Motor 27A: Operating position detection device 27C: Memory 30: Robot control device 37: Control device side cable 50: Arm side connector 51: Arm side case 51A: Second engagement portion 52: Hollow portion 53: Pin 60: Battery 61: Voltage detection portion (state detection portion) 62: Output portion 62A: Potential signal line (current path) 64: Potential measurement portion 65: Electronic switch 66: Detection control portion 70, 70': Notification device 71: Main body portion 71A: First engagement portion 72: Protrusion portion (mounting portion) 73A to 73C: Connected portion 74: Battery device 75: Control portion 76A: Light-emitting device 77A: Sound generation device 78 : Electronic switch 79 : Voltage measurement unit (measurement unit) 80 : Robot side mounting unit 81 : First part 82 : Second part 83 : Flexible cable 84 : Transmitter / receiver 85 : Self-position measuring device 110 : Computer CA : Cable

Claims

1. An alarm device that notifies the battery status of a robot arm that is not connected to a robot control device, comprising: a main body unit that is detachably connected to the robot arm; a control unit that acquires status information of the battery; and an alarm unit, wherein the control unit issues an alarm using the alarm unit when the acquired status information falls below a predetermined standard.

2. The notification device according to claim 1, wherein the notification unit is a light-emitting device, and the control unit causes the light-emitting device to emit light as the notification.

3. The alarm device according to claim 1, wherein the alarm unit is a sound generating device, and the control unit causes the sound generating device to generate a sound as the alarm.

4. The notification device according to claim 1, wherein the notification unit is a display device, and the control unit performs the notification using the display device.

5. The alarm device according to claim 1, wherein the alarm unit is a vibration generating device, and the control unit performs the alarm using the vibration generating device.

6. The alarm device according to claim 1, wherein the alarm unit has two or more devices selected from a light-emitting device, a sound-generating device, a display device, and a vibration-generating device, and the control unit performs the alarm using the two or more devices.

7. An alarm device as described in any one of claims 1 to 6, comprising a battery device, wherein the control unit acquires the status information from a status detection unit provided on the robot arm and detecting the status of the battery by communicating with the status detection unit, and the control unit is configured to supply power to the status detection unit from the battery device during the communication.

8. An alarm device according to any one of claims 1 to 6, further comprising a mounting portion for removably mounting said main body portion to the end of a cable of said robot arm.

9. The alarm device according to any one of claims 1 to 6, further comprising a battery device for supplying power to the control unit.

10. An alarm device as described in any one of claims 1 to 6, wherein the main body comprises a first part detachably connected to the robot arm and a second part connected to the first part via a flexible cable, and the alarm unit is provided on the second part.

11. An alarm device as claimed in any one of claims 1 to 6, wherein the main body has a robot-side mounting portion, and the main body can be attached to a mounting portion of the robot arm using the robot-side mounting portion.

12. The notification device according to claim 1, wherein the control unit is configured to transmit, as the notification, a signal for causing a predetermined computer to perform a battery capacity reduction notification.

13. The notification device according to claim 12, further comprising a self-location measuring device, wherein the control unit also transmits location information based on the measurement results of the self-location measuring device when transmitting the signal to the specified computer.

14. An alarm device as claimed in any one of claims 1 to 6, wherein the control unit issues an alarm using the alarm unit when the acquired status information is below the predetermined standard and a request signal is received from a predetermined computer or a predetermined signal transmitter.

15. An alarm device that notifies the battery status of a robot arm that is not connected to a robot control device, comprising: a current path provided on the robot arm, one end of which is connected to the output unit of the battery; a control unit that acquires status information of the battery based on the measurement results of a measurement unit that measures the voltage or current on the other end of the current path; and an alarm unit, wherein the control unit issues an alarm using the alarm unit when the acquired status information falls below a predetermined standard.

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