JP2011240459A - Robot, state presentation device and state presentation method, and teaching method of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot, a state presentation device, a state presentation method and an teaching method of the robot which make an operator easily confirm a movable remaining amount of a drive part of a robot arm when teaching movement to the robot.SOLUTION: The robot includes: an work tool 20, 20a which is mounted to the robot arm 18, 18a provided with drive parts 11 to 17 each having a preset movable range and which performs work to a work object 19; a state presentation device 21 which is arranged in the vicinity of the work tool 20, 20a and displays movable remaining amounts of the drive parts 11 to 17 for the movable range; a position detection means 25 for detecting the position of the work object 19 for the work tool 20, 20a; and an arm control part 27 for controlling the movement of the robot arm 18, 18a by driving the drive parts 11 to 17 in the movable range of the drive parts 11 to 17 where the arm control part 27 stores the posture of the robot arm 18, 18a which assumes such a position and posture that the work tool 20, 20a can perform the work to the work object 19.

Description

The present invention relates to a robot that operates based on a stored reference posture, a state presentation device, a state presentation method, and a robot teaching method.

When working on a work target using a robot, it is necessary to teach the robot the reference posture, and a teaching method is described in Patent Document 1, for example.
In the method of Patent Document 1, the position of the reference point is detected from the distance between the robot and the work space and the position of the robot by bringing the robot close to the work space along the aiming axis of the aiming means for aiming the reference point. A reference posture can be taught based on the reference point.

Japanese Patent No. 3373567

An object of the present invention is to provide a robot, a state presentation device, a state presentation method, and a robot teaching method capable of easily confirming the remaining movable amount of a driving unit of a robot arm when teaching a robot of an operation. And

A robot according to the present invention that meets the object includes a robot arm including a drive unit having a movable range set in advance, a work tool that is attached to the robot arm and performs work on a work target, A state presentation device that is arranged at a position close to the work tool and displays the remaining movable amount of the drive unit with respect to the movable range; a position detection unit that detects a position of the work object with respect to the work tool; An arm control unit that controls the operation of the robot arm by driving the drive unit within the movable range of the drive unit, the arm control unit configured to operate the work tool on the work object. The posture of the robot arm that is in a position and posture where the robot can be used is stored.

In the robot according to the aspect of the invention, the state presentation device may further use, as a load remaining amount, a difference in load amount generated in the drive unit acquired from the load detection unit with respect to a preset load allowable amount of the drive unit. Display is preferred.

In the robot according to the present invention, there are a plurality of the drive units, and the state presentation device corresponds to each of the drive units, and a plurality of light emitters A that emit different colors depending on the stepwise magnitude of the movable remaining amount. It is preferable to have.

In the robot according to the present invention, there are a plurality of the drive units, and the state presentation device corresponds to each of the drive units, and a plurality of light emitters A that emit different colors depending on the stepwise magnitude of the movable remaining amount. And a plurality of light emitters B that emit light of different colors depending on the stepwise magnitude of the remaining load.

In the robot according to the present invention, it is preferable that the state presentation device is detachable from the robot arm.

The state presentation device according to the present invention that meets the above-described object includes a fixed portion that is attached to a position close to the work tool of a robot arm on which a work tool that performs work on a work target is attached, and the fixed portion. And a display unit that displays a remaining movable amount of the drive unit with respect to a preset movable range of the drive unit provided in the robot arm.

In the state presentation device according to the present invention, the display unit further displays a difference in load amount generated in the drive unit acquired from the load detection unit with respect to a preset load allowable amount of the drive unit. Is preferably displayed.

In the state presentation device according to the present invention, there are a plurality of the drive units, and the display unit corresponds to each of the drive units, and a plurality of light emitters that emit different colors depending on the step size of the movable remaining amount. Preferably it consists of A.

In the state presentation device according to the present invention, there are a plurality of the drive units, and the display unit corresponds to each of the drive units, and a plurality of light emitters that emit different colors depending on the step size of the movable remaining amount. It is preferable to include A and a plurality of light emitters B that correspond to the respective driving units and emit different colors depending on the stepped amount of the remaining load.

In the state presentation device according to the present invention, it is preferable that the fixing portion is detachable from the robot arm.

The state presentation method according to the present invention in accordance with the above-mentioned object obtains the drive positions of a plurality of drive units provided in a robot arm, and the movable remaining amount of each drive unit with respect to a preset movable range of each drive unit. A plurality of light emitters A arranged at positions close to the work tool of the robot arm on which the work tool for performing work on the work object is mounted. And a step of emitting light in different colors depending on the stepped magnitude of the movable remaining amount.

In the state presentation method according to the present invention, a load amount generated in each drive unit is acquired, and a difference between the load amount generated in the drive unit with respect to a preset load allowable amount of each drive unit is detected. And a plurality of light emitters B arranged at positions close to the work tool of the robot arm, respectively, depending on the step size of the difference of the load amount with respect to the allowable amount of each driving unit. It is preferable to further include a step of causing the color to emit light.

A robot teaching method according to the present invention that meets the above-described object is a robot teaching method for teaching a robot an operation having a robot arm having a driving unit in which a movable range is preset, and the driving unit for the movable range. Preparing a state presentation device for displaying the remaining movable amount on the robot arm, a step of operating the robot arm with an operation tool while referring to the display of the state presentation device, and the robot arm in the previous step Storing the above-mentioned operation in a control device for controlling the robot as an operation at the time of reproduction of the robot.

Since the robot according to the first invention and the state presentation device according to the second invention display the remaining movable amount of the drive unit at a position close to the work tool, the operator can visually recognize the position and posture of the work tool. The movable remaining amount of the drive unit can be confirmed, and the posture of the robot arm in which the work tool has a preset position and posture can be efficiently found in a state where the drive unit has the remaining movable amount.
When a robot operator (operator) performs an operation teaching operation on a robot using an operation tool or the like, usually, the robot operator operates the robot while visually observing the position of the work tool or control point at the tip of the robot. In order to take into account even the remaining movable amount of the drive unit other than the tip part during teaching, the teaching worker needs to be a more skilled person, but the state presentation device is arranged at a position close to the working tool. As a result, even if the teaching worker points his / her line of sight toward the tip of the robot, the remaining movable amount of the drive unit other than the tip can be visually recognized. It is easier to teach a generous operation.

In the robot according to the first invention and the state presentation device according to the second aspect, when the state presentation device displays the remaining load of the drive unit, the operator has a load exceeding the allowable load amount on the drive unit. The robot arm can be operated while visually confirming that it has not occurred.

In the state presentation device according to the robot according to the first invention and the state presentation device according to the second invention, when the state presentation device has the light emitter A that emits a different color depending on the stepped magnitude of the movable remaining amount of the driving unit, the operator Even if the line of sight of the operator is slightly deviated from the state presentation device, the remaining movable amount of the drive unit can be visually recognized.

In the state presentation device according to the robot according to the first invention and the state presentation device according to the second invention, when the state presentation device has the illuminant B that emits a different color depending on the stepped magnitude of the remaining load of the driving unit, the operator Even if the line of sight of the operator is slightly deviated from the state presentation device, the robot arm can be moved while visually confirming the remaining load of the drive unit.

In the robot according to the first invention and the status presentation device according to the second invention, when the status presentation device is detachable from the robot arm, it is possible to easily replace the status presentation device in which a problem has occurred. it can.
In addition, since it is easy to visually recognize the remaining moving amount when teaching the operation, it is possible to teach a more accurate operation, and the robot arm can be made more compact by removing this device during work (during playback). This makes it possible to prevent the apparatus from coming into contact with the external environment.

According to a third aspect of the present invention, there is provided a method for causing a plurality of light emitters A arranged at positions close to a work tool to emit light in different colors according to the stepwise magnitude of the movable remaining amount of each drive unit. Therefore, the movable remaining amount of the drive unit can be visually recognized by an operator whose line of sight is slightly deviated from the state presentation device.

In the state presentation method according to the third aspect of the present invention, the plurality of light emitters B arranged at positions close to the work tool have different colors depending on the stepwise difference of the load amount relative to the allowable amount of each drive unit. In the case of having the step of emitting light, the operator can easily visually check the load state of the drive unit while following the movement of the work tool.

1 is a perspective view of a robot according to a first embodiment of the present invention. It is a block diagram of the robot. It is explanatory drawing of the movable position of the robot arm of the robot. It is explanatory drawing which shows the state which the robot held the work target object. It is explanatory drawing which shows the state which the robot held the work target object. It is a flowchart which shows operation | movement of the robot. It is a side view of the robot which concerns on the 2nd Embodiment of this invention.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1 to 3, the robot 10 according to the first embodiment of the present invention includes a drive unit (rotating unit in the present embodiment) 11 to 17 whose movable range is set in advance. Arms 18 and 18a, and grippers 20 and 20a, which are examples of work tools attached to the robot arms 18 and 18a and performing work on the work object 19 (see FIGS. 4 and 5), are provided. .
On the robot arms 18 and 18a, a state presentation device 21 that displays the remaining movable amount of the driving units 11 to 17 with respect to the movable range is disposed at a position close to the grippers 20 and 20a, respectively. Hereinafter, these will be described in detail.

As shown in FIG. 1, the robot 10 includes a body unit 22, robot arms 18 and 18 a attached to the body unit 22, and a moving body 23 that is provided below the body unit 22 and moves the body unit 22. is doing. A control device 24 that controls the operation of the robot arms 18, 18 a and the moving body 23 is mounted on the body portion 22.
The robot arm 18 (the same applies to the robot arm 18a) is provided with a gripper 20 (20a) for gripping (working) the work object 19 at the tip (see FIGS. 4 and 5). A position detection sensor (an example of position detection means) 25 for measuring the position of the work object 19 relative to the gripper 20 is fixed to the gripper 20. The position detection sensor 25 includes a laser mutation meter, a proximity sensor, a CCD camera, or the like. In the case of a CCD camera or the like, the position of the position detection sensor 25 may be the body 22 or the like.
The state presentation device 21 attached to the tip of the robot arm 18, that is, the position close to the gripper 20 is detachable from the robot arm 18, and when there is no need to display the remaining movable amount, the robot arm 18 Can be removed from.

As shown in FIG. 2, the robot arm 18 has seven actuators (for example, servo motors) connected in signal to an arm control unit 27 (set as a function of the control device 24) that controls the operation of the robot arm 18. 28 to 34 are fixed. Drive position detectors (for example, encoders) 28a to 34a are connected to the actuators 28 to 34, and the arm control unit 27 can detect the drive positions of the actuators 28 to 34.

As shown in FIGS. 2 and 3, the robot arm 18 can be driven at seven locations by driving units 11 to 17 having actuators 28 to 34, respectively (the robot arm 18a is depicted in FIG. 3). ). J1 to J7 described in FIG. 3 indicate the driving directions of the driving units 11 to 17, respectively.
The drive positions (angular positions in the present embodiment) of the drive units 11 to 17 are not uniquely determined with respect to an arbitrary position and posture (orientation) of the gripper 20, as shown in FIGS. The drive units 11 to 17 can change the drive positions in a state where the position and posture of the gripper 20 are fixed. The drive units 11 and 12 are disposed in a portion corresponding to a person's shoulder, the drive unit 13 is disposed in a portion corresponding to an upper arm, the drive unit 14 is disposed in a portion corresponding to an elbow, and the drive unit 15 corresponds to a forearm. Although the drive parts 16 and 17 are arrange | positioned at the part corresponded to a wrist, the arrangement position of the drive parts 11-17 is not limited to these.

As shown in FIGS. 1 and 2, the moving body 23 is driven by an instruction signal from a travel control unit 35 provided in the control device 24, and moves the body unit 22 to a desired point. In the present embodiment, the moving body 23 has three drive wheels 35a made of omni foil, but wheels other than omni foil may be used, and the number of drive wheels 35a is not limited to three.
The control device 24 includes a storage device, an electronic calculator, an input device, and the like, and programs that constitute the arm control unit 27, the travel control unit 35, and the like are mounted on the storage device.

The control device 24 includes a sensor signal processing unit 36 that is signal-connected to the position detection sensor 25. The position detection sensor 25 receives an instruction signal from the sensor signal processing unit 36 at a preset period (in this embodiment, 5 to 20 milliseconds), detects the position of the work object 19 relative to the gripper 20, The detection result is transmitted to the sensor signal processing unit 36. The sensor signal processing unit 36 stores the detection result acquired from the position detection sensor 25.

The arm control unit 27 stores the relative positional relationship between the gripper 20, the robot arm 18, the gripper 20a, and the robot arm 18a, and the movable ranges of the drive units 11-17. The arm control unit 27 is based on the stored positional relationship of the gripper 20 with respect to the robot arm 18 (the same applies to the robot arm 18a) and the driving positions of the driving units 11-17 acquired from the driving position detectors 28a-34a. Thus, the position and posture of the gripper 20 are detected.
The arm control unit 27 determines the next driving position to be driven by the driving units 11 to 17 from the position of the work object 19 with respect to the gripper 20 and the driving positions of the driving units 11 to 17. The arm control unit 27 controls the operation of the robot arm 18 by driving the drive units 11 to 17 within the respective movable ranges according to the determined drive position.

The arm control unit 27 has a function of storing a reference posture of the robot arm 18 at a position and posture where the gripper 20 can grip the work object 19.
The operator operates the operation tool 45 (see FIG. 2) to move the robot arm 18 so that the gripper 20 can grip the work object 19 (see FIGS. 4 and 5) placed on the work table 37. Thus, the posture of the robot arm 18 is changed. The operation tool 45 is an input device such as a programming pendant, for example. When the gripper 20 is ready to grip the work object 19, the operator causes the arm control unit 27 to detect that the robot arm 18 is in the reference posture. The arm control unit 27 stores the reference posture of the robot arm 18 and the operation of the robot arm 18 moved by the operator until the robot arm 18 reaches the reference posture (hereinafter also referred to as “reference arm operation”).

If the positional relationship between the body portion 22 and the work object 19 is the same, the robot arm 18 can cause the gripper 20 to grip the work object 19 by performing a reference arm operation.
However, when the position of the work object 19 with respect to the work table 37 is shifted after the reference posture of the robot arm 18 is determined, or when the position of the body portion 22 with respect to the work table 37 is shifted, the gripper 20 Even if 18 is in the reference posture, the work object 19 cannot be gripped.

When the sensor signal processing unit 36 detects from the position information of the work object 19 acquired from the position detection sensor 25 that the work object 19 is misaligned, the gripper 20 can grip the work object 19. The posture of the arm 18 (hereinafter also referred to as “corrected posture”) is obtained. The sensor signal processing unit 36 calculates a posture change amount (hereinafter, also referred to as “posture correction amount”) for changing the robot arm 18 from the reference posture to the post-correction posture. The arm control unit 27 acquires the posture correction amount of the robot arm 18 from the sensor signal processing unit 36, determines the drive amount of the drive units 11 to 17, and allows the gripper 20 to grip the work object 19. Move the arm 18.

As shown in FIG. 2, load detection sensors (an example of load detection means) 38 to 44 that respectively measure the load amounts generated in the drive units 11 to 17 are attached to the robot arm 18. The load detection sensors 38 to 44 are signal-connected to the sensor signal processing unit 36, detect the load amount generated in the driving units 11 to 17 in a preset cycle, and transmit the detection result to the sensor signal processing unit 36. To do. The sensor signal processing unit 36 stores the detection results acquired from the load detection sensors 38 to 44.
Note that the load state may be detected from a current command value (torque command value) or the like for the servo motor instead of the load detection sensors 38 to 44.
In the arm control unit 27, a load allowable amount that can be applied to the drive units 11 to 17 is set in advance. The arm control unit 27 acquires the load amount generated in the drive units 11 to 18 from the sensor signal processing unit 36, and the drive unit 11 is within a range where the load generated in the drive units 11 to 17 is equal to or less than the allowable load amount. ˜17 are driven to control the operations of the robot arms 18 and 18a.
The state presentation device 21 acquires the load amount generated in the drive units 11 to 17 from the load detection sensors 38 to 44 via the sensor signal processing unit 36, and the drive units 11 to 17 are actually measured with respect to the load allowable amount. The difference between the generated load amounts is displayed as the remaining load.

As shown in FIG. 3, the state presentation device 21 includes a fixing unit 46 attached to the robot arms 18 and 18a, and a display unit 47 provided on the fixing unit 46 and indicating the driving state and the load state of the driving units 11-17. Have.
The fixing portion 46 is fixed to the robot arms 18 and 18a by screw members or the like and can be detached from the robot arms 18 and 18a.

The display unit 47 includes light emitters 48 to 54 corresponding to the drive units 11 to 17, respectively. Each of the light emitters 48 to 54 emits a different color depending on the stepped magnitude of the movable remaining amount of the driving units 11 to 17 and a different color depending on the stepped magnitude of the load remaining amount of the driving units 11 to 17. It has a part to do.
As in the present embodiment, the display unit 47 is not limited to one light emitter that indicates the size of the movable remaining amount and the remaining load amount of the drive unit, and the light emitter that indicates only the movable remaining amount of the drive unit. You may have separately the light-emitting body B which shows only A and load remaining amount. Alternatively, the same display may be drawn on the display unit 47 as well as the same number of light emitters as the number of actuators.

The light emitter 48 (the same applies to the light emitters 49 to 54) has a movable remaining amount when the movable remaining amount of the drive unit 11 is 15 ° or more, 5 ° or more and less than 15 °, and 5 ° or less, respectively. The portion displaying is emitted blue, yellow and red.
The light-emitting body 48 is a portion that displays the remaining load when the ratio of the remaining load to the allowable load of the drive unit 11 is 20% or more, 10% or more and less than 20%, and less than 10%. Are made to emit light in blue, yellow and red, respectively.

Next, steps necessary for causing the robot 10 to grip the work object 19 placed on the work table 37 will be described with reference to the flowchart shown in FIG.
The operator prepares to arrange the state presentation device 21 on the robot arm 18 (the same applies to the robot arm 18a). Next, the operator drives the moving body 23 of the robot 10 by operating the operation tool 45 to move the robot 10 to the vicinity of the work table 37, and stores the position in the travel control unit 35 as a work reference position (step S1). .

The operator sets the arm control unit 27 in a state in which the reference posture and the reference arm operation of the robot arm 18 can be taught, and then starts the reference arm operation of the robot arm 18. The operator refers to the display of the state presentation device 21 and indicates that the drive units 11 to 17 have a predetermined load remaining amount (for example, a load remaining amount of 20% or more with respect to the allowable load amount). The robot arm 18 is operated by operating the operation tool 45 while confirming with the emission color. Since the light emitters 48 to 54 are close to the gripper 20, the operator can easily check the remaining load of the drive units 11 to 17 as well as the state of the gripper 20. The operator moves the robot arm 18 until the gripper 20 reaches a position and posture at which the work object 19 on the work table 37 can be gripped (step S2).

After the gripper 20 is in a state in which the work object 19 can be gripped, the operator confirms the remaining movable amount of the drive units 11 to 17 based on the light emission colors of the light emitters 48 to 54 (step S3).
At this time, when the movable remaining amounts of the driving units 11 to 17 are equal to or greater than a predetermined value (for example, 15 °), the operator causes the arm control unit 27 to store the reference posture and the reference arm operation of the robot arm 18 (step S4). This reference arm operation is an operation at the time of reproduction of the robot 10.
When it is confirmed in step S3 that the movable remaining amounts of the drive units 11 to 17 are less than 15 °, the operator sets the movable remaining amounts of the drive units 11 to 17 to 15 ° or more. Each drive position of the drive parts 11-17 is adjusted. The operator stores the posture of the robot arm 18 in a state where the movable remaining amounts of the drive units 11 to 17 are 15 ° or more in the operation tool 45 and the like, and then, based on the stored posture of the robot arm 18. Then, the reference arm operation of the robot arm 18 in step S2 is performed again.

The robot arm 18 has seven axes, and with the position and posture of the gripper 20 fixed, the drive positions of the drive units 11 to 17 are changed so that the movable remaining amount of the drive units 11 to 17 is 15 ° or more. The drive position of the drive parts 11-17 can be adjusted.
In the present embodiment, the robot 10 has the seven-axis robot arms 18 and 18a, but may have six-axis or less robot arms. In the case of a robot arm with 6 axes or less, the movable remaining amount of the drive unit is adjusted to a predetermined value or more in a state where the position and posture of the gripper are fixed by changing the positional relationship between the body unit and the work object. be able to.

After step S4, in a state where the robot arm 18 is in the reference posture, the sensor signal processing unit 36 transmits a signal to the position detection sensor 25 to measure the position of the work object 19, and from the position detection sensor 25, The acquired measurement result is stored (step S5).
Steps S1 to S5 are preparation steps for storing the reference posture and the reference arm motion of the robot arm 18 in the arm control unit 27 (that is, a robot teaching method for teaching the robot the operation).

When receiving a work start command from the operation tool 45 or the like, the robot 10 operates the moving body 23 to move to the work reference position. After detecting that the robot 10 has moved to the work reference position, the travel control unit 35 sends a signal notifying the completion of movement of the robot 10 to the arm control unit 27 (step S6).
The arm control unit 27 moves the robot arm 18 in accordance with the stored reference arm operation. After the robot arm 18 assumes the reference posture, the operation completion signal of the robot arm 18 is transmitted to the sensor signal processing unit 36 (step S40). S7).
In this embodiment, in step S6 and step S7, the robot arm 18 starts operating after the robot 10 has moved to the work reference position. However, before the robot 10 completes moving to the work reference position, the robot arm 18 Eighteen operations may be initiated. When the operation of the robot arm 18 is started before the robot 10 arrives at the work reference position, the operator needs to confirm that the robot arm 18 does not contact the work table 37 or the like in the preparation process.

After step S7, the sensor signal processing unit 36 causes the position detection sensor 25 to measure the position of the work object 19, and calculates the difference between the measurement position and the position of the work object 19 measured in step S5. The sensor signal processing unit 36 transmits the calculation result to the arm control unit 27 (step S8).
Based on the calculation result obtained from the sensor signal processing unit 36, the arm control unit 27 obtains the posture of the robot arm 18 at which the gripper 20 can grip the work object 19, and calculates the posture correction amount of the robot arm 18 with respect to the reference posture. Derived (step S9).
The arm control unit 27 corrects the posture of the robot arm 18 based on the posture correction amount so that the gripper 20 can grip the work object 19 (step S10).

When the robot arm 18 is in the reference posture, the drive units 11 to 17 have a remaining drive amount (movable remaining amount), and therefore the arm control unit 27 assumes that the drive units 11 to 17 are not all driven. Thus, the posture correction amount of the robot arm 18 can be derived.
If the robot arm 18 is in the reference posture and there is no remaining drive in any of the drive units 11 to 17, depending on the position of the work object 19, the work object 19 may not be gripped by the gripper 20.

Next, a robot 60 according to a second embodiment of the present invention will be described. The robot 10 is a humanoid type robot, whereas the robot 30 is a seven-axis industrial robot that holds a work object 61 as shown in FIG. In the robot 60, a gripper 62, which is an example of a work tool, is attached to the tip of the robot arm 63. The state presentation device 64 is attached to the tip of the robot arm 63 in the vicinity of the gripper 62, and displays the remaining movable amount and the remaining load of the drive unit of the robot arm 63. In the robot 60, a base member 65 attached to the base end portion of the robot arm 63 is fixed to a fixed frame or the like. When determining a fixing position on a fixed frame or the like and determining a reference posture of the robot arm 63, the driving unit of the robot arm 63 can grip the work object 61 with a movable remaining amount greater than or equal to a predetermined amount. Thus, the basic posture of the robot arm 63 can be brought into a state where the posture can be corrected.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions and the like that do not depart from the gist are within the scope of the present invention.
For example, the driving unit is not limited to a rotating unit, and may be expanded and contracted. A work tool other than the gripper, such as a welding arc, can be attached to the robot arm.

DESCRIPTION OF SYMBOLS 10: Robot, 11-17: Drive part, 18, 18a: Robot arm, 19: Work object, 20, 20a: Gripper, 21: State presentation apparatus, 22: Body part, 23: Moving body, 24: Control apparatus , 25: position detection sensor, 27: arm control unit, 28-34: actuator, 28a-34a: drive position detector, 35: travel control unit, 35a: drive wheel, 36: sensor signal processing unit, 37: workbench , 38 to 44: load detection sensor, 45: operation tool, 46: fixing unit, 47: display unit, 48 to 54: light emitter, 60: robot, 61: work object, 62: gripper, 63: robot arm, 64: Status presentation device, 65: Base member

Claims (13)

A robot arm provided with a drive unit whose movable range is set in advance;
A work tool attached to the robot arm and performing work on a work object;
A state presentation device that is disposed at a position near the work tool of the robot arm and displays a movable remaining amount of the driving unit with respect to the movable range; and
Position detecting means for detecting the position of the work object with respect to the work tool;
An arm control unit that controls the operation of the robot arm by driving the drive unit within the movable range of the drive unit;
The robot according to claim 1, wherein the arm control unit stores a posture of the robot arm in a position and a posture where the work tool can work on the work object. 2. The robot according to claim 1, wherein the state presentation device further calculates a difference between a load amount generated in the drive unit acquired from a load detection unit and a load allowable amount of the drive unit set in advance and a remaining load amount. A robot characterized by displaying as 3. The robot according to claim 1, wherein there are a plurality of the drive units, and the state presentation device corresponds to each of the drive units and emits a plurality of colors that emit different colors depending on a stepped magnitude of the movable remaining amount. A robot having a light emitter A. 3. The robot according to claim 2, wherein there are a plurality of the drive units, and the state presentation device corresponds to each of the drive units and emits a different color depending on the stepped magnitude of the movable remaining amount. A robot having A and a plurality of light emitters B corresponding to the respective driving units and emitting different colors depending on the stepwise magnitude of the remaining load. The robot according to any one of claims 1 to 4, wherein the state presentation device is detachable from the robot arm. A fixed portion attached to a position close to the work tool of a robot arm on which a work tool for performing work on the work object is mounted;
A state presentation device, comprising: a display unit that is provided in the fixed unit, and that displays a movable remaining amount of the drive unit with respect to a preset movable range of a drive unit included in the robot arm. 7. The status presentation device according to claim 6, wherein the display unit further displays a difference between a load amount generated in the drive unit acquired from the load detection unit and a load remaining amount obtained in advance from a preset load allowable amount of the drive unit. A state presentation device characterized by being displayed as a quantity. 8. The state presentation device according to claim 6 or 7, wherein there are a plurality of the drive units, and the display unit corresponds to each of the drive units and emits a different color depending on a stepped magnitude of the movable remaining amount. The state presentation apparatus characterized by comprising the light emitter A. 8. The state presentation device according to claim 7, wherein there are a plurality of the drive units, and the display unit corresponds to each of the drive units and emits a plurality of lights that emit different colors depending on a stepped magnitude of the movable remaining amount. A state presentation device comprising: a body A; and a plurality of light emitters B that correspond to the respective driving units and emit different colors depending on the stepwise magnitude of the remaining load. 10. The state presentation device according to claim 6, wherein the fixing unit is detachable from the robot arm. Obtaining driving positions of a plurality of driving units provided in a robot arm, and detecting a remaining movable amount of each driving unit with respect to a preset movable range of each driving unit;
A plurality of light emitters A arranged at positions close to the work tool of the robot arm on which a work tool for performing work on the work object is attached are stepwise of the movable remaining amount of each drive unit. And a step of emitting light in different colors depending on the size. 12. The state presentation method according to claim 11, wherein a load amount generated in each drive unit is acquired, and a difference between the load amount generated in the drive unit with respect to a preset load allowable amount of each drive unit is obtained. Detecting process;
The plurality of light emitters B arranged at positions close to the work tool of the robot arm are caused to emit light in different colors according to the step size of the difference in the load amount with respect to the allowable amount of each drive unit. And a step of presenting a state. A teaching method for a robot that teaches an operation to a robot having a robot arm provided with a drive unit whose movable range is preset,
Preparing to arrange in the robot arm a state presentation device that displays the remaining movable amount of the drive unit with respect to the movable range;
Operating the robot arm with an operation tool while referring to the display of the state presentation device;
A method for teaching a robot, comprising: storing the operation of the robot arm performed in a previous step in a control device that controls the robot as an operation at the time of reproduction of the robot.

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