Robot system

Abstract

A robot system (S) comprises: an articulated robot (1) having a robot arm (10); a controller (100) that is connected to the articulated robot and outputs an electric signal corresponding to the state of the articulated robot; a long sheet-like display unit (6) that, on the basis of the electric signal outputted from the controller, performs display corresponding to the electric signal; a bracket (7) having a holding part (8) that holds the display unit in a prescribed posture (Ps); and a fixing part (9) that fixes the bracket to the outer surface of the robot arm independently of the holding of the display unit by the holding part.

Description

Robot system

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[0001] The present disclosure relates to a robot system.

[0002] Patent Document 1 discloses an example of a robot system. The robot system disclosed in Patent Document 1 includes a robot and a display device. The robot operates in a plurality of operation modes. The display device operates in different modes according to the operation mode of the robot.

[0003] The display device disclosed in Patent Document 1 has a base portion, a display portion, and a fixture. The base portion has flexibility that can be deformed along the outer surface of the robot. The display portion is fixed to the base portion. The fixture maintains the base portion in a mounted state on the outer surface of the robot.

[0004] Japanese Patent Application Laid-Open No. 2019-171528

[0005] In the case of the robot system disclosed in Patent Document 1, the base portion together with the display portion is attached to the outer surface of the robot. However, the base portion has flexibility. The bending deformation of the base portion is inconvenient for positioning the display portion on the outer surface of the robot.

[0006] The first aspect of the present disclosure relates to a robot system. The robot system includes a robot having an articulated arm, a controller connected to the robot for outputting an electrical signal corresponding to the state of the robot, a long and sheet-like display portion that performs a display corresponding to the electrical signal based on the electrical signal output from the controller, a bracket having a holding portion for holding the display portion in a predetermined posture, and a fixing portion for fixing the bracket to the outer surface of the arm independently of the holding of the display portion by the holding portion.

[0007] According to the articulated robot, the sheet-like display portion can be positioned on the outer surface of the robot while suppressing bending deformation.

[0008] Figure 1 is a rear view of the robot system. Figure 2 is a side view of the robot system. Figure 3 is a rear view showing an enlarged view of the second link of the articulated robot. Figure 4 is a perspective view of the display unit from the +Y side. Figure 5 is a perspective view of the display unit from the -Y side. Figure 6 is a top view of the display unit. Figure 7 is a front view of the display section. Figure 8 is an exploded perspective view of the display unit. Figure 9 is a cross-sectional view taken along line IX-IX in Figure 6. Figure 10 is a diagram corresponding to Figure 9 showing a first modified example of the display unit. Figure 11 is a diagram corresponding to Figure 6 showing a second modified example of the display unit.

[0009] The following describes embodiments of the robot system. The following embodiments are illustrative.

[0010] (Overall Configuration) Figure 1 is a rear view of the robot system S. Figure 2 is a side view of the robot system S. The robot system S is used, for example, in the logistics field. Specifically, the robot system S exemplified in Figure 1 can be used for loading and unloading goods. However, the applications of the robot system S are not limited to the logistics field.

[0011] As shown in Figure 1, the robot system S comprises an articulated robot 1, a display unit 5, and a controller 100. The articulated robot 1 is a vertical articulated robot. The articulated robot 1 is equipped with a serial link structure manipulator. The articulated robot 1 is a 7-axis robot with joints JT1-JT7. The display unit 5 is fixed to the articulated robot 1. The controller 100 is connected to the articulated robot 1 and the controller 100.

[0012] The articulated robot 1 is positioned on a mounting surface F. In other words, the mounting surface F supports the articulated robot 1 from below. The mounting surface F may be the floor of a loading / unloading area for goods, a factory, etc. The mounting surface F may be the floor of a truck bed, or the top surface of an automated guided vehicle.

[0013] In the following description, "vertical direction" refers to the height direction of the articulated robot 1. The vertical direction corresponds to the vertical direction on the plane of Figure 1. Similarly, in the following description, "horizontal direction" refers to the direction perpendicular to the vertical direction. The horizontal direction corresponds to the left-right direction on the plane of Figure 1.

[0014] (Articulated Robot 1) As shown in Figure 1, the articulated robot 1 has a robot arm 10, a horizontal link 11, and a first base 12. The robot arm 10 is an articulated arm. The horizontal link 11 supports the robot arm 10 from below. The first base 12 supports the horizontal link 11 from below. Note that the horizontal link 11 and the first base 12 are not essential elements of the articulated robot 1.

[0015] The robot arm 10 includes a second base 13. The second base 13 is the base end of the robot arm 10. The second base 13 has a base body 13a and a support portion 13b. The base body 13a has a flat upper surface. The support portion 13b is fixed to the upper surface of the base body 13a. Note that the second base 13 is not an essential element of the robot arm 10.

[0016] The robot arm 10 includes a robot hand 14 as an end effector. The robot hand 14 is the tip of the robot arm 10. The robot hand 14 grasps an object. Note that the end effector of the robot arm 10 is not limited to the robot hand 14.

[0017] The robot arm 10 is a seven-axis, vertically articulated robot arm. Specifically, the robot arm 10 comprises joints JT1-JT7 and links 31-34. Joints JT1-JT7 are connected in series to each other from the base end to the tip end. Links 31-34 are arms connected to joints JT1-JT7.

[0018] Joint JT1 connects the horizontal link 11 and the second base 13. Joint JT1 rotates the second base 13 around the first axis Ax1. The rotation of the second base 13 causes the entire robot arm 10 to rotate around the first axis Ax1. The first axis Ax1 is an axis perpendicular to the mounting surface F. Note that the first axis Ax1 is not essential.

[0019] Joint JT2 is a joint that connects the second base 13 and the first link 31. The first link 31 is an arm that connects joint JT2 and joint JT3, which will be described later. The first link 31 rotates relative to the second base 13 around the second axis Ax2. The second axis Ax2 is a horizontal axis and is parallel to the mounting surface F. The second axis Ax2 is perpendicular to the first axis Ax1.

[0020] Joint JT3 is a joint that connects the first link 31 and the second link 32. The second link 32 is an arm that connects joint JT3 to joint JT4, which will be described later. The second link 32 rotates relative to the first link 31 around the third axis Ax3. The third axis Ax3 is an axis parallel to the second axis Ax2.

[0021] Joint JT4 is a joint that connects the second link 32 and the third link 33. The third link 33 is an arm that connects joint JT4 to joint JT5, which will be described later. The third link 33 rotates relative to the second link 32 around the fourth axis Ax4. The fourth axis Ax4 is an axis parallel to the second axis Ax2.

[0022] Joint JT5 is a joint that connects the third link 33 and the fourth link 34. The fourth link 34 is the arm to which the robot hand 14 is connected. The fourth link 34 rotates relative to the third link 33 around the fifth axis Ax5. The fifth axis Ax5 is an axis parallel to the second axis Ax2.

[0023] Joint JT6 is a joint that rotates the third link 33. More specifically, the sixth joint JT6 rotates the third link 33 around the sixth axis Ax6. The sixth axis Ax6 is an axis perpendicular to the second axis Ax2.

[0024] Joint JT7 is a joint that rotates the fourth link 34. More specifically, the seventh joint JT7 rotates the fourth link 34 around the seventh axis Ax7. The seventh axis Ax7 is an axis perpendicular to the second axis Ax2.

[0025] The horizontal link 11 is a link member that connects the first base 12 and the second base 13. The horizontal link 11 extends horizontally. The horizontal link 11 can also be considered as an arm that extends horizontally.

[0026] Furthermore, the horizontal link 11 has a first end 11a and a second end 11b. The first end 11a connects the horizontal link 11 to the first base 12. The first end 11a is the base end of the horizontal link 11. The second end 11b supports the second base 13. The second end 11b is the tip of the horizontal link 11. The first end 11a and the second end 11b are separated horizontally. As shown in Figure 1, the first axis Ax1 passes through the second end 11b.

[0027] The horizontal link 11 can pivot relative to the first base 12. In other words, the articulated robot 1 can also be called an 8-axis robot, in which the connection between the horizontal link 11 and the first base 12 is considered an 8th joint JT8, in addition to the joints JT1-JT7.

[0028] Specifically, the joint JT8 pivots the horizontal link 11 relative to the first base 12 around the eighth axis Ax8. The eighth axis Ax8 is an axis that extends in the vertical direction. For example, the eighth axis Ax8 is perpendicular to the mounting surface F. Also, the eighth axis Ax8 is horizontally offset from the first axis Ax1. More specifically, in the horizontal direction, the eighth axis Ax8 is closer to the first end 11a of the horizontal link 11 compared to the first axis Ax1. More specifically, the first axis Ax1 passes through the first end 11a.

[0029] The articulated robot 1 is equipped with actuators. The actuators are power sources that move the joints. The actuators are, for example, electric motors. The electric motors are, for example, servo motors. The electric motors may also be stepper motors.

[0030] Figure 1 or Figure 2 shows actuators 41, 42, 43, 44, 45, and 46, which are among the actuators provided by the articulated robot 1.

[0031] Actuator 41 is connected to joint JT1. Actuator 41 moves joint JT1. Actuator 42 is connected to joint JT2. Actuator 42 moves joint JT2. Actuator 43 is connected to joint JT3. Actuator 43 moves joint JT3. Note that actuator 41 is not an essential element of the articulated robot 1.

[0032] Actuator 44 is connected to joint JT4. Actuator 44 moves joint JT4. Actuator 45 is connected to joint JT6. Actuator 46 moves joint JT5. Actuator 46 is connected to joint JT8. Actuator 46 moves joint JT8. Note that actuators 44, 45, and 46 are not essential elements of the articulated robot 1.

[0033] The actuator is electrically connected to the controller 100 via the harness 15 (see Figure 1). The actuator receives control signals from the controller 100 via the harness 15.

[0034] In detail, harness 15 is a wire harness that electrically connects controller 100 and actuators 41-46. Harness 15 includes multiple cables. One or more of these cables branch off from harness 15 and are connected to one actuator. Harness 15 supplies power for driving actuators 41-46 and transmits control signals between controller 100 and actuators 41-46.

[0035] A portion 15a of the harness 15 is positioned to pass through the inside of the second link 32. The electrical cables 64 of the display unit 6 are bundled together in this harness 15.

[0036] (Controller 100) The controller 100 is electrically connected to the articulated robot 1 and the display unit 5. Specifically, the controller 100 is a computer that includes at least a processor, memory, and an interface.

[0037] In detail, the controller 100 inputs control signals to the articulated robot 1. The articulated robot 1 operates actuators according to the control signals. The articulated robot 1 performs tasks through the operation of the actuators.

[0038] More specifically, the controller 100 switches the state of the articulated robot 1 via a control signal. The state of the articulated robot 1 includes a first state and a second state.

[0039] The first state indicates that the actuators of the articulated robot 1 are energized. The first state is used when operating the articulated robot 1. If a servo motor is used for the actuator, the first state may be rephrased as the servo-on state. The second state indicates that the actuators of the articulated robot 1 are not energized. The second state is used when stopping or pausing the articulated robot 1. If a servo motor is used for the actuator, the second state may be rephrased as the servo-off state.

[0040] Furthermore, the state of the articulated robot 1 is not limited to the first and second states. The state of the articulated robot 1 may also include states related to the high or low operating speed of the articulated robot 1, and states related to teaching the articulated robot 1.

[0041] The controller 100 outputs an electrical signal corresponding to the state of the articulated robot 1. More specifically, the controller 100 outputs an electrical signal corresponding to the current state of the articulated robot 1. The electrical signal output by the controller 100 is received by the display unit 6 of the display unit 5. The current state includes the first state and the second state described above.

[0042] (Display Unit 5) Hereinafter, the details of the display unit 5 will be described with reference to FIGS. 4 to 8. FIG. 4 is a perspective view of the display unit 5 as seen from the front side. FIG. 5 is a perspective view of the display unit 5 as seen from the rear side. FIG. 6 is a plan view of the display unit 5. FIG. 7 is a front view of the display portion 6. FIG. 8 is an exploded perspective view of the display unit 5. FIG. 9 is a cross-sectional view taken along line IX-IX of FIG. 6.

[0043] As shown in FIG. 3, the display unit 5 is fixed to one of the plurality of links 31 - 34 that constitute the robot arm 10. The display unit 5 is fixed so as to surround the central axis of one link. The central axis is an axis extending along the longitudinal direction of one link.

[0044] Specifically, the display unit 5 is fixed to a link with one or more joints interposed therebetween, starting from the link 34 connected to the end effector among the plurality of links 31 - 34. The display unit 5 is fixed to a link with one or more joints interposed therebetween, starting from the link 31 connected to the second base 13.

[0045] Specifically, the display unit 5 according to the present embodiment is fixed to the second link 32. More specifically, the display unit 5 is fixed so as to surround the central axis Oc of the second link 32. The central axis Oc is an axis extending along the longitudinal direction of the second link 32. A fastening hole for inserting a fixing portion 9 described later is provided in advance on the outer surface of the second link 32.

[0046] Hereinafter, the direction extending along the central axis Oc is defined as the Z direction, and the directions perpendicular to the central axis Oc are defined as the X direction and the Y direction. In the present embodiment, the Y direction is equal to the arrangement direction of the first bracket piece 7F and the second bracket piece 7B described later. The X direction is a direction orthogonal to the Z direction and the Y direction.

[0047] Hereinafter, one direction along the Z direction is defined as “+Z”, and the direction extending along the Z direction and pointing to the opposite side of “+Z” is defined as “-Z”. Similarly, one direction along the Y direction is defined as “+Y”, and the direction extending along the Y direction and pointing to the opposite side of “+Y” is defined as “-Y”. Similarly, one direction along the X direction is defined as “+X”, and the direction extending along the X direction and pointing to the opposite side of “+X” is defined as “-X”.

[0048] As shown in FIG. 6, the display unit 5 has a curved shape or a linear shape. Specifically, when viewed in a plan view along the central axis Oc, the display unit 5 forms a closed curve Lc as a curved shape. More specifically, the closed curve Lc has an O shape that surrounds the central axis Oc and extends along the XY plane.

[0049] Note that it is not essential for the display unit 5 to form the closed curve Lc. For example, like the display unit 205 according to the second modification example described later, the display unit may form a closed straight line Ls as a linear shape.

[0050] Specifically, as shown in FIG. 4, the display unit 5 includes a display portion 6, a bracket 7 having a holding portion 8, and a fixing portion 9. The display portion 6 is held by the bracket 7 by the holding portion 8. The bracket 7 is fixed to the robot arm 10 by the fixing portion 9. The bracket 7 forms the closed curve Lc as a curved shape.

[0051] The bracket 7 according to the present embodiment is divided into a plurality of bracket pieces. As an example, the plurality of bracket pieces are constituted by a first bracket piece 7F and a second bracket piece 7B.

[0052] Each of the plurality of bracket pieces holds the display portion 6. In the present embodiment, the display portion 6 has a first display portion 6F held by the holding portion 8 of the first bracket piece 7F and a second display portion 6B held by the holding portion 8 of the second bracket piece 7B.

[0053] It is not essential that the bracket 7 is divided into a first bracket piece 7F and a second bracket piece 7B. The bracket 7 may be made up of a single, undivided member, or it may be divided into three or more bracket pieces.

[0054] -Display Unit 6- The first display unit 6F, which is the display unit 6, will be described below. The following description applies to both the first display unit 6F and the second display unit 6B.

[0055] The display unit 6 is long and sheet-like. The display unit 6 is flexible. The display unit 6 is electrically connected to the controller 100. The display unit 6 displays information corresponding to the electrical signals output from the controller 100. As an example, the display unit 6 displays information corresponding to the current state of the articulated robot 1 via the electrical signals output from the controller 100.

[0056] Specifically, the display unit 6 is composed of a tape-shaped member that holds a plurality of light sources 65. The plurality of light sources 65 are, for example, composed of a plurality of LED light sources. In the display unit 6, one of the front and back surfaces constitutes an adhesive surface with adhesive force.

[0057] As shown in Figure 7, the display unit 6 has a rectangular shape when viewed from the front. Both ends of the display unit 6 in the longitudinal direction L1 include a start end 61 and a end end 62. The end end 62 is located on the opposite side of the longitudinal direction from the start end 61. Note that the distinction between the start end 61 and the end end 62 is merely a classification for convenience. The start end 61 may be called the end end and the end end 62 may be called the start end.

[0058] The display unit 6 has a display surface 63. The display surface 63 is located between the start end 61 and the end end 62 in the longitudinal direction L1 of the display unit 6. The display surface 63 connects the start end 61 and the end end 62. Multiple light sources 65 are located on the display surface 63. The multiple light sources 65 are arranged in the longitudinal direction of the display unit 6 and the display surface 63.

[0059] As shown in Figure 7, in the display unit 6, the dimension D11 of the start end 61 and end end 62 in the short direction L2 is larger than the dimension D12 of the display surface 63 in the short direction L2.

[0060] An electrical cable 64 is connected to the starting end 61. The electrical cable 64 inputs electrical signals output from the controller 100 to the display surface 63 of the display unit 6. The display surface 63 displays information based on the electrical signals from the controller 100. For example, the display surface 63 displays information by illuminating multiple light sources 65. To illustrate further, the display surface 63 displays information corresponding to the current state of the articulated robot 1 by illuminating multiple light sources 65. The electrical cable 64 may also be connected to the termination 62.

[0061] -Bracket 7 and holding part 8- The bracket 7 has a curved shape or a straight shape. As described above, the bracket 7 according to this embodiment has a curved shape, forming a closed curve Lc that surrounds the central axis Oc and has an O shape. The bracket 7 may be a metal casting such as die casting, or a resin molded product. The bracket 7 has rigidity.

[0062] The bracket 7 has a holding part 8 that holds the display unit 6. The holding part 8 holds the display unit 6 in a predetermined position Ps. The predetermined position Ps is a U-shape or C-shape, as shown in Figure 6, in which the display surface 63 is curved with the starting end 61 and ending end 62 of the display unit 6 as the two ends. The predetermined position Ps can be rephrased as an arch shape in which the starting end 61 and ending end 62 are connected by the display surface 63.

[0063] Bracket 7 is divided into a first bracket piece 7F and a second bracket piece 7B that divide the closed curve Lc, which is either curved or straight. The closed curve Lc is divided into two by the first bracket piece 7F and the second bracket piece 7B.

[0064] In detail, the first bracket piece 7F and the second bracket piece 7B are positioned such that, when the closed curve Lc is viewed from above, they are symmetrical with respect to the line of symmetry Sy that passes through the center of the closed curve Lc, i.e., the central axis Oc. However, it is not essential that the first bracket piece 7F and the second bracket piece 7B are positioned symmetrically with respect to each other.

[0065] More specifically, both longitudinal ends of the first bracket piece 7F are composed of a first starting end 71F and a first ending end 72F. The first ending end 72F is located on the opposite side from the first starting end 71F. The first bracket piece 7F has, for example, an arch shape that spans the first starting end 71F and the first ending end 72F.

[0066] Furthermore, the distinction between the first start end 71F and the first end end 72F is merely a classification for convenience. The first start end 71F may be referred to as the first end, and the first end end 72F may be referred to as the first start end.

[0067] Furthermore, both longitudinal ends of the second bracket piece 7B are composed of a second starting end 71B and a second ending end 72B. The second starting end 71B faces the first starting end 71F. The second ending end 72B is located on the opposite side of the second starting end 71B and faces the first ending end 72F. The second bracket piece 7B has, for example, an arch shape that spans the second starting end 71B and the second ending end 72B.

[0068] Note that the distinction between the second start end 71B and the second end end 72B is merely a classification for convenience. The second start end 71B may be referred to as the second end, and the second end end 72B may be referred to as the second start end.

[0069] The bracket 7 is configured such that when the ends of the first bracket piece 7F and the ends of the second bracket piece 7B are placed facing each other, they form a closed curve Lc as a curved shape.

[0070] As shown in Figure 6, the first bracket piece 7F and the second bracket piece 7B each have a holding portion 8. As shown in Figure 4, the holding portion 8 of the first bracket piece 7F holds the display unit 6 in a predetermined U-shape or C-shape Ps with the display unit protruding towards the +Y side. As shown in Figure 5, the holding portion 8 of the second bracket piece 7B holds the display unit 6 in a predetermined U-shape or C-shape Ps with the display unit protruding towards the -Y side.

[0071] The details of the first bracket piece 7F will be explained below with reference to Figure 8. The following explanation is the same as that of the second bracket piece 7B, except that it is symmetric with respect to the line of symmetry Sy.

[0072] The following explanation shows that the word in the first bracket piece 7F can be replaced with the word in the second bracket piece 7B, the word in the first start end 71F can be replaced with the word in the second start end 71B, the word in the first end end 72F can be replaced with the word in the second end end 72B, and "+Y" can be replaced with "-Y".

[0073] The first starting end 71F of the first bracket piece 7F demarcates the accommodating space 71S of the starting end 61 of the display unit 6. The first starting end 71F has a plurality of fastening openings 71a into which the starting end fixing device 91 is inserted, and an insertion opening 71b through which the electrical cable 64 is fed out. The plurality of fastening openings 71a are composed of two fastening openings 71a aligned in the Z direction. The insertion opening 71b opens toward the +X side, as shown in Figure 5. The insertion opening 71b is also located at the second starting end 71B. Note that it is not essential that the insertion opening 71b is located at both the first starting end 71F and the second starting end 71B.

[0074] The insertion opening 71b allows the electrical cable 64 to be fed out from the inner circumference side of the bracket 7. The electrical cable 64 fed out from the insertion opening 71b is bundled with the harness 15 as shown in Figure 3. The electrical cable 64 bundled with the harness 15 will be connected to the controller 100.

[0075] The first end 72F of the first bracket piece 7F demarcates the housing space 72S for the end 62 of the display unit 6. The first end 72F has a plurality of fastening openings 72a into which the end fixing device 92 is inserted. The plurality of fastening openings 72a are composed of two fastening openings 72a aligned in the Z direction.

[0076] The first bracket piece 7F has, in addition to the first starting end 71F and the first ending end 72F described above, an arch portion 73 that spans the first starting end 71F and the first ending end 72F. As shown in Figure 6, the arch portion 73 has a U-shape or C-shape that protrudes to the +Y side along the XY plane.

[0077] The aforementioned retaining portion 8 in the first bracket piece 7F is composed of an arch portion 73. Specifically, the retaining portion 8 according to this embodiment has a recess 81 and positioning portions 821 and 822. However, it is not essential that the retaining portion 8 has a recess 81 and positioning portions 821 and 822.

[0078] The recess 81 is located on either the front surface 7a or the back surface 7b of the bracket 7. The central part of the display unit 6 in the longitudinal direction L1 fits into the recess 81. The display unit 6 is positioned by fitting into the recess 81. The front surface 7a of the bracket 7 faces the opposite side of the outer surface of the robot arm 10, as shown in Figure 9. The back surface 7b of the bracket 7 faces the outer surface of the robot arm 10, as shown in Figure 9.

[0079] More specifically, as shown in Figure 9, the recess 81 according to this embodiment is located on the surface of the first bracket piece 7F. The opening of the recess 81 is oriented towards the +Y side. The display surface 63 of the first display unit 6F fits into the recess 81. The recess 81 partitions a U-shaped or C-shaped internal space that protrudes towards the +Y side. The internal space partitioned by the recess 81 communicates with the housing space 71S of the first starting end 71F and the housing space 72S of the first ending end 72F.

[0080] More specifically, the depth of the recess 81 is greater than the thickness of the display unit 6 in the thickness direction of the display unit 6. The display unit 6, positioned in a predetermined orientation Ps, will be immersed in the arch portion 73. The surface 7a of the arch portion 73 protrudes further to the +Y side than the display unit 6. Note that it is not essential to make the recess 81 deeper than the display unit 6.

[0081] The positioning units 821 and 822 position both ends of the display unit 6 in the longitudinal direction. The display unit 6 is further positioned by the positioning units 821 and 822.

[0082] More specifically, the positioning sections 821 and 822 according to this embodiment consist of a first positioning section 821 located between the recess 81 and the first starting end 71F, and a second positioning section 822 located between the recess 81 and the first ending end 72F.

[0083] The first positioning section 821 is composed of an opening that connects the housing space 71S within the first starting end 71F with the internal space of the recess 81. The dimension D13 in the Z direction of the opening constituting the first positioning section 821 is smaller than the dimension D11 of the starting end 61 and the ending end 62 of the display section 6 in the short-side direction L2 of the display section 6, and is also smaller than the dimension D12 of the display surface 63. The first positioning section 821 functions as a retainer for the starting end 61 of the display section 6.

[0084] The second positioning section 822 is composed of an opening that connects the housing space 72S within the first end 72F with the internal space of the recess 81. The dimension D14 in the Z direction of the opening constituting the second positioning section 822 is smaller than the dimension D11 of the start end 61 and end end 62 of the display section 6 in the short-side direction L2 of the display section 6, and is also smaller than the dimension D12 of the display surface 63. The second positioning section 822 functions as a retainer for the end end 62 of the display section 6.

[0085] - Fixing part 9 - The fixing part 9 fixes the bracket 7 to the outer surface of the robot arm 10 independently of the holding part 8 which holds the display unit 6. The bracket 7 is fixed to the outer surface of the robot arm 10 while the display unit 6 is held in a predetermined position Ps.

[0086] The fixing portion 9 is inserted into the bracket 7 without being inserted into the display portion 6. As shown in Figure 6, the fixing portion 9 is positioned so as not to overlap with the display portion 6 in a plan view along the central axis Oc. The fixing portion 9 is composed of, for example, a bolt-shaped fastener.

[0087] More specifically, the fixing part 9 individually fixes the first bracket piece 7F and the second bracket piece 7B to the outer surface of the robot arm 10. The first bracket piece 7F, which holds the first display unit 6F, and the second bracket piece 7B, which holds the second display unit 6B, are individually fixed to the outer surface of the second link 32.

[0088] More specifically, as shown in Figure 6, the fixing part 9 includes a start fixing device 91 and a end fixing device 92. The start fixing device 91 fastens the first start end 71F and the second start end 71B to the outer surface of the robot arm 10. The end fixing device 92 fastens the first end 72F and the second end 72B to the outer surface of the robot arm 10.

[0089] The starting end fixing device 91 consists of two fasteners for fastening the first starting end 71F and two fasteners for fastening the second starting end 71B. A total of four fasteners are inserted into fastening holes located on the outer surface of the robot arm 10.

[0090] The terminal fixing device 92 consists of two fasteners for fastening the first terminal 72F and two fasteners for fastening the second terminal 72B. The four fasteners in total are inserted into fastening holes located on the outer surface of the robot arm 10.

[0091] The fixing portion 9 has a fastening plate portion 93 for fixing the first starting end 71F and the second starting end 71B to each other. As shown in Figure 6, the starting end fixing device 91 is inserted through the first starting end 71F and the second starting end 71B via the fastening plate portion 93. The electrical cable 64 is unwound from the starting end fixing device 91 through the insertion opening 71b.

[0092] As shown in Figure 6, the start fixing device 91 and the end fixing device 92 are positioned at different distances from the symmetry line Sy. Specifically, in the plan view of Figure 6, the distance D21 between the start fixing device 91 and the symmetry line Sy is longer than the distance D22 between the end fixing device 92 and the symmetry line Sy.

[0093] It is not essential to make the distance D21 between the starting fixing device 91 and the symmetry line Sy different from the distance D22 between the ending fixing device 92 and the symmetry line Sy.

[0094] (Effects) As illustrated in Figure 4, a holding part 8 that holds the display unit 6 in a predetermined position Ps and a fixing part 9 that fixes the bracket 7 to the robot arm 10 are provided as independent elements. With the display unit 6 already held in place by the holding part 8, the bracket 7 can be fixed together with the display unit 6 to the outer surface of the robot arm 10 by the fixing part 9. The sheet-like display unit 6 can be positioned without bending or deforming, even without marking the outer surface of the robot arm 10. The display unit 6 can be positioned appropriately and stably on the outer surface of the articulated robot 1.

[0095] As illustrated in Figure 6, the fixing part 9 can fix the first bracket piece 7F and the second bracket piece 7B individually without fixing the bracket 7 all at once. This makes positioning the display unit 6 even easier.

[0096] As illustrated in Figure 6, the first bracket piece 7F and the second bracket piece 7B form a closed curve Lc. The two bracket pieces support the display unit 6 so that it faces a wide area around the robot arm 10.

[0097] As illustrated in Figure 6, the distance D21 between the start fixing device 91 and the symmetry line Sy is longer than the distance D22 between the end fixing device 92 and the symmetry line Sy. When fixing the bracket 7, it is possible to fix both ends of the bracket 7 in the longitudinal direction without mixing them up. This is advantageous when routing the electrical cable 64 along the harness 15.

[0098] As illustrated in Figure 8, by using the recess 81 and the positioning parts 821 and 822 in combination, the entire longitudinal area L1 of the display unit 6 can be positioned.

[0099] As illustrated in Figure 9, the display unit 6 can be protected by the recess 81 located in the bracket 7 without providing any recesses or other features on the outer surface of the robot arm 10. This helps to suppress interference between the display unit 6 and other structures.

[0100] (Modified Version) Figure 10 is a diagram corresponding to Figure 9 showing a first modified version of the display unit 5.

[0101] As illustrated in Figure 9, the holding portion 8 in the above embodiment is located on the surface 7a of the bracket 7 and opens toward the opposite side of the robot arm 10. This disclosure is not limited to the example in Figure 9.

[0102] For example, as shown in Figure 10, the display unit 105 according to the first modified example includes a holding portion 108 located on the back surface 7b of the bracket 7. The holding portion 108 according to the first modified example has a recess 181 that opens to face the outer surface of the robot arm 10.

[0103] Figure 11 is a diagram corresponding to Figure 6, showing a second modified example of the display unit 5.

[0104] The bracket 7 according to the above embodiment had a curved shape and formed a closed curve Lc, as illustrated in Figure 6. This disclosure is not limited to the example in Figure 6.

[0105] For example, as shown in Figure 11, the display unit 205 according to the second modified example includes a bracket 207 that includes a linear shape containing multiple straight lines. The bracket 207 according to the second modified example is divided into a first bracket piece 207F having a trapezoidal arch portion 273 and a second bracket piece 207B also having a trapezoidal arch portion 273.

[0106] Furthermore, it is not essential to fix the display unit 5 to the second link 32. The display unit 5 can be fixed to any position on the articulated robot 1.

[0107] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0108] (Embodiment) The above embodiment is a specific example of the following embodiment.

[0109] (Aspect 1) A robot system (S) comprising: a robot (1) having a multi-jointed arm (10); a controller (100) connected to the robot (1) and outputting an electrical signal corresponding to the state of the robot (1); a long, sheet-like display unit (6) that displays a corresponding electrical signal based on the electrical signal output from the controller (100); a bracket (7, 207) having holding parts (8, 108) for holding the display unit (6) in a predetermined position; and a fixing part (9) that fixes the bracket (7, 207) to the outer surface of the arm (10), independently of the holding of the display unit (6) by the holding parts (8, 108).

[0110] The bracket (7, 207) can fix the display unit (6) together with the display unit (6) to the outer surface of the robot arm (10) by the fixing part (9), while the display unit (6) is held in place beforehand by the holding part (8, 108). The sheet-like display unit (6) can be positioned without bending or deforming, even without marking the outer surface of the robot arm (10). The display unit (6) can be appropriately and stably positioned on the outer surface of the articulated robot (1) via the bracket (7, 207).

[0111] (Aspect 2) The robot system (S) according to aspect 1, wherein the bracket (7, 207) has a curved shape or a straight shape, the bracket (7, 207) is divided into a first bracket piece (7F, 207F) and a second bracket piece (7B, 207B) that divide the curved shape or the straight shape, the display unit (6) has a first display unit (6F) held by the first bracket piece (7F, 207F) and a second display unit (6B) held by the second bracket piece (7B, 207B), and the fixing unit (9) individually fixes the first bracket piece (7F, 207F) and the second bracket piece (7B, 207B) to the outer surface of the arm (10).

[0112] The fixing part (9) allows the first bracket piece (7F, 207F) and the second bracket piece (7B, 207B) to be fixed individually without having to fix the brackets (7, 207) all at once. This makes positioning the display unit (6) even easier.

[0113] (Aspect 3) The robot system (S) according to aspect 2, wherein both ends of the first bracket piece (7F, 207F) in the longitudinal direction are composed of a first starting end (71F) and a first ending end (72F) located opposite to the first starting end (71F), and both ends of the second bracket piece (7B, 207B) in the longitudinal direction are composed of a second starting end (71B) facing the first starting end (71F) and a second ending end (72B) located opposite to the second starting end (71B) and facing the first ending end (72F), and the bracket (7, 207) forms a closed curve (Lc) as a curved shape or a closed straight line (Ls) as a straight line shape when both ends of the first bracket piece (7F, 207F) and both ends of the second bracket piece (7B, 207B) are facing each other.

[0114] The first bracket pieces (7F, 207F) and the second bracket pieces (7B, 207B) form a closed curve (Lc) or a closed straight line (Ls). The two bracket pieces allow the display unit (6) to be supported so as to face a wide area around the robot arm (10).

[0115] (Aspect 4) The robot system (S) according to aspect 3, wherein the fixing part (9) has a starting end fixing device (91) that fastens the first starting end (71F) and the second starting end (71B) to the outer surface of the arm (10), and a ending end fixing device (92) that fastens the first ending end (72F) and the second ending end (72B) to the outer surface of the arm (10), the first bracket piece (7F, 207F) and the second bracket piece (7B, 207B) are positioned such that when the closed curve (Lc) is viewed from above, they are symmetrical with respect to a line of symmetry (Sy) passing through the center of the closed curve (Lc), and the starting end fixing device (91) and the ending end fixing device (92) are positioned such that their distances (D21, D22) from the line of symmetry (Sy) are different.

[0116] In a plan view, the distance (D21) between the start fixing device (91) and the line of symmetry (Sy) is longer than the distance (D22) between the end fixing device (92) and the line of symmetry (Sy). When fixing the brackets (7, 207), the longitudinal ends of the brackets (7, 207) can be fixed without mixing them up.

[0117] (Aspect 5) A robot system (S) according to aspect 3 or 4, comprising: an electrical cable (64) connected to the display unit (6) and transmitting the electrical signal to the display unit (6); and insertion openings (71b) located at the first starting end (71F) and the second starting end (71B) from which the electrical cable (64) is unfurled.

[0118] By fixing the brackets (7, 207) at both ends in the longitudinal direction without mixing them up, the electrical cables (64) can be properly positioned.

[0119] (Aspect 6) The robot system (S) according to any one of aspects 1 to 5, wherein the holding portion (8, 108) has a recess (81) located on the surface (7a) or back surface (7B, 207B) of the bracket (7, 207) into which the central portion in the longitudinal direction of the display portion (6) fits, and a positioning portion (821, 822) for positioning both ends in the longitudinal direction of the display portion (6).

[0120] By using the recess (81) and the positioning parts (821, 822) in combination, the entire longitudinal direction (L1) of the display part (6) can be appropriately positioned.

[0121] (Aspect 7) The robot system (S) according to aspect 6, wherein the depth of the recess (81) is greater than the thickness of the display unit (6) in the thickness direction of the display unit (6).

[0122] The display unit (6) can be protected by the recess (81) located in the bracket (7) without requiring any special modifications to the outer surface of the arm (10). Interference between the display unit (6) and other structures can be suppressed.

[0123] S Robot System 1 Articulated Robot (Robot) 10 Robot Arm (Arm) 5, 105, 205 Display Unit 6 Display Unit 6F First Display Unit 6B Second Display Unit 64 Electrical Cable 7, 207 Bracket 7F, 207F First Bracket Piece 71F First Start End 71b Insertion Port 72F First End 7B, 207B Second Bracket Piece 71B Second Start End 72B Second End 73, 273 Arch Part 8, 108 Holding Part 81, 181 Recess 821 First Positioning Part (Positioning Part) 822 Second Positioning Part (Positioning Part) 9 Fixing Part 91 Start End Fixing Device 92 End End Fixing Device 100 Controller L1 Longitudinal Direction L2 Short Direction Lc Closed Curve (Curved Shape) Ls Closed Straight Line (Straight Shape) Sy Line of symmetry Ps predetermined posture

Claims

1. A robot system comprising: a robot having a multi-jointed arm; a controller connected to the robot and outputting an electrical signal corresponding to the state of the robot; a long, sheet-like display unit that displays information corresponding to the electrical signal output from the controller; a bracket having a holding part for holding the display unit in a predetermined position; and a fixing part that fixes the bracket to the outer surface of the arm, independently of the holding of the display unit by the holding part.

2. A robot system according to claim 1, wherein the bracket has a curved shape or a straight shape, the bracket is divided into a first bracket piece and a second bracket piece that divide the curved shape or the straight shape, the display unit has a first display unit held by the first bracket piece and a second display unit held by the second bracket piece, and the fixing unit fixes the first bracket piece and the second bracket piece individually to the outer surface of the arm.

3. A robot system according to claim 2, wherein both ends of the first bracket piece in the longitudinal direction are composed of a first starting end and a first ending located opposite to the first starting end, and both ends of the second bracket piece in the longitudinal direction are composed of a second starting end facing the first starting end and a second ending located opposite to the second starting end and facing the first ending, and the bracket forms a closed curve as the curved shape or a closed straight line as the straight line shape when both ends of the first bracket piece and both ends of the second bracket piece are facing each other.

4. The robot system according to claim 3, wherein the fixing portion comprises a start fixing device for fastening the first start end and the second start end to the outer surface of the arm, and a end fixing device for fastening the first end end and the second end end to the outer surface of the arm, wherein the first bracket piece and the second bracket piece are positioned such that they are line-symmetric with respect to a line of symmetry passing through the center of the closed curve when viewed in plan, and the start fixing device and the end fixing device are positioned at different distances from the line of symmetry.

5. A robot system according to claim 3 or 4, comprising: an electrical cable connected to the display unit and transmitting the electrical signal to the display unit; and insertion ports located at the first and second starting ends from which the electrical cable is unfurled.

6. A robot system according to any one of claims 1 to 5, wherein the holding portion comprises a recess located on the surface or back surface of the bracket into which the central portion in the longitudinal direction of the display portion fits, and a positioning portion for positioning both ends in the longitudinal direction of the display portion.

7. A robot system according to claim 6, wherein the depth of the recess is greater than the thickness of the display portion in the thickness direction of the display portion.

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