JP2016043438A - robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of reducing a breaking risk of wiring, while improving the visibility of light from a light-emitting portion.SOLUTION: The robot is equipped with a columnar base installed in a predetermined robot installation place, and an arm supported by the base so as to move. The base is equipped with a fixed portion 13 fixed in the robot installation place, and a rotating portion rotatably provided to the fixed portion 13 above the fixed portion 13. The fixed portion 13 is provided with a plurality of light-emitting portions 30 along an outer peripheral portion thereof. These light-emitting portions 30 are disposed so as to enable light from the light-emitting portions 30 to be visually recognized from any side around the base.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robot.

  Conventionally, a display lamp including a light emitting unit such as an LED is used to display an operation state of the robot. This type of display lamp is often provided in an external device such as a robot controller connected to the robot (see, for example, Patent Document 1). In addition, a display lamp may be provided on the robot itself. In this case, for example, a display lamp is provided on the arm of the robot.

JP 2010-64230 A

  By the way, in the above-described configuration in which the display lamp is provided in the arm of the robot, it is assumed that the operator cannot visually recognize the display lamp depending on the operation posture of the arm. For this reason, the above-described configuration is considered difficult in terms of visibility of the display lamp.

  In addition, when the indicator lamp is provided on the arm, the wiring connected to the indicator lamp is passed through the inside of the arm, but the inside of the arm is relatively narrow, and the servo that drives the arm is inside the arm. The motor wiring is passed. Therefore, if the wiring of the indicator lamp is passed through the arm, there is a risk that the wiring will be placed in a cramped state in the arm. May break.

  The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a robot capable of reducing the risk of disconnection of wiring while improving the visibility of light from a light emitting unit. .

  In order to solve the above problems, a robot according to a first aspect of the present invention is a robot including a columnar base portion installed at a predetermined robot installation location, and an arm portion that is operably supported by the base portion. The base portion is provided with a light emitting portion that emits light, and the light emitting portion is arranged along the outer peripheral portion of the base portion so that the light is visible from any side around the base portion. It is provided.

  According to the present invention, the light-emitting unit that emits light is provided to the columnar base unit installed at the robot installation site such as the floor, and the light-emitting unit is connected to the light-emitting unit from either side around the base unit. It is provided along the outer peripheral part of the base part so that light can be visually recognized. In this case, since the light emitted from the light emitting unit can be viewed from any side around the robot regardless of the operation posture of the arm unit, the visibility of the light from the light emitting unit can be enhanced.

  Further, since the light emitting part is provided in the base part, the wiring and the like connected to the light emitting part may be provided inside the base part, and need not be provided in the arm part. For this reason, it is possible to cut a risk that the wiring is disconnected along with the operation of the arm portion. Moreover, since the base part is a base part which supports an arm part, in order to ensure the support strength, it has a comparatively big cross section (transverse cross section). Therefore, a relatively large space is secured inside the base portion. Therefore, when wiring or the like is disposed inside the base portion, the wiring or the like can be disposed with a relatively large space, and the disposed wiring or the like is connected to the base portion (details described later in detail). Even if it moves with the movement of the moving part), it is possible to suppress an excessive load on the wiring or the like. Therefore, in this case, the risk of disconnection of the wiring can be reduced while improving the visibility of light from the light emitting unit.

  In a robot according to a second aspect based on the first aspect, the base portion is provided so as to be rotatable with respect to the fixed portion above the fixed portion and a fixed portion fixed to the robot installation location. And a rotating part to which the arm part is connected, and the light emitting part is provided in the fixed part.

  According to the present invention, since the light emitting unit is provided in the fixed unit fixed at the robot installation location, it is possible to avoid the wiring connected to the light emitting unit moving with the rotation of the rotating unit. Can do. Therefore, the risk of wiring disconnection can be greatly reduced.

  In a robot according to a third invention, in the first or second invention, the base portion has a columnar shape having a circular cross section, and at least a part of the base portion tapers from an upper side to a lower side. The light emitting portion is provided in the internal space of the tapered portion, and a light transmitting portion that transmits light emitted from the light emitting portion to the tapered wall that surrounds the internal space in the tapered portion. Is provided.

  According to the present invention, the base portion is provided with the tapered portion whose outer diameter increases from the upper side to the lower side, and the light transmitting portion that transmits the light from the light emitting portion is provided on the tapered wall of the tapered portion. Yes. In this case, light emitted from the light emitting part to the outside of the base part through the light transmitting part can be viewed not only from the side of the base part but also from above the base part. For this reason, even when an operator approaches the robot to check the operation of the robot, the light from the light emitting unit can be viewed from above the base unit. Thereby, the visibility of the light from a light emission part can be improved further.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the light emitting portion is provided in an internal space of the base portion, and an outer peripheral wall surrounding the internal space in the base portion is provided. A light transmitting portion that transmits light emitted from the light emitting portion is provided, and the light transmitting portion is formed in an annular shape so as to surround the light emitting portion, and the light transmitting portion includes the light transmitting portion. The light diffusing means for diffusing the light transmitted through the portion is provided.

  According to the present invention, the light transmission part has an annular shape surrounding the light emitting part, and the light transmission part is provided with the light transmission part. In this case, since the light from the light emitting part that is transmitted through the light transmitting part is diffused by the light diffusing means, the entire light transmitting part can be illuminated by the diffused light. Thereby, since the light from a light emission part can be made to shine annularly around a base part, the visibility of the light from a light emission part can be improved further, and the robot excellent in design property can be obtained.

  Moreover, since the intensity of light can be reduced by diffusing the light emitted from the light emitting portion, it is possible to suppress the occurrence of inconvenience that the eyes are dazzled when the light is visually recognized. In particular, when checking the operation by approaching the robot, the light from the light emitting unit is viewed at a close distance, so it is effective to reduce the light intensity.

  Further, if the present invention (fourth invention) is applied to the third invention, the light from the light emitting part emitted to the outside of the base part through the light transmitting part is emitted after being diffused by the light diffusion means. Therefore, the emitted light can be easily directed not only to the side of the base portion but also upward. Thereby, the light from the light emitting part can be easily visually recognized from both the side and the upper side with respect to the base part, so that the light visibility can be further enhanced.

  A robot according to a fifth aspect of the present invention is the robot according to any one of the first to fourth aspects, wherein a plurality of types of light emitting units having different emission colors are provided as the light emitting unit. Each is provided along the outer peripheral portion of the base portion so that light of each color can be visually recognized from either side around the base portion.

  According to the present invention, since a plurality of types of light emitting portions having different emission colors are provided, it is possible to provide variations in the manner of light emission display. In addition, each type of light emitting part is provided along the outer periphery of the base part so that light of each color can be seen from any side around the base part. Can increase the sex.

  According to a sixth aspect of the present invention, there is provided the robot according to the fifth aspect, further comprising means for causing the light emitting unit having a different emission color to emit light according to an operation state of the robot.

  According to the present invention, since the light emitting units having different emission colors emit light according to the operation state of the robot, the operation state of the robot can be confirmed by the color of the emitted light.

  In a seventh invention according to any one of the first to sixth inventions, a plurality of the light emitting portions are provided along an outer peripheral portion of the base portion, and the plurality of light emitting portions are the base portion. It is mounted on the common board | substrate provided in 1).

  According to the present invention, a plurality of light emitting portions are provided along the outer peripheral portion of the base portion, and the plurality of light emitting portions are mounted on a common substrate. In this case, since the number of wirings can be greatly reduced compared to the case where wirings are individually connected to a plurality of light emitting units, the risk of disconnection of the wiring is greatly reduced in a configuration in which a plurality of light emitting units are provided. Can do.

  A robot according to an eighth invention is characterized in that, in any one of the first to seventh inventions, the robot is formed in a small size so as to be portable.

  In a small robot that is compact and portable, the inside of the arm is particularly narrow, so if you attach a light emitting part to the arm and pass the wiring through the arm, the wiring will be extremely tight in the arm. It is assumed that they are arranged in such a state. In that case, there is a possibility that the risk of disconnection of the wiring accompanying the operation of the arm portion becomes remarkably high. In this regard, in the present invention, since the first invention is applied to such a small robot, the above-described effect (the effect of the first invention) of reducing the risk of disconnection of wiring can be obtained as a large effect. .

  In a small robot, the driving force (driving torque) for driving the arm unit is usually set to a small value, so that even if the operator hits the operating arm unit, there is an inconvenience such as injury to the operator. Will not occur. For this reason, in such a small robot, it is considered that there are many cases in which an operator performs an operation check or the like in a state in which the operator approaches the robot. Therefore, in view of such a point, the third invention may be applied to the present invention. Then, even if the worker approaches the small robot, the light from the light emitting unit can be viewed from above the base unit. Therefore, the light visibility is suitable for a small robot with many opportunities for the worker to approach. Can be increased.

The perspective view which shows the external appearance of a robot. The perspective view which shows the structure of a robot controller. The cross-sectional view which shows the arrangement | positioning aspect of each light emission part on a LED board. The longitudinal cross-sectional view which shows the structure around a light emission part.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a small robot formed in a size that can be carried is embodied as the robot. This robot is installed at a robot installation location such as on a floor or a table, and is used as an industrial robot for conveying articles or the like. FIG. 1 is a perspective view showing the appearance of the robot.

  As shown in FIG. 1, the robot 10 includes a base 11 installed at a predetermined robot installation location, and an arm 12 operatively supported by the base 11. The base 11 has a cylindrical shape extending in the vertical direction, and more specifically, has a tapered shape in which the outer diameter increases from the upper side to the lower side over the entire vertical direction. In this case, the base 11 corresponds to a tapered portion.

  The base 11 has a fixed portion 13 that is fixed at the robot installation location and a rotating portion 14 that is provided above the fixed portion 13. The rotation part 14 is rotatable with respect to the fixed part 13 around a rotation axis extending in the vertical direction.

  The arm 12 is connected to the upper end portion of the rotating portion 14. The arm 12 is rotatable with respect to the rotation unit 14 about a rotation axis extending in the horizontal direction. The arm 12 has a plurality of joint portions, and a servo motor (not shown) is provided at each joint portion. Each joint portion is operated by driving each servo motor. In addition, a hand portion 16 is provided at the distal end portion of the arm 12, and an article can be gripped by the hand portion 16.

  The length of the arm 12 of the robot 10 is set to about 300 to 400 mm, and the weight is set to about 8 to 15 kg. That is, the robot 10 is a small and lightweight robot having a size (height) and weight that can be carried by even one worker. Further, since the robot 10 is small and light in this way, the drive torque of the arm 12 by each servo motor (the output of each servo motor) is set to a small value. Thereby, even if the arm 12 in operation hits the worker, there is no inconvenience such as injury to the worker.

  A robot controller 20 that controls various operations of the robot 10 and the like is provided inside the fixed unit 13. Hereinafter, the configuration of the robot controller 20 will be described with reference to FIG. FIG. 2 is a perspective view showing the configuration of the robot controller 20. In FIG. 2, for the sake of convenience, the fixing portion 13 is illustrated by a one-dot chain line.

  As shown in FIG. 2, the robot controller 20 (hereinafter simply referred to as the controller 20) is configured to include a plurality of substrates 21 to 24 arranged side by side, and an internal space formed in the fixed portion 13. 18 (see FIGS. 3 and 4). The plurality of substrates 21 to 24 are an interface substrate 21, a CPU substrate 22, a mother substrate 23, and an LED substrate 24 in order from the bottom to the top. The interface board 21 is provided with a plurality of external connectors 26 that can connect various cables from the outside of the robot 10. These external connectors 26 can be connected to a power cable for supplying power to the robot 10 and a communication cable for exchanging information with an external device such as a teaching pendant.

  The interface board 21 is connected to the mother board 23 via a connector 27. The mother board 23 is connected to the LED board 24 via a connector 28. In this case, the LED board 24 is connected to the interface board 21 via the connectors 27 and 28 and the mother board 23, and no wiring is interposed between the boards 21 and 24. In the controller 20, no wiring is interposed between the other substrates 21 to 24. Therefore, this controller 20 has a so-called wiring-less structure.

  On the LED substrate 24, a plurality of light emitting units made of LEDs (light emitting diodes) are provided. Hereinafter, the structure regarding these light emission parts is demonstrated based on FIG.3 and FIG.4. FIG. 3 is a cross-sectional view showing an arrangement mode of the light emitting units on the LED substrate 24. FIG. 4 is a longitudinal sectional view showing the configuration around the light emitting section.

  As shown in FIG. 3, the LED substrate 24 is formed in a disk shape. The LED substrate 24 is disposed in the internal space 18 of the fixed portion 13 so that the central axis thereof is located on the same straight line as the central axis of the fixed portion 13. On the LED substrate 24, a plurality of light emitting units 30 are provided at predetermined intervals along the outer periphery thereof. These light emitting units 30 are provided in a state of being mounted on the LED substrate 24. These light emitting units 30 are mounted on the LED substrate 24, are located near the inner side of the outer peripheral wall 19 surrounding the inner space 18 in the fixing unit 13, and are arranged side by side along the circumferential direction of the outer peripheral wall 19. Has been. In this case, the LED substrate 24 corresponds to a “substrate”.

  The plurality of light emitting units 30 include a plurality of types (specifically, three types) of light emitting units 30a to 30c having different emission colors. Specifically, the plurality of light emitting units 30 include a blue light emitting unit 30a that emits blue light, a green light emitting unit 30b that emits green light, and a red light emitting unit 30c that emits red light. . Each of the light emitting units 30 a to 30 c for each color emits light individually according to the operation state of the robot 10. In this embodiment, when the robot 10 is operating, the blue light emitting unit 30a emits light, and when the robot 10 is ready for operation, the green light emitting unit 30b emits light, and an error occurs during the operation of the robot 10. In this case, the red light emitting unit 30c emits light. Thereby, the operation state of the robot 10 can be confirmed by the color of the light from the light emitting units 30a to 30c. Note that each of the light emitting units 30 a to 30 c is configured to perform light emission control according to the operation state of the robot 10 based on a command from a CPU provided in the controller 20.

  A plurality (specifically, nine) of light emitting units 30 a to 30 c for each color are provided along the outer peripheral portion of the LED substrate 24. The light emitting portions 30 a to 30 c of these colors are arranged in a predetermined order along the outer peripheral portion of the LED substrate 24. Specifically, when the light emitting units 30a to 30c of each color are arranged one by one in a predetermined order (three in total) as one set (light emitting unit set), the set is the LED substrate 24. A plurality of sets are arranged along the outer periphery. In the present embodiment, the light emitting unit group in which the light emitting units 30 a to 30 c are arranged in the order (predetermined order) of the blue light emitting unit 30 a → the green light emitting unit 30 b → the red light emitting unit 30 c extends along the outer periphery of the LED substrate 24. Multiple sets are arranged.

  In the present embodiment, a plurality of (three) light emitting units 30 a to 30 c of each color are arranged to form the light emitting unit group 31, and the light emitting unit group 31 extends along the outer periphery of the LED substrate 24. A plurality (three) are arranged at intervals (120 ° pitch).

  As described above, the light emitting units 30a to 30c of each color are arranged side by side on the LED substrate 24, so that the light emitting units 30a to 30c of each color are arranged over the entire outer peripheral portion of the LED substrate 24, in other words, each color. The light emitting portions 30 a to 30 c are arranged over the entire outer peripheral portion of the fixed portion 13.

  As shown in FIGS. 3 and 4, a window 35 is provided on the outer peripheral wall 19 of the fixed portion 13 so as to surround the light emitting portions 30 a to 30 c from the outside (see also FIG. 1). The window part 35 is formed in plate shape with the resin material which has transparency. In this case, the light emitted from the light emitting units 30 a to 30 c is emitted to the outside of the fixed unit 13 through (transmitting) the window 35. The outer peripheral wall 19 corresponds to a tapered wall, and the window portion 35 corresponds to a light transmission portion.

  The window portion 35 is formed in an annular shape along the outer peripheral direction of the outer peripheral wall 19, and more specifically, is divided into a plurality (specifically three) in the outer peripheral direction of the outer peripheral wall 19. Each of the divided window portions 35 a is arranged outside each light emitting unit group 31 and extends across each light emitting unit 30 a to 30 c of the light emitting unit group 31. Each window portion 35a is attached in a state of being fitted into an opening portion 19a formed in the outer peripheral wall 19, and the plate surface thereof is connected to the outer peripheral surface 19b (taper surface) of the outer peripheral wall 19 in the attached state. The inclination angle is the same.

  The window portion 35 is subjected to ground glass processing throughout the plate surface (front surface). In this case, the light from the light emitting units 30a to 30c that is transmitted through the window 35 is diffused on the plate surface, and the entire plate surface is uniformly illuminated by the diffused light. Therefore, the plate surface of the window portion 35 is a light diffusing portion 36 for diffusing light, and the plate surface of the window portion 35 can also be referred to as a light emitting surface from the viewpoint that the entire plate surface shines.

  As described above, in the robot 10, the entire window portion 35 is illuminated by the light emitted from the light emitting units 30 a to 30 c, so that the light from the light emitting units 30 a to 30 c can be viewed from any side around the robot 10. It has become. Moreover, since the window part 35 whole shines, even if the light emission parts 30a-30c of any color light-emit, it can visually recognize from each side around the robot 10 about each light of each color.

  As mentioned above, according to the structure of this embodiment explained in full detail, the following outstanding effects are acquired.

  A plurality of light emitting portions 30 are provided on the cylindrical base 11 (specifically, the fixing portion 13) along the outer peripheral portion thereof, and at least one of the plurality of light emitting portions 30 is provided from any side around the fixing portion 13. It arrange | positioned so that the light emitted from the light emission part 30 could be visually recognized. In this case, the light emitted from the light emitting unit 30 can be viewed from any side around the robot 10 regardless of the operating posture of the arm 12, so that the visibility of the light from the light emitting unit 30 is improved. Can do.

  Further, since the light emitting unit 30 is provided in the fixing unit 13, a connecting member such as a wiring connected to the light emitting unit 30 may be provided in the internal space 18 of the fixing unit 13, and is provided in the arm 12. do not have to. For this reason, it is possible to cut a risk that the wiring breaks with the operation of the arm 12. Further, since the light emitting unit 30 is provided in the fixed unit 13, it is possible to avoid the connection member connected to the light emitting unit 30 from moving with the rotation of the rotating unit 14. Therefore, the risk of wiring disconnection can be greatly reduced. Therefore, in this case, the risk of disconnection of the wiring can be greatly reduced while improving the visibility of the light from the light emitting unit 30.

  Further, since the arm 12 is a part that always operates, if a wiring or the like is provided therein, the wiring or the like always moves. Further, since the arm 12 bends at the joint portion, the wiring inside the arm 12 may be bent as the arm 12 bends. Therefore, when wiring is provided inside the arm 12, the risk of disconnection of the wiring may be particularly high. Therefore, even in view of this point, the above-described configuration in which the light emitting unit 30 is provided in the fixing unit 13 (base 11) so that the wiring or the like is not provided in the arm 12 reduces the risk of disconnection of the wiring. Effective above.

  In addition, since the plurality of light emitting units 30 are provided along the outer peripheral portion of the fixing unit 13, even if the arm 12 takes an operation posture so as to cover the fixing unit 13 and blocks the light from the light emitting unit 30, either The light from the light emitting unit 30 can be visually recognized without being blocked by the arm 12. Therefore, also in this respect, the visibility of light can be improved.

  The LED board 24 was provided as the connecting member in the internal space 18 of the fixed part 13, and each light emitting part 30 was connected (mounted) on the LED board 24. In this case, since the number of wirings can be greatly reduced compared to the case where wirings are individually connected to each light emitting unit 30, the configuration including a plurality of light emitting units 30 greatly reduces the risk of wiring disconnection. Can be made.

  Further, the LED board 24 is connected to the interface board 21 for exchanging signals and power with the outside of the robot 10 without using a wiring, thereby forming a wiring-less structure. Thereby, the disconnection risk itself of wiring can be cut off.

  The fixing portion 13 is tapered so that the outer diameter increases from the upper side to the lower side, and the window portion 35 transmits light emitted from the light emitting portion 30 to the outer peripheral wall 19 (taper wall) of the fixing portion 13 having the tapered shape. Was provided. In this case, light emitted from the light emitting unit 30 to the outside of the fixing unit 13 through the window 35 can be viewed not only from the side of the fixing unit 13 but also from above the fixing unit 13. Therefore, even when the operator approaches the robot 10 for confirming the operation of the robot 10 or the like, the light from the light emitting unit 30 can be viewed from above the fixed unit 13. Thereby, the visibility of the light from the light emission part 30 can be improved further.

  Here, in the portable small robot 10, since the drive torque of the arm 12 by each servo motor is set to a small value, even if the operator hits the arm 12 that is operating, the operator may be injured. There is no inconvenience. For this reason, in such a small robot 10, it is considered that there are many cases where the operator performs an operation check or the like in a state in which the operator approaches the robot 10. In that respect, in the above-described embodiment, since the above-described configuration (configuration in which the window portion 35 is provided on the tapered wall) is applied to the small robot 10, the above-described effect that light can be visually recognized from above the fixed portion 13. It can be obtained as a big effect.

  The window portion 35 is formed in an annular shape so as to surround the plurality of light emitting portions 30, and the light diffusion portion 36 for diffusing the light transmitted through the window portion 35 is provided in the window portion 35. In this case, since the light from the light emitting unit 30 that passes through the window 35 is diffused by the light diffusing unit 36, the entire window 35 can be illuminated by the diffused light. Thereby, since the light from the light emission part 30 can be made to shine circularly around the fixing | fixed part 13, while the visibility of the light from the light emission part 30 can be improved further, the robot excellent in design property is obtained. be able to.

  In addition, the light from the light emitting unit 30 that is transmitted through the window 35 is diffused by the light diffusing unit 36 so that the light from the light emitting unit 30 can be easily directed not only to the side of the fixed unit 13 but also to the upper side. be able to. Thereby, since the light of the light emission part 30 can be easily visually recognized from the side and the upper side of the fixing part 13, the light visibility can be further enhanced. In particular, since a plurality of light sources (lighting etc.) are provided in factories, etc., the light from the light emitting unit 30 is visually recognized from a predetermined direction (for example, the side of the fixed unit 13) by the light from these light sources. It may be difficult. Therefore, it is effective to apply the above-described configuration in such a factory.

  In addition, since the intensity of light can be reduced by diffusing the light emitted from the light emitting unit 30, it is difficult to cause inconvenience that the light from the light emitting unit 30 is dazzled by the light. it can. In particular, in the case of the small robot 10 that often checks the operation by approaching the robot 10, it is considered that there are many opportunities to see the light from the light emitting unit 30 at a close distance, so it is effective to reduce the light intensity. .

  Since the plurality of light emitting units 30 include a plurality of types of light emitting units 30a to 30c having different emission colors, it is possible to provide variations in the manner of light emission display. In addition, since each of these types of light emitting units 30a to 30 is arranged so that light of each color is visible from any side around the fixed unit 13, the visibility of each color of light can be increased. it can.

  Moreover, the window part 35 was provided so that it might straddle each kind of light emission parts 30a-30c, respectively, and the light-diffusion part 36 was provided in the window part 35. As shown in FIG. In this case, even when any of the light emitting portions 30a to 30c emits light, the entire window portion 35 can be illuminated with that color, so that the visibility of any color light is further improved. Improvements can be made.

  Since the light emitting units 30a to 30c having different colors are caused to emit light according to the operation state of the robot 10, the operation state of the robot 10 can be confirmed by the color of the emitted light.

  In the portable small robot 10, the inside of the arm 12 is particularly narrow. Therefore, when the light emitting unit 30 is attached to the arm 12 and the wiring is passed through the arm 12, the wiring is extremely tight in the arm 12. It is assumed that they are arranged in a state. In that case, there is a possibility that the risk of disconnection of the wiring accompanying the operation of the arm 12 is significantly increased. In this regard, in the above-described embodiment, since the above-described configuration related to the light emitting unit 30 is applied to the small robot 10, the effect of reducing the risk of disconnection of wiring can be obtained as a great effect.

  The present invention is not limited to the above embodiment, and may be implemented as follows, for example.

  (1) In the above embodiment, the light emitting unit 30 is provided on the fixed unit 13, but instead of or in addition to this, the light emitting unit 30 may be provided on the rotating unit 14. In the case where the light emitting unit 30 is provided in the rotating unit 14, for example, an LED substrate 24 is provided in the rotating unit 14, and the LED substrate 24 and the mother substrate 23 in the fixed unit 13 are connected via wiring. It is done. In such a configuration, since the LED substrate 24 rotates with the rotation of the rotating unit 14, the wiring moves with the rotation. The rotating unit 14 is the same as the fixed unit 13. Therefore, the arm 12 is formed to have a relatively large cross section so as to ensure the supporting strength of the arm 12. For this reason, there is a relatively large space inside the rotating unit 14, and when wiring is disposed in the space, the wiring can be disposed with a relatively large space. Thereby, since it can suppress that an excessive load is applied to wiring when wiring moves with rotation of the rotation part 14, the disconnection risk of wiring can be reduced.

  (2) In the above embodiment, the entire base 11 is tapered (tapered portion), but only the fixed portion 13 may be tapered (tapered portion), and the rotating portion 14 may be cylindrical (non-tapered portion). . Even in this case, since the window portion 35 is provided in the fixed portion 13 (tapered portion), the light of the light emitting portion 30 emitted to the outside of the fixed portion 13 through the window portion 35 is transmitted to the fixed portion 13 side. It is possible to visually recognize from both sides and from above. In addition, although it is possible to make the fixing | fixed part 13 cylindrical, considering the visibility of the light from the base 11 upper direction, it is desirable for the fixing | fixed part 13 to be tapered.

  (3) In the above embodiment, each light emitting unit 30 is mounted (connected) on the LED substrate 24. However, the LED substrate 24 may be omitted, and wiring may be individually connected to each light emitting unit 30. In that case, for example, it is conceivable to connect these wirings to the mother board 23. In such a configuration, a plurality of wirings are disposed in the internal space 18 of the fixed part 13, and since these wirings are all connected to the light emitting part 30 provided in the fixed part 13, the rotating part It is possible to avoid the movement of these wirings with the operation of 14. Therefore, the wiring is connected to each light emitting unit 30, and the risk of disconnection of the wiring can be greatly reduced.

  (4) In the above-described embodiment, three types of light emitting units 30a to 30c having different emission colors are provided as the light emitting unit 30, but by changing this, two types or four or more types of light emission having different emission colors are provided. The part 30 may be provided. Further, as the light emitting unit 30, only one type of light emitting unit 30 having the same emission color may be provided.

  In the embodiment described above, the LED is used as the light emitting unit 30, but other than the LED such as a fluorescent lamp or an incandescent lamp may be used. For example, when a fluorescent lamp is used as the light emitting unit, it is conceivable to use an annular fluorescent lamp. In this case, by providing the fluorescent lamp along the outer peripheral portion of the base 11, the light of the fluorescent lamp can be viewed from any side around the robot 10. Therefore, even if it is one light emission part (fluorescent lamp), the visibility of light can be improved.

  (5) The arrangement mode (number, arrangement, etc. of each light emitting part) of each light emitting part in the base 11 is not necessarily limited to that of the above embodiment. For example, in the above embodiment, three light emitting units are provided in each light emitting unit group, but this is changed so that one or two light emitting units are provided in each light emitting unit group. May be. In addition, when one light emitting unit is provided in each light emitting unit group, a plurality of light emitting unit groups may be provided at equal intervals in the outer peripheral direction of the base 11 (LED substrate). In short, it is only necessary that each light emitting unit is arranged so that at least one of the light emitting units can be viewed from any side around the base 11.

  Further, the light emitting unit 30 is not necessarily provided in the internal space 18 of the fixed unit 13, and may be provided outside the fixed unit 13.

  (6) In the above-described embodiment, the light diffusing portion 36 formed of a ground glass plate surface is provided in the window portion 35. However, the configuration of the light diffusing portion 36 is not necessarily limited thereto. For example, it is conceivable that the light diffusing portion 36 is formed by performing uneven processing on the plate surface of the window portion 35 or by attaching a light diffusion sheet separately to the plate surface of the window portion 35. Further, the light diffusion part 36 may not be provided in the window part 35.

  (7) Although the present invention is applied to the portable small robot 10 in the above embodiment, the present invention may be applied to a large robot that cannot be carried. In the case of a large robot, since the driving force when driving the arm 12 by the servo motor is large, it is normal for the operator to check the operation at a position away from the robot during normal operation of the robot. However, at the time of manual teaching of the robot using the teaching pendant, the operation may be confirmed by approaching the robot. In such a case, it is considered that the base 11 is looked down from above. Therefore, in view of this point, even in the case of a large robot, it is desirable that the light from the light emitting unit 30 is visible from above the base 11 by providing the window 35 on the tapered base 11.

  DESCRIPTION OF SYMBOLS 10 ... Robot, 11 ... Base as base part and taper part, 12 ... Arm as arm part, 13 ... Fixing part, 14 ... Turning part, 18 ... Internal space, 19 ... Outer peripheral wall as taper wall, 20 ... Controller, 24 ... LED substrate as substrate, 30a to 30c ... Light emitting portion, 35 ... Window portion as light transmitting portion, 36 ... Light diffusing portion as light diffusing means.

Claims (8)

A columnar base installed at a predetermined robot installation location;
An arm portion operatively supported by the base portion;
In a robot comprising
The base portion is provided with a light emitting portion that emits light,
The robot according to claim 1, wherein the light emitting unit is provided along an outer peripheral portion of the base portion so that the light can be visually recognized from any side around the base portion. The base portion is
A fixed portion fixed to the robot installation location;
A rotating part provided above the fixing part so as to be rotatable with respect to the fixing part and connected to the arm part;
The robot according to claim 1, wherein the light emitting unit is provided in the fixed unit. The base portion has a columnar shape having a circular cross section, and at least a part thereof is a tapered portion whose outer diameter increases from the upper side to the lower side,
The light emitting portion is provided in an internal space of the tapered portion,
3. The robot according to claim 1, wherein a light transmitting portion that transmits light emitted from the light emitting portion is provided on a tapered wall surrounding the internal space in the tapered portion. The light emitting part is provided in an internal space of the base part,
A light transmission part that transmits light emitted from the light emitting part is provided on an outer peripheral wall surrounding the internal space in the base part,
The light transmission part is formed in an annular shape so as to surround the light emitting part,
4. The robot according to claim 1, wherein the light transmission unit is provided with a light diffusion unit that diffuses light transmitted through the light transmission unit. 5. As the light emitting unit, a plurality of types of light emitting units having different emission colors are provided,
The light emitting portions of each type are provided along the outer peripheral portion of the base portion so that light of each color can be visually recognized from any side around the base portion. Item 5. The robot according to any one of Items 1 to 4.   The robot according to claim 5, further comprising means for causing the light emitting unit having a different emission color to emit light according to an operation state of the robot. A plurality of the light emitting portions are provided along the outer peripheral portion of the base portion,
The robot according to claim 1, wherein the plurality of light emitting units are mounted on a common substrate provided in the base unit.   The robot according to any one of claims 1 to 7, wherein the robot is formed in a small size so as to be portable.

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