JP2022012260A - State display device for robot and industrial robot - Google Patents

Abstract

To suppress deterioration of reliability of an industrial robot while improving convenience thereof.SOLUTION: A robot 20 is provided with a state display part 45 indicating a state of the robot 20. The state display part 45 comprises three light sources, namely, a red light emitter, a green light emitter, and a blue light emitter. A display color of the state display part 45 is changed to a color corresponded to a state of the robot 20 through mixing of colors of lights from those light emitters. In a power supply circuit supplying a power to the state display part 45, a resister part arranged in series with the blue light emitter, and a voltage sensor detecting a drop amount of a voltage in the resistor part are provided. In the case where the drop amount of the voltage detected by a voltage sensor 81 is smaller than a threshold value under a situation where the state display part 45 is light-emission-controlled to emit white light, voltages applied to the red light emitter and the green light emitter are lowered, and a ratio of an illuminance of each light emitter is corrected.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot status display device and an industrial robot having a robot status display device.

Some industrial robots are provided with a light emitting unit (lamp) that turns on / off in conjunction with the motor of the robot (see, for example, Patent Document 1). By clearly indicating that the robot is in an operating state by using a light emitting unit, it is possible to contribute to improving the convenience of the robot.

Japanese Unexamined Patent Publication No. 2011-62792

Here, the inventor of the present application constructs a light emitting unit by combining a plurality of light sources having different emission colors, and divides various states (for example, standby state, operating state, teaching state, etc.) of the robot by mixing the emission colors. We devised a robot status display device that can be displayed separately. It is preferable to expand the display function in this way in order to improve the convenience of the user.

However, in this type of robot status display device, the brightness of each light source is reduced due to deterioration of those light sources. The degree of decrease in brightness may vary depending on the specifications and usage conditions of the light emitting elements constituting each light source. When the relationship between the brightness of each light emitting body is broken due to the deterioration of the light emitting body, the color actually displayed on the robot status display unit (display color) may deviate from the color that should be originally displayed. This hinders the normal use of the state display function, and it is assumed that the user is more likely to misidentify the state of the robot by reducing the difference from the colors indicating other states. This is a factor that lowers the reliability of the robot status display device and, by extension, the robot on which the robot status display device is mounted. In other words, there is still room for improvement in the configuration related to the robot status display device in order to further improve convenience and suppress deterioration of reliability by displaying various states separately by color mixing. ..

The present invention has been made in view of the above problems, and a main object thereof is to improve the convenience of an industrial robot and suppress a decrease in reliability.

Hereinafter, means for solving the above problems will be described.

First means. A light emitting unit (light emitting unit 46) formed by combining a plurality of light sources (light emitting bodies 47 to 49) having different emission colors,
A power supply unit (power supply unit 70) that supplies electric power to the plurality of light sources,
It has a control unit (control unit 51) that controls power supplied from the power supply unit to the plurality of light sources.
A robot status display device that displays the status of an industrial robot (robot 20) by mixing colors of light from the plurality of light sources.
As the plurality of light sources, a first light source (for example, a red light source 47 and a green light source 48) and a second light source (for example, a second light source whose brightness is more likely to decrease due to deterioration than the first light source when used under predetermined conditions (for example). With a blue light source 49)
A detection unit (voltage sensor 81) capable of detecting deterioration of the second light source, and
When the detection unit detects the predetermined deterioration under the condition that the light emission control is performed so that the light emitting unit emits light in a predetermined display color (for example, white) which is a mixed color, the detection unit detects the predetermined deterioration. A robot state including a correction unit (switching unit 80) that corrects the ratio of the luminance of the plurality of light sources by reducing the power supplied to the first light source as compared with the case where deterioration is not detected. Display device.

If the state of the industrial robot is clearly indicated by the color of the light emitting part (display color), the user can easily grasp the state of the industrial robot by looking at the display color. can. In the first means, the display color of the light emitting unit is a mixed color in which light from a plurality of light sources is mixed. With such a configuration, various states of the industrial robot can be clearly indicated by different display colors, and the display function of the robot state display unit can be enhanced (improvement of expressive power). This is preferable in order to further improve the convenience of the industrial robot.

However, in a configuration in which the emission color is different for each light source, a difference may occur in the deterioration (decrease in brightness) of each light source. This causes the ratio (balance) of the brightness of each light source to be lost in the color mixing. Here, according to the configuration shown in the first means, the deterioration of the second light source, which tends to deteriorate, is monitored. Then, when the second light source has a predetermined deterioration when the light emitting unit emits light with a predetermined display color, the electric power supplied to the first light source is higher than that in the case where the predetermined deterioration does not occur. By reducing it, the ratio of the brightness of each light source is corrected. As a result, it is possible to prevent the actual display color in the light emitting unit from deviating from the display color set by the control unit, making it difficult to grasp the state of the industrial robot. In addition, it is possible to prevent the user from misidentifying the state of the industrial robot. Therefore, it is possible to prevent the reliability of the industrial robot from being lowered while improving the convenience of the industrial robot.

Here, the deterioration of the light source becomes more remarkable as the power supplied to the light source increases. That is, the increase in the electric power supplied to the light source may accelerate the deterioration of the light source and shorten the life of the status display device. In order to correct the luminance ratio in order to reduce the influence of deterioration, for example, it is possible to correct the luminance ratio by increasing the power supply to the light source having a large influence of deterioration. With such a configuration, a new problem arises that the product life is shortened even if the convenience and reliability of the industrial robot are suitably compatible. In this respect, if the ratio of luminance is corrected by reducing the power supply as shown in this means, the problem (shortening of product life) can be suitably solved. It is also possible to suggest to the user that deterioration has occurred due to the darkening of the light emitting portion due to deterioration.

By monitoring the second light source, which is more likely to deteriorate than the first light source and the second light source, it is possible to prevent the deterioration from becoming difficult to detect due to disturbance such as noise. This is a preferable configuration for stably exerting the above-mentioned correction function.

Second means. As a power supply unit for applying a voltage to the first light source, a first power supply unit (high voltage power supply unit 75) capable of applying a first voltage (for example, 5V) to the first light source and the first power supply unit to the first light source. A second power supply unit (low voltage power supply unit 76) capable of applying a second voltage (for example, 3.5V) lower than the voltage is provided.
The correction unit applies a voltage to the first light source when the detection unit does not detect the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in the predetermined display color. When the detection unit detects the predetermined deterioration in a situation where the power supply unit to be applied is the first power supply unit and the light emission control is performed so that the light emission unit emits light in the predetermined display color, the detection unit is used. The power supply unit that applies a voltage to the first light source is configured to be the second power supply unit.

As shown in this means, if the voltage applied to the first light source is reduced (switched from the first voltage to the second voltage) when a predetermined deterioration occurs in the second light source, the above is achieved by a simple configuration. The effect shown in the first means can be exerted.

It should be noted that the above configuration is defined as "a first power supply unit capable of applying a first voltage to the first light source as a power supply unit for applying a voltage to the first light source, and a first power supply unit lower than the first voltage to the first light source. A second power supply unit to which two voltages can be applied and a third power supply unit to which a third voltage lower than the second voltage can be applied to the first light source are provided. In a situation where light emission control is performed so that the light emitting unit emits light in the predetermined display color, the correction unit includes the deterioration of the above and the second deterioration in which the degree of deterioration is larger than that of the first deterioration. When the predetermined deterioration is not detected by the detection unit, the power supply unit that applies a voltage to the first light source is the first power supply unit, and the light emitting unit emits light to emit light in the predetermined display color. When the first deterioration is detected by the detection unit in a situation where control is performed, the power supply unit that applies a voltage to the first light source is the second power supply unit, and the light emitting unit is the predetermined. When the second deterioration is detected by the detection unit under the condition that the light emission is controlled so as to emit light in the display color of the above, the power supply unit that applies a voltage to the first light source is the third power supply unit. It is also possible to say. "

The degree of deterioration of the light source increases as the usage time increases. Therefore, as described above, the voltage applied according to the progress of deterioration is gradually reduced (switching from the first voltage to the second voltage to the third voltage), and the industrial robot (robot) is misidentified by the display color. It is possible to suitably suppress the deterioration of the reliability of the usage status display device).

Third means. The control unit is configured to change the display color of the light emitting unit according to the state of the industrial robot by controlling the amount of current flowing through the plurality of light sources by PWM control.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in a predetermined display color (for example, white) which is a mixed color, the correction unit is described. The duty ratio of the PWM signal output to the first light source is reduced as compared with the case where the predetermined deterioration is not detected by the detection unit, so that the ratio is corrected.

In the configuration in which the dimming of each light source is performed by PWM control, the brightness ratio is corrected by reducing the detail ratio of the PWM signal output to the first light source when a predetermined deterioration occurs in the second light source. With the configuration, the effect shown in the first means can be exhibited by a simple configuration.

Fourth means. When the ratio of the luminance is corrected by reducing the power supplied to the first light source by the correction unit, the ratio of the luminance of the first light source after the correction does not cause the predetermined deterioration. It is configured to be lower than the ratio of time.

Even if the ratio of luminance is corrected as shown in the first means and the like, the deviation of the display color may become large again as the deterioration further progresses after the correction. For example, if the configuration is such that the correction is performed every time the deterioration progresses to some extent, such a concern can be dispelled, but the configuration related to detection → correction becomes complicated. Therefore, as shown in this means, the ratio of the brightness of the first light source after correction is not made to match the ratio at the time when the predetermined deterioration does not occur (initial ratio), but the predetermined deterioration does not occur in anticipation of further deterioration. If the configuration is set to be higher than the ratio of time, even if deterioration progresses after correction, the ratio of brightness will change to approach the normal ratio for a while, until the effect of deterioration becomes noticeable again. The period can be lengthened. This is preferable in order to reduce the frequency of correction as much as possible and to prevent the configuration related to the correction from becoming excessively complicated.

Fifth means. The first light source and the second light source have a configuration in which the emission color differs depending on the emission wavelength of the light emitting element.
When the voltage drop amount in the second light source reaches the threshold value, the predetermined deterioration is detected.

As shown in this means, if the voltage drop amount is monitored, the degree of deterioration can be accurately grasped.

Sixth means. A resistance section connected in series with the second light source is provided between the power supply section and the grounding section.
The detection unit has a voltage sensor that detects the amount of voltage drop in the resistance unit, and is configured to detect the predetermined deterioration based on the amount of voltage drop.

In a configuration in which the state of an industrial robot is displayed by mixing colors, it is preferable to arrange the light sources as close as possible. Therefore, if the voltage drop amount of the resistance portion connected in series with the second light source is detected by the voltage sensor as shown in this means, the configuration related to the voltage sensor realizes the centralized arrangement of the light sources. Can be suppressed from becoming an obstacle.

Seventh means. As the display color of the light emitting unit, a first display color (for example, white) indicating that the robot is in an operating state and a second display color (for example, yellow) indicating that the industrial robot is in a stationary state are used. It has been set and
The ratio of the brightness of each light source when the light emitting unit is made to emit light with the first display color is the ratio corresponding to the second display color from the ratio corresponding to the first display color due to deterioration of the plurality of light sources. It has a structure that can change to approach
The predetermined display color is the first display color.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in the first display color, the correction unit is described by the detection unit. By reducing the power supplied to the first light source as compared with the case where deterioration is not detected, the ratio of the luminance of the plurality of light sources is corrected so as to be closer to the ratio of the luminance corresponding to the first display color. It is composed.

When the industrial robot is in the operating state, even if the light emitting part emits light in the first display color, if the display color is mistaken as the second display color indicating the stationary state, the user approaches the industrial robot. When the industrial robot operates at that time, there is a high possibility that the industrial robot collides with the user. This is not preferable because it causes malfunction or failure of the industrial robot. In this regard, according to the configuration shown in this means, when the above deterioration occurs, the luminance ratio is corrected so as to approach the ratio corresponding to the first display color. By suppressing the misidentification of the user in this way, it is possible to protect the industrial robot and avoid a decrease in reliability of the industrial robot.

Eighth means. The second light source is a blue LED whose emission color is blue, and the first light source is a red LED whose emission color is red or a green LED whose emission color is green.
The detection unit can detect the deterioration of the blue LED.

Compared with red LEDs and green LEDs, blue LEDs tend to deteriorate more easily. Therefore, when at least one of the red LED and the green LED and the blue LED are used in combination, the effect shown in the first means can be suitably exhibited by setting the blue LED as a deterioration monitoring target.

Ninth means. The plurality of light sources are composed of the second light source whose emission color is blue, the first light source whose emission color is one of red and green, and the third light source whose emission color is the other of red and green. Has been
The control unit causes the light emitting unit to emit light in white when the industrial robot is in an operating state, while the light emitting unit emits light in yellow when the industrial robot is in a stationary state. It is configured to control the plurality of light sources.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so as to make the light emission unit emit light in the white color which is the predetermined color, the correction unit is said by the detection unit. By reducing the power supplied to the second light source and the third light source as compared with the case where the predetermined deterioration is not detected, the ratio of the luminance of the plurality of light sources is brought closer to the ratio of the luminance corresponding to white. It has a means to correct it.

When the industrial robot is in the operating state, the display color of the light emitting unit is white, and when the industrial robot is in the stationary state, the display color of the light emitting unit is yellow so that each state can be distinguished. In addition, there is a possibility that the display color when the light is emitted in white due to the deterioration of the light source and the ratio of the brightness is broken, becomes yellowish. Even though the industrial robot is in the operating state, the display color of the light emitting part = yellow, that is, the user misunderstands that the industrial robot is in the stationary state, and when the user approaches the industrial robot, the industrial robot and the user The possibility of collision is high. This is not preferable because it causes malfunction or failure of the industrial robot. Therefore, as shown in this means, when the above deterioration occurs, the user's misidentification can be suppressed by making the configuration so that the luminance ratio is corrected so as to approach the luminance ratio corresponding to white. This is preferable in order to protect the industrial robot and avoid a decrease in reliability of the industrial robot.

Tenth means. The plurality of light sources are composed of the first light source, the second light source, and the third light source.
The third light source has a configuration in which the brightness is less likely to decrease due to deterioration than the first light source when used under the predetermined conditions.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in a predetermined display color (for example, white) which is a mixed color, the correction unit may use the correction unit. By individually reducing the electric power supplied to the first light source and the electric power supplied to the third light source, the ratio of the luminance of the plurality of light sources is corrected.

When the first light source to the third light source are used in combination as the light sources having different emission colors, the degree of deterioration of the first light source and the third light source to be corrected may be different. Therefore, as shown in this means, if the power supplied to the first light source and the power supplied to the third light source are individually controlled, the effect of suppressing the above deviation by correction is more preferably exhibited. Can be made to.

Eleventh means. The first light source is a red LED whose emission color is red, the second light source is a blue LED whose emission color is blue, and the third light source is a green LED whose emission color is green.
In the correction unit, the amount of decrease in the power supply when the power supply to the red LED is reduced based on the detection of the predetermined deterioration by the detection unit is measured by the detection unit. Based on the detection, the correction is performed so as to be smaller than the amount of decrease in the supply power when the power supply to the green LED is reduced.

Compared to green LEDs, red LEDs tend to deteriorate more easily. Therefore, when the power supply is reduced in order to correct the ratio of the luminance, the red LED can realize a practically preferable configuration by reducing the amount of decrease in the red LED as compared with the green LED.

Twelfth means. A light emitting unit (light emitting unit 46) formed by combining a plurality of light sources (light emitting bodies 47 to 49) having different emission colors,
A power supply unit (power supply unit 70) that supplies electric power to the plurality of light sources,
It has a control unit (control unit 51) that controls power supplied from the power supply unit to the plurality of light sources.
A robot status display device that displays the status of an industrial robot (robot 20) by mixing colors of light from the plurality of light sources.
A detection unit (voltage sensor 81) capable of detecting deterioration of the light source for at least one of the plurality of light sources.
When the detection unit detects the predetermined deterioration under the condition that the light emission control is performed so as to make the light emitting unit emit light in a predetermined color (for example, white), the electric power supplied to any of the plurality of light sources. It is provided with a correction unit (path switching unit 80) that corrects the ratio of the brightness of each of the light sources by adjusting the above.

If the state of the industrial robot is clearly indicated by the color of the light emitting part (display color) as described above, the user can easily grasp the state of the industrial robot by looking at the display color. can do. In the twelfth means, the display color of the light emitting unit is a mixed color in which light from a plurality of light sources is mixed. With such a configuration, various states of the industrial robot can be clearly indicated by different display colors, and the display function of the robot state display unit can be enhanced (improvement of expressive power). This is preferable in order to further improve the convenience of the industrial robot.

However, in a configuration in which the emission color is different for each light source, a difference may occur in the deterioration (decrease in brightness) of each light source. This causes the ratio (balance) of the brightness of each light source to be lost in the color mixing. Here, according to the configuration shown in the twelfth means, deterioration of any of the light sources is monitored. Then, when the light source to be monitored has a predetermined deterioration when the light emitting unit emits light with a predetermined display color, the power supplied to any of the light sources is adjusted to adjust the power of each light source. The brightness ratio is corrected. As a result, it is possible to prevent the actual display color in the light emitting unit from deviating from the display color set by the control unit, making it difficult to grasp the state of the industrial robot. In addition, it is possible to prevent the user from misidentifying the state of the industrial robot. Therefore, it is possible to prevent the reliability of the industrial robot (specifically, the robot status display device) from being lowered while improving the convenience of the industrial robot.

It is also possible to apply each of the technical ideas shown in the first to eleventh means to the twelfth means.

The industrial robot of the thirteenth means includes the robot status display device.

According to the above configuration, the convenience and reliability of the industrial robot can be suitably improved.

The block diagram which shows the robot system in one Embodiment. A perspective view showing a robot. The schematic which shows the light emitting part. Schematic diagram showing the relationship between the state of the robot and the display color. Schematic diagram comparing the progress of deterioration of each illuminant. The schematic diagram which shows the change of the display color due to deterioration. The schematic which shows the power supply circuit. The schematic diagram which shows the electric power supply mode when the predetermined deterioration does not occur. The schematic diagram which shows the electric power supply mode when the predetermined deterioration occurs. The schematic diagram which shows the flow of correction of a display color.

Hereinafter, one embodiment will be described with reference to the drawings. This embodiment is embodied in a robot system having an industrial robot that collaborates with humans in a machine assembly factory.

As shown in FIG. 1, the robot system 10 includes a robot 20 and a motion controller 90 that controls the robot 20, and the robot 20 and the motion controller 90 are connected so as to be capable of wireless communication via a hub. Being done.

The robot 20 is composed of a robot main body 22 which is a vertical articulated industrial robot and a servo amplifier 50 attached to the robot main body 22. The robot body 22 has a base 31 fixed to the pedestal plate 21, a 6-axis arm 32 attached to the base 31, and a tool such as a hand fixed to the tip of the arm 32 (FIG. 2). reference). The arm 32 is formed by connecting six movable portions 33 to 38, and a motor 41 for driving the movable portions 33 to 38 and an encoder 42 for detecting the rotation angle of each motor 41 are arranged for each joint portion. There is.

The servo amplifier 50 includes a communication unit that communicates with the motion controller 90, and a control unit 51 that controls the drive of the motor 41 of each joint based on a command from the motion controller 90, a rotation angle detected by the encoder 42, and the like. Is provided. The command transmitted from the motion controller 90 includes information indicating the state (control state) of the robot 20, and the control unit 51 grasps the state of the robot 20 based on the information and the like.

In the state of robot 20,
(1) Startup preparation state from power ON to boot completion (2) Connection standby state waiting for communication connection with motion controller 90 (3) Collaborative program for product assembly and transportation (operation order, operation) Teaching state to set or modify) the position, motion trajectory, etc. (4) Play the set collaborative program Playback state of the collaborative program (5) Each based on the set diagnostic program Diagnosis execution state in which the motors 41 are driven to diagnose whether the motors 41 are operating normally (6) An abnormality occurrence state in which various operations of the robot 20 are temporarily restricted due to an operation abnormality or the like is included.

Among these various states, the collaborative program reproduction state and the diagnosis execution state are "operation states" in which the robot 20 operates (the arm 32 is displaced). On the other hand, the robot 20 does not operate (the arm 32 does not displace) in the start-up preparation state, the connection standby state, the teaching state, and the abnormality occurrence state, which is the “non-operation state”. In view of the fact that the robot 20 is maintained in a stationary state unless an external force is applied to the robot 20 in the "non-operating state", the "non-operating state" can be said to be a "resting state".

Incidentally, with respect to the robot 20 shown in the present embodiment, direct teaching is possible in which the user directly moves the arm 32 of the robot 20 by hand to teach the operation position, the operation trajectory, and the like, as shown in (3) above. The convenience when setting or modifying the collaborative program is improved.

As shown in FIG. 2, the base 31 (non-movable portion) of the robot main body 22 is provided with a state display unit 45 indicating the state of the robot 20. The status display unit 45 is a light emitting unit 46 (FIG. 3) in which three light sources of a red light emitting body 47 which is a red light emitting diode, a green light emitting body 48 which is a green light emitting diode, and a blue light emitting body 49 which is a blue light emitting diode are combined. (See), and the light emitting portions 46 are arranged along the outer peripheral edge of the base end portion of the arm 32 to form an annular shape as a whole. By devising the arrangement and shape of the state display unit 45 in this way, the state display unit 45 can be easily seen even when the user looks at the robot 20 from any of the front, back, left, and right directions.

As shown in FIG. 1, the status display unit 45 is connected to the control unit 51 of the servo amplifier 50, and the control unit 51 can individually control lighting / extinguishing of each light emitter 47 to 49. Specifically, the storage unit 52 of the control unit 51 stores the lighting / extinguishing patterns of the light emitters 47 to 49 for each state of the robot 20, and the control unit 51 identifies the state of the robot 20. Light emission control of each light emitting body 47 to 49 is performed so as to have a pattern corresponding to the specified state. As a result, the display color of the state display unit 45 is changed to the color corresponding to the state of the robot 20 due to the color mixing of the light of the light emitters 47 to 49. That is, the user can grasp the state of the robot 20 from the display color of the state display unit 45.

For example, when the robot 20 is in the start-up preparation state or the connection standby state, the display color of the state display unit 45 becomes "green", and when the robot 20 is in the collaborative program playback state or the diagnosis execution state, the state The display color of the display unit 45 is "white", and when an abnormality has occurred, the display color of the status display unit 45 is "red". Further, the position that can be specified in the teaching state and the specified range of activation are limited to be within the predetermined range, and when the operation is performed within the predetermined range, the display color of the state display unit 45 becomes "blue", and the corresponding When the operation is performed outside the predetermined range, the display color of the status display unit 45 becomes "yellow" (see FIG. 4). As described in detail above, increasing the colors that can be displayed by mixing colors and improving the expressive power of the state display unit 45 has the technical significance of contributing to further improvement of the convenience of the state display unit 45.

Here, all of the light emitting diodes (LEDs) are deteriorated by use, and the degree of deterioration with respect to the usage time (decrease curve of luminous flux) tends to differ depending on the emission color. It is assumed that the relationship between the wavelength of each emission color and the energy consumption contributes to such a difference. As shown in FIG. 5, the degree of deterioration increases in the order of green <red <blue, and as the deterioration progresses, a remarkable difference occurs between blue and green and red. The imbalance (ratio) of the brightness of each of the light emitters 47 to 49 in the color mixing due to the progress of deterioration causes a difference between the display color on the setting and the actual display color. In the present embodiment, the red light emitting body 47 or the green light emitting body 48 corresponds to the "first light source", and the blue light emitting body 49 corresponds to the "second light source".

For example, as shown in FIG. 6A, when the collaborative program is played under the condition that almost no deterioration occurs, the display color of the status display unit 45 is displayed so as to be “white”. Control is executed. In such a case, the brightness balance (ratio) of each light emitter 47 to 49 is almost the same as when deterioration does not occur, so that the display color when actually looking at the state display unit 45 is also “white”. .. Next, as shown in FIG. 6 (b), when the collaborative program is reproduced under the condition that the deterioration has progressed to some extent, the display control is executed in the same manner as the example shown in FIG. 6 (a). As a result, the brightness balance of each light emitter 47 to 49 is lost. Specifically, the brightness of each of the light emitters 47 to 49 is out of balance so that the brightness of the blue light emitter 49 is lower than the brightness of the red light emitter 47 and the green light emitter 48. As a result, the display color when actually looking at the state display unit 45 becomes "light yellow". That is, the tint of the display color of the state display unit 45 approaches the other display color "yellow" from the original display color "white".

When the user recognizes this display color as "yellow", the robot 20 may be mistaken for being in the teaching state. As described above, the teaching state means a "stationary state". Therefore, there is a high possibility that the robot 20 and the user collide with each other when the user who mistakenly recognizes the teaching state approaches the robot 20. This is because the arm 32 is not always displaced even in the "operating state", and it may occur that the arm 32 is temporarily stationary. It is feared that the application of an external force to the robot 20 due to the collision may cause a displacement of the robot 20 or a malfunction such as a failure.

One of the features of the present embodiment is that the user has been devised to suppress misidentification in consideration of such circumstances. Hereinafter, the device will be described with reference to FIGS. 7 to 9. 7 to 9 are schematic views showing a power supply circuit 60 for supplying electric power from the power supply unit 70 (terminal for power supply) to the light emitters 47 to 49. The power supply circuit 60 is provided on a light emitting board on which light emitters 47 to 49 are mounted.

In the power supply circuit 60, the first power supply path 61 for supplying power from the first power supply unit 71 to the blue light emitting body 49, and the second power supply unit 72 for supplying power to the red light emitting body 47 and the green light emitting body 48. A second power supply path 62 is provided. Actually, the power supply path and power supply unit for the red light emitter 47 and the power supply path and power supply unit for the green light emitter 48 are separately provided, but in FIG. 7 and the like, they are provided for convenience of explanation. It is described as a configuration in which the power supply path and power supply unit for the red light emitter 47 and the power supply path and power supply unit for the green light emitter 48 are shared.

The second power supply unit 72 includes a high voltage power supply unit 75 and a low voltage power supply unit 76. The voltage of the high voltage power supply unit 75 is the same voltage (5V) as that of the first power supply unit 71, and the voltage of the low voltage power supply unit 76 is lower than that of the high voltage power supply unit 75 (3.5V). .. The second power supply path 62 includes a high-voltage side supply path 65 that supplies power from the high-voltage power supply unit 75 to the red light emitter 47 and the green light emitter 48, and the red light emitter 47 and the green light emitter from the low voltage power supply unit 76. A low voltage side supply path 66 for supplying electric power to 48 is arranged side by side.

Further, the power supply circuit 60 includes a switching unit 80 (corresponding to a “correction unit”) that switches the power supply source to the red light emitting body 47 and the green light emitting body 48 between the high voltage power supply unit 75 and the low voltage power supply unit 76. It is provided. The switching unit 80 includes a high voltage side switch 85 arranged between the high voltage power supply unit 75 and the light emitters 47 and 48 in the high voltage side supply path 65, and a low voltage power supply unit 76 in the low voltage side supply path 66. It has a low voltage side switch 86 arranged between the light emitters 47 and 48. When the high voltage side switch 85 is in the ON state and the low voltage side switch 86 is in the OFF state, a voltage is applied from the high voltage power supply unit 75 to the light emitters 47 and 48, and the high voltage side switch 85 is in the OFF state and the low voltage side. When the switch 86 is turned on, a voltage is applied from the low voltage power supply unit 76 to the light emitters 47 and 48.

In the first power supply path 61, the portion between the first power supply unit 71 and the grounded portion (specifically, between the blue light emitting body 49 and the grounded portion) is made to be in series with the blue light emitting body 49. A resistance portion 78 is provided. The power supply circuit 60 is provided with a voltage sensor 81 for detecting the amount of voltage drop in the resistance portion 78. When the deterioration of the blue light emitting body 49 progresses, the resistance in the blue light emitting body 49 becomes large and the amount of voltage drop in the blue light emitting body 49 becomes large. As a result, the amount of voltage drop in the resistance portion 78 becomes small. In the present embodiment, the voltage sensor 81 functions as a detection unit for detecting deterioration of the blue light emitter 49, and deterioration such that the amount of voltage drop is below the threshold value corresponds to "predetermined deterioration".

The voltage sensor 81 is provided with an output unit 82 as a control means for controlling ON / OFF of the switches 85 and 86 according to the amount of voltage drop. When the amount of voltage drop detected by the voltage sensor 81 is larger than the threshold value (voltage value that serves as a switching reference), the output unit 82 outputs an ON signal to the high voltage side switch 85 and to the low voltage side switch 86. An OFF signal is output, and when the amount of voltage drop detected by the voltage sensor 81 is smaller than the threshold value, an OFF signal is output to the high voltage side switch 85 and an ON signal is output to the low voltage side switch 86.

When the red light emitter 47 and the green light emitter 48 are turned on while the blue light emitter 49 is turned off (when the display color = "yellow"), the high voltage side switch 85 is turned on and the low voltage side switch is turned on. 86 is turned off.

When the amount of voltage drop detected by the voltage sensor 81 is larger than the threshold value, that is, when the deterioration of the blue light emitter 49 has not progressed so much, the high voltage side switch 85 is turned on as shown in FIG. The low voltage side switch 86 is turned off. As a result, a voltage is applied to the red light emitter 47 and the green light emitter 48 from the high voltage power supply unit 75 side. That is, in the example shown in FIG. 8, a voltage is applied to all of the red light emitting body 47, the green light emitting body 48, and the blue light emitting body 49 from the high voltage power supply unit (5V).

On the other hand, when the amount of voltage drop detected by the voltage sensor 81 is smaller than the threshold value, that is, when the deterioration of the blue light emitter 49 progresses significantly and the predetermined deterioration occurs, FIG. As shown in the above, the high voltage side switch 85 is turned off, and the low voltage side switch 86 is turned on. As a result, voltage is applied to the red light emitter 47 and the green light emitter 48 from the low voltage power supply unit 76 side. That is, in the example shown in FIG. 9, power is applied to the blue light emitting body 49 from the high voltage power supply unit (5V), while the red light emitting body 47 and the green light emitting body 48 are supplied with the low voltage power supply unit (3. A voltage is applied from 5V), and the balance of brightness is corrected.

Here, the flow of correction of the luminance balance will be supplementarily described with reference to FIG. FIG. 10 illustrates a case where the display color of the state display unit 45 is “white”, and for convenience of explanation, the flow when it is assumed that the correction is not performed is also described. In FIG. 10, the brightness when the light emitters 47 to 49 are made to emit light so that the display color of the state display unit 45 is “white” under the condition that none of the light emitters 47 to 49 has deteriorated. Is 100%, and the brightness balance in this case is red: green: blue = 1: 1: 1.

Incidentally, in the robot 20 shown in the present embodiment, the main state is the collaborative program execution state, and the period in which it is in the other state is extremely shorter than the period in which the collaborative program is executed. .. In other words, the chances that each illuminant 47 to 49 is used alone or the chance that only the blue illuminant 49 is excluded from the light emitting target are extremely small, and the difference in the usage time of each illuminant 47 to 49 in operation is It is so small that it can be ignored.

As described above, the deterioration of the blue light emitting body 49 is remarkable as compared with the deterioration of the red light emitting body 47 and the green light emitting body 48. As shown in FIG. 10, when the brightness of the blue light emitting body 49 is reduced to about 70%, the brightness of the red light emitting body 47 and the green light emitting body 48 is about 90%. As the brightness is out of balance in this way, the display color of the state display unit 45 becomes light yellow. In the present embodiment, when the brightness of the blue light emitter 49 is reduced to 70%, the voltage switching condition is satisfied (the amount of voltage drop detected by the voltage sensor 81 is lower than the above threshold value), and the red light emitter is used. The voltage applied to the 47 and the green light emitter 48 will be reduced. As a result, the brightness of the red light emitter 47 is 90% → 62%, the brightness of the green light emitter 48 is 90% → 63%, the brightness of the blue light emitter 49 is 70% → 70%, and the brightness balance is red: green. : Blue = close to 1: 1: 1.

By correcting the brightness balance, the state display unit 45 becomes slightly darker and approaches the original color (white). Here, the luminance of the red emitter 47 and the green emitter 48 immediately after the correction is lower than the luminance of the blue emitter 49. This is a device for suppressing the point that the degree of decrease in luminance becomes large as the deterioration progresses, that is, the effect of correction is deteriorated prematurely.

After that, as the deterioration of each of the light emitters 47 to 49 progresses, the brightness balance becomes 1: 1: 1 and a completely white color is reproduced. Then, as the deterioration progresses further, the balance of brightness is reversed, and the color becomes yellowish again. However, when the brightness of the blue light emitter 49 is reduced to 50% after the above correction, the brightness of the red light emitter 47 is 57% and the brightness of the green light emitter 48 is about 58%, and the above correction is performed. Considering that the brightness of the red light emitter 47 is about 82% and the brightness of the green light emitter 48 is about 83% when the brightness of the blue light emitter 49 is reduced to 50%, misidentification of the display color is suppressed. The effect to be achieved will be suitably exhibited.

According to the embodiment described in detail above, the following excellent effects are obtained.

If the state of the robot 20 is clearly indicated by the display color of the state display unit 45, the user can easily grasp the state of the robot 20 by looking at the display color. The display color in the state display unit 45 is a mixed color in which the light from the light emitters 47 to 49 is mixed. With such a configuration, various states of the robot 20 can be clearly indicated by different display colors, and the display function of the state display unit 45 can be enhanced (improvement of expressive power). This is preferable in order to further improve the convenience of the robot 20.

However, in a configuration in which the emission color is different for each light emitting body, there may be a difference in the deterioration (decrease in brightness) of each light emitting body. This causes the ratio (balance) of the brightness of each light emitter to be lost in the color mixing. Here, in the above embodiment, the deterioration of the blue light emitter 49, which tends to deteriorate, is monitored. Then, when the blue light emitting body 49 has a predetermined deterioration when the state display unit 45 emits light in white, the red light emitting body 47 and the green light emitting body 48 are compared with the case where the predetermined deterioration does not occur. By reducing the power supplied to the light emitters 47 to 49, the ratio of the brightness of each light emitter is corrected. As a result, it is possible to prevent the actual display color of the state display unit 45 from deviating from the preset display color, making it difficult to grasp the state of the robot 20. In addition, it is possible to prevent the user from misidentifying the state of the robot 20. Therefore, it is possible to prevent the reliability of the robot 20 from being lowered while improving the convenience of the robot 20.

Here, the deterioration of the illuminants 47 to 49 becomes more remarkable as the electric power supplied to the illuminants 47 to 49 increases. That is, the increase in the electric power supplied to the light emitters 47 to 49 may accelerate the deterioration of the light emitters 47 to 49 and shorten the life of the state display unit 45. In order to correct the brightness ratio in order to reduce the influence of deterioration, for example, the brightness ratio may be corrected by increasing the power supply to the light emitter (blue light emitter 49) having a large influence of deterioration. Although it is possible, if such a configuration is used, a new problem arises that the product life is shortened even if the convenience and reliability of the robot 20 are suitably compatible. In this respect, if the ratio of luminance is corrected by reducing the power supply as described above, the problem (shortening of product life) can be suitably solved. Further, it is possible to suggest to the user that the deterioration has occurred by darkening the state display unit 45 with the deterioration.

By monitoring the blue light emitter 49, which is likely to deteriorate among the three light emitters 47 to 49, it is possible to prevent the deterioration from becoming difficult to detect due to disturbance such as noise. This is a preferable configuration for stably exerting the above-mentioned correction function.

If the voltage applied to the red light emitter 47 and the green light emitter 48 is reduced (switched from high voltage to low voltage) when the blue light emitter 49 is deteriorated as predetermined, the above-mentioned various types can be obtained by a simple configuration. It can be effective.

Even if the ratio of luminance is corrected as described above, the deviation of the display color may become large again due to further deterioration even after the correction. For example, if the configuration is such that the correction is performed every time the deterioration progresses to some extent, such a concern can be dispelled, but the configuration related to detection → correction becomes complicated. Therefore, as shown in the present embodiment, the ratio of the luminance of the corrected red light emitting body 47 and the green light emitting body 48 is not made to match the ratio at the time when the predetermined deterioration does not occur (initial ratio), but further deterioration. In anticipation of a configuration that is higher than the ratio when deterioration does not occur, even if deterioration progresses after correction, the brightness ratio will change to approach the normal ratio for a while, and deterioration will occur again. It is possible to prolong the period until the effect of is noticeable. This is preferable in order to reduce the frequency of correction as much as possible and to prevent the configuration related to the correction from becoming excessively complicated.

In a configuration in which the state of the robot 20 is displayed by color mixing, it is preferable to arrange the light emitters 47 to 49 as close as possible. Therefore, if the voltage drop amount of the resistance portion 78 connected in series to the blue light emitting body 49 is detected by the voltage sensor 81 as shown in the present embodiment, the configuration related to the voltage sensor 81 is the light emitting body. It is possible to suppress an obstacle in realizing the aggregated arrangement of 47 to 49. If the voltage drop amount is monitored as shown in the present embodiment, the degree of deterioration can be accurately grasped.

<Other embodiments>
The content is not limited to the description of the above-described embodiment, and may be implemented as follows, for example. Incidentally, each of the following configurations may be individually applied to the above embodiment, or may be partially or wholly combined and applied to the above embodiment.

In the above embodiment, when the brightness of the blue light emitting body 49 is lowered, the voltage applied to the red light emitting body 47 and the green light emitting body 48 is reduced and supplied to the red light emitting body 47 and the green light emitting body 48. The brightness of the light emitters 47 to 48 is adjusted (reduced) by reducing the current, but the present invention is not limited to this. For example, the brightness of the light emitters 47 to 48 may be adjusted (reduced) by reducing the current supplied to the red light emitter 47 and the green light emitter 48 by using a variable resistor.

-It is also possible to adjust the brightness of the light emitters 47 to 49 by pulse control (so-called PWM (Pulse Width Modulation) method). That is, it is also possible to switch the display color by adjusting the ratio (duty ratio) of the ON time (lighting time) in the pulse width while maintaining the cycle constant. For example, the storage unit 52 stores the duty ratio of the pulse signal output to each of the light emitting bodies 47 to 49 for each state of the robot 20, and the control unit 51 specifies the state of the robot 20 and sets the specified state. It is preferable to configure the pulse control of each light emitter 47 to 49 so as to have a corresponding duty ratio. With such a configuration, the types of colors that can be displayed on the status display unit 45 can be increased. Therefore, it is possible to further subdivide the state of the robot 20 and notify the user. In such a configuration, it is preferable to correct the brightness balance of each light emitter 47 to 49 by adjusting the duty ratio according to the degree of deterioration.

-In the above embodiment, the deterioration monitoring target is the blue light emitter 49, but the present invention is not limited to this. It is also possible to monitor the deterioration of the red light emitter 47 and the green light emitter 48 in place of or in addition to the blue light emitter 49.

For example, when there is a correlation in the progress of deterioration of each of the light emitting bodies 47 to 49, the deterioration of the blue light emitting body 49 can be estimated from the monitoring result of the deterioration of the red light emitting body 47 and the monitoring result of the deterioration of the green light emitting body 48. .. In view of such circumstances, it is possible to switch the voltage applied to the red light emitting body 47 and the green light emitting body 48 based on the monitoring result (estimated result). However, in order to improve the reliability of the false positive suppression function shown in the above embodiment, it is preferable to directly monitor the deterioration of the blue light emitter 49 having a relatively large voltage change range.

Further, when the light emitting body (red light emitting body 47 or green light emitting body 48) whose brightness is reduced by the above-mentioned correction is greatly deteriorated, there is a possibility that the brightness balance is greatly disturbed by the correction. Therefore, whether or not to perform the above correction may be determined based on the degree of deterioration of the light emitters 47 and 48.

-In the above embodiment, the brightness of the light emitters 47 to 48 is adjusted by switching the voltage applied to the red light emitter 47 and the green light emitter 48 between low voltage and high voltage, but the present invention is limited to this. It's not something. The voltage applied to the red light emitter 47 and the green light emitter 48 may be multi-staged. For example, a first voltage, a second voltage, and a third voltage (first voltage> second voltage> third voltage) are provided as voltages applied to the red light emitting body 47 and the green light emitting body 48, and the monitoring voltage by the voltage sensor is set. A first threshold and a second threshold (first threshold> second threshold) are provided as thresholds, and when the monitoring voltage is equal to or higher than the first threshold, the first voltage is applied and when the monitoring voltage falls below the first threshold. A second voltage is applied to the voltage, and when the monitoring voltage falls below the second threshold voltage, a third voltage is applied, so that the amount of light can be gradually reduced.

In the above embodiment, the voltage sensor 81 is used to monitor the deterioration of the blue light emitter 49, and when a predetermined deterioration occurs, the brightness of the other light emitters 47 to 48 is adjusted. However, the deterioration is monitored. The specific configuration for this is arbitrary. For example, a current sensor may be used to monitor the deterioration of the blue light emitter 49, or an optical sensor may be used to monitor the deterioration of the blue light emitter 49.

-In the above embodiment, when the color mixing balance (relationship of the brightness ratio of each light emitting body 47 to 49) is disturbed due to the deterioration of the light emitting bodies 47 to 49, the brightness of the red light emitting body 47 and the green light emitting body 48 is lowered. By doing so, the configuration is such that the ratio of luminance is corrected, but the present invention is not limited to this. For example, when the color mixing balance is lost due to deterioration of the light emitters 47 to 49, the brightness ratio is corrected by increasing the voltage applied to the blue light emitter 49 to suppress the decrease in the brightness of the blue light emitter 49. It is also possible to make a configuration that does.

-In the above embodiment, the three types (three colors) of the light emitters 47 to 49 are used in combination, but the present invention is not limited to this. It is sufficient if at least the diversification of display colors is realized by color mixing, and a configuration in which two types (two colors) of light emitters are used in combination or a configuration in which four types (four colors) or more of light emitters are used in combination may be used. It is also possible to do.

-In the above embodiment, the display color of the state display unit 45 is diversified by additive color mixing using the so-called three primary colors of colored light (red, green, blue), but the base color of the color mixing is other than the three primary colors. It is also possible to use the color of. For example, it does not deny the configuration in which the display color of the state display unit 45 is diversified by the subtractive color mixing using the so-called three primary colors (yellow, magenta, and blue-green).

The relationship between the display color of the state display unit 45 shown in FIG. 4 and the state of the robot 20 in the above embodiment may be arbitrarily changed. For example, the display color of the status display unit 45 is white when it is in the start-up preparation state or the connection standby state, and the display color of the status display unit 45 is green when it is in the collaborative program playback state or the diagnosis execution state. It is also possible to do. Even in such a configuration, by suppressing the imbalance of the color mixing in consideration of the deterioration of the blue light emitter 49, there is an opportunity to be mistaken as a teaching state even though it is in the start-up preparation state or the connection standby state. Can be reduced.

-It is also possible to change each of the light emitters 47 to 49 shown in the above embodiment from the filterless type to the filter type. In the configuration of coloring with a color filter, since the light emitting elements serving as light sources can be aligned so as to have the same color, it is possible to suppress the change in the display color due to the deterioration of the light emitting elements. However, even with such a configuration, there may be a difference in the decrease in brightness due to the deterioration of the color filter. In view of these circumstances, even when coloring is performed using a color filter, deterioration is monitored for a predetermined light emitter (color filter) in which deterioration is most noticeable, and the brightness is based on the monitoring result. It is desirable to have a configuration that adjusts.

The specific configuration for monitoring the deterioration of the filter type light emitter (color filter) is arbitrary. For example, the configuration may be such that the color filter itself is monitored, or the brightness of the light emitted through the color filter may be determined. It may be configured to monitor using an optical sensor such as a photo sensor.

-In the above embodiment, the case where the voltage (low voltage) applied to the red light emitter 47 and the voltage (low voltage) applied to the green light emitter 48 are unified by the correction is illustrated, but the present invention is limited to this. It's not something. Considering that there is a slight difference between the progress of deterioration of the red light emitter 47 and the progress of deterioration of the green light emitter 48 (see FIG. 5), the voltage applied to the red light emitter 47 by the correction (first). The low voltage) and the voltage applied to the green light emitter 48 (second low voltage) may be different. Specifically, it is preferable that the voltage applied to the red light emitter 47 (first low voltage)> the voltage applied to the green light emitter 48 (second low voltage). The first low voltage and the second low voltage may be set so that, for example, the brightness of each of the corrected light emitters 47 to 49 is the same or substantially the same.

-OLED (Organic Light Emitting Diode: organic EL) may be used as the light emitters 47 to 49.

In the above embodiment, the state display unit 45 is arranged on the base 31 of the robot 20, but the arrangement of the state display unit 45 may be arbitrarily changed. For example, it can be arranged on the arm 32 or on the pedestal plate 21. Further, the state display unit 45 does not necessarily have to be annular, and the shape thereof may be arbitrarily changed.

-The configuration related to the status display unit 45 shown in the above embodiment may be applied to the status display unit that displays the status of other industrial equipment (for example, a transport device such as a conveyor or a processing device such as a press machine).

20 ... Robot, 45 ... Status display unit, 46 ... Light emitting unit, 47 ... Red light emitter, 48 ... Green light emitter, 49 ... Blue light emitter, 50 ... Servo amplifier, 51 ... Control unit, 52 ... Storage unit, 60 ... Power supply circuit, 61 ... 1st supply path, 62 ... 2nd supply path, 65 ... high voltage supply path, 66 ... low voltage supply path, 70 ... power supply section, 75 ... high voltage power supply section, 76 ... low voltage power supply section , 80 ... switching unit, 81 ... voltage sensor, 85 ... high voltage side switch, 86 ... low voltage side switch.

Claims (12)

A light emitting part that is a combination of multiple light sources with different light emitting colors,
A power supply unit that supplies power to the plurality of light sources,
It has a control unit that controls power supplied from the power supply unit to the plurality of light sources.
A robot status display device that displays the status of an industrial robot by mixing colors of light from the plurality of light sources.
The plurality of light sources include a first light source and a second light source whose brightness is more likely to decrease due to deterioration than the first light source when used under predetermined conditions.
A detector capable of detecting deterioration of the second light source and
When the detection unit detects a predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light with a predetermined display color which is a mixing color, the detection unit detects the predetermined deterioration. A robot status display device including a correction unit that corrects the ratio of the luminance of the plurality of light sources by reducing the power supplied to the first light source as compared with the case where the first light source is not used. As a power supply unit for applying a voltage to the first light source, a first power supply unit capable of applying a first voltage to the first light source and a second voltage lower than the first voltage can be applied to the first light source. A second power supply unit is provided,
The correction unit applies a voltage to the first light source when the detection unit does not detect the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in the predetermined display color. When the detection unit detects the predetermined deterioration in a situation where the power supply unit to be applied is the first power supply unit and the light emission control is performed so that the light emission unit emits light in the predetermined display color, the detection unit is used. The state display device for a robot according to claim 1, wherein the power supply unit that applies a voltage to the first light source is the second power supply unit. The control unit is configured to change the display color of the light emitting unit according to the state of the industrial robot by controlling the amount of current flowing through the plurality of light sources by PWM control.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in a predetermined display color which is a mixed color, the correction unit is described by the detection unit. The robot status display according to claim 1, which is configured to correct the ratio by reducing the duty ratio of the PWM signal output to the first light source as compared with the case where a predetermined deterioration is not detected. Device. When the ratio of the luminance is corrected by reducing the power supplied to the first light source by the correction unit, the ratio of the luminance of the first light source after the correction does not cause the predetermined deterioration. The robot status display device according to any one of claims 1 to 3, which is configured to be lower than the time ratio. The first light source and the second light source have a configuration in which the emission color differs depending on the emission wavelength of the light emitting element.
The robot status display device according to any one of claims 1 to 4, wherein the predetermined deterioration is detected when the voltage drop amount in the second light source reaches a threshold value. A resistance section connected in series with the second light source is provided between the power supply section and the grounding section.
One of claims 1 to 5, wherein the detection unit has a voltage sensor that detects a voltage drop amount in the resistance unit, and is configured to detect the predetermined deterioration based on the voltage drop amount. The state display device for a robot described in one. As the display color of the light emitting unit, a first display color indicating that the robot is in an operating state and a second display color indicating that the industrial robot is in a stationary state are set.
The ratio of the brightness of each light source when the light emitting unit is made to emit light with the first display color is the ratio corresponding to the second display color from the ratio corresponding to the first display color due to deterioration of the plurality of light sources. It has a structure that can change to approach
The predetermined display color is the first display color.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in the first display color, the correction unit is described by the detection unit. By reducing the power supplied to the first light source as compared with the case where deterioration is not detected, the ratio of the luminance of the plurality of light sources is corrected so as to be closer to the ratio of the luminance corresponding to the first display color. The robot status display device according to any one of claims 1 to 6, which is configured. The second light source is a blue LED whose emission color is blue, and the first light source is a red LED whose emission color is red or a green LED whose emission color is green.
The robot state display device according to any one of claims 1 to 7, wherein the detection unit can detect deterioration of the blue LED. The plurality of light sources are composed of the second light source whose emission color is blue, the first light source whose emission color is one of red and green, and the third light source whose emission color is the other of red and green. Has been
The control unit causes the light emitting unit to emit light in white when the industrial robot is in an operating state, while the light emitting unit emits light in yellow when the industrial robot is in a stationary state. It is configured to control the plurality of light sources.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so that the light emitting unit emits light in white, which is the predetermined color, the correction unit is described by the detection unit. By reducing the power supplied to the second light source and the third light source as compared with the case where the predetermined deterioration is not detected, the ratio of the luminance of the plurality of light sources is brought closer to the ratio of the luminance corresponding to white. The robot status display device according to claim 8, further comprising a means for correcting the above. The plurality of light sources are composed of the first light source, the second light source, and the third light source.
The third light source has a configuration in which the brightness is less likely to decrease due to deterioration than the first light source when used under the predetermined conditions.
When the detection unit detects the predetermined deterioration in a situation where the light emission control is performed so as to make the light emitting unit emit light in a predetermined display color which is a mixing color, the correction unit sends the light emitting unit to the first light source. One of claims 1 to 9, which is configured to correct the ratio of the luminance of the plurality of light sources by individually reducing the power supplied and the power supplied to the third light source. The status display device for robots described in. The first light source is a red LED whose emission color is red, the second light source is a blue LED whose emission color is blue, and the third light source is a green LED whose emission color is green.
In the correction unit, the amount of decrease in the power supply when the power supply to the red LED is reduced based on the detection of the predetermined deterioration by the detection unit is measured by the detection unit. The ninth or tenth aspect of the present invention is configured to make the correction so as to be smaller than the amount of decrease in the supply power when the power supply to the green LED is reduced based on the detection. Status display device for robots. An industrial robot including the robot status display device according to any one of claims 1 to 11.

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