TW201702033A - Robot apparatus - Google Patents

Abstract

Provided is a robot apparatus capable of reducing, when a situation occurs in which a robot arm does not move, the workload of an operator, including finding the cause thereof. The robot apparatus according to an embodiment is provided with a multi-joint arm mechanism with multiple joints (J1-J6), and is characterized in that a cover that covers at least one of said multiple joints (J1-J6) is equipped with a display device (41) for displaying the state of each of the multiple joints (J1-J6).

Description

Robotic device

Embodiments of the present invention relate to a robot apparatus.

In the robot apparatus, the operator must teach the robot apparatus the operation point of the hand that is equipped at the front end of the robot arm, or the operation of the end point and the end point of the work point, etc., and actually the operator operation is called The operation unit of the teaching box moves the arm and teaches the robot device that the above operation is called teaching.

In this teaching, even if the operation unit is operated, there is a case where the mechanical arm does not move, and the reason is considered to be various. For a specific reason, the efficiency of teaching is reduced due to the recovery operation.

In addition, there is a model in which the operation unit 60 is provided with a display screen and has a function of displaying an error message on the display screen. However, most of the devices are only notified of the abnormality of the device side represented by the overheating of an actuator such as an AC/DC motor. However, in actuality, the mechanical arm does not operate because it cannot be called an abnormality on the device side such as a conflict with the outside. In this case, of course, it is not necessary to eliminate the cause on the device side. The operator needs to look at the hand in the teaching operation. End), whenever the arm does not move, the operator has to move the line of sight to the operating part, first confirming whether the cause is caused by an abnormality on the device side, which is very troublesome.

Of course, the situation in which the robot arm does not move occurs not only during the teaching period but also during the normal task. When the cause is specified, the impact of restoring the work load and the downtime required for the operation is absolutely not low.

SUMMARY OF THE INVENTION An object of the present invention is to reduce the workload of an operator who includes a cause of a malfunction when a mechanical arm does not operate.

The robot apparatus according to the present embodiment includes a multi-joint arm mechanism having a plurality of joint portions, and is provided with a display device for displaying the plural number on a cover covering at least one of the plurality of joint portions The state of each joint.

1‧‧‧ base

2‧‧‧arms

4‧‧‧ wrist

J1, J2, J4, J5, J6, J7‧‧‧ Rotating joints

J3‧‧‧Directive telescopic joint

11a‧‧‧1st support

11b‧‧‧2nd support

11c‧‧‧3rd support

21‧‧‧1st link chain

22‧‧‧2nd link chain

23‧‧‧1st link link

24‧‧‧2nd link chain

27‧‧‧Combined links

41‧‧‧Display Department

Fig. 1 is a perspective view showing the appearance of a mechanical arm mechanism of the robot apparatus of the embodiment.

Fig. 2 is a side view showing the internal structure of the mechanical arm mechanism of Fig. 1.

Fig. 3 is a view showing the configuration of the mechanical arm mechanism of Fig. 1 by the symbol representation.

Fig. 4 is a block diagram showing the configuration of the robot apparatus of the embodiment. Figure.

Fig. 5 is a view showing an example of a display screen of the display unit of Fig. 4;

Fig. 6 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to the first modification of the embodiment.

Fig. 7 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to a second modification of the embodiment.

Fig. 8 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to a third modification of the embodiment.

Fig. 9 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to a fourth modification of the embodiment.

Fig. 10 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to a fifth modification of the embodiment.

Fig. 11 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to a sixth modification of the embodiment.

Fig. 12 is a perspective view showing the position of an indicator lamp of the mechanical arm mechanism according to a seventh modification of the embodiment.

Fig. 13 is a perspective view showing the position of an indicator lamp of the mechanical arm mechanism according to the eighth modification of the embodiment.

Hereinafter, the robot apparatus of this embodiment will be described with reference to the drawings. The robot apparatus includes a multi-joint arm mechanism having a plurality of joint portions. In the robot apparatus of the present embodiment, a display unit that displays the state of each of the plurality of joint portions is provided. In this display section, each of the joint parts is displayed. The operating state (during operation or not), whether the joint portion reaches the movable limit, whether the actuator of the joint portion is in an overheated state, or whether the actuator of the joint portion is out of adjustment. Thereby, when the operator operates the cartridge but the robot arm does not move, the operator can immediately confirm that the cause of the difference is the abnormality of the robot device side represented by the overheating of the actuator or the joint portion by visually recognizing the display portion. The reason for reaching the movable limit or the like is not the abnormal operation of the robot device side. Further, this action effect can be realized by any of the AC servo motor, the DC servo motor, and the stepping motor as the actuator of the joint portion. Here, a case where a stepping motor is used as an actuator will be described as an example. Further, as the robot apparatus, a multi-joint arm mechanism including a linear motion expansion joint of one of a plurality of joint portions will be described as an example. In the following description, components having substantially the same functions and configurations are denoted by the same reference numerals, and the description will be repeated only when necessary.

Fig. 1 is a perspective view showing the appearance of a robot apparatus of the embodiment. The arm mechanism constituting the robot apparatus has a base portion 1 having a substantially cylindrical shape, an arm portion 2 connected to the base portion 1, and a wrist portion 4 attached to the front end of the arm portion 2. An adapter (not shown) is provided on the wrist portion 4. For example, the adapter is provided in a rotating portion of the sixth rotating shaft RA6 to be described later. For the adapter provided on the wrist 4, a robot hand corresponding to the purpose is installed.

The mechanical arm mechanism has a plurality of, here, six joint portions J1, J2, J3, J4, J5, and J6. A plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially disposed from the base portion 1. In general, the first, second, and third joint portions J1, J2, and J3 are referred to as the root portion 3 axes, and the fourth, fifth, and sixth joint portions J4, J5, and J6 are referred to as changing the posture of the robot hand. 3 axes of the wrist. Wrist 4 has the fourth, fifth, and sixth joint portions J4, J5, and J6. At least one of the joint portions J1, J2, and J3 constituting the three axes of the root is a linear motion expansion joint. Here, the third joint portion J3 is configured as a linear motion joint portion, in particular, a joint portion having a relatively long stretch distance. The arm portion 2 represents a telescopic portion of the linear motion expansion joint portion J3 (third joint portion J3).

A display portion for displaying the state of each of the joint portions J1 - J6 in a range from 30 degrees to 90 degrees in the front side of the cover of the cylindrical shape of the sixth joint portion J6 covering the wrist portion 4 (display device) 41 is attached in a state of being bent along the cylindrical shape. The display unit 41 is exemplified by, for example, a CRT display or a liquid crystal display, an organic EL display, a plasma display, or the like. Further, the display portion 41 may not be directly attached to the cover, but may be attached to a base or a mounting hook provided on the cover. For example, a pedestal for arranging the display portion 41 with the display surface facing forward may be provided on the side surface of the cover of the cylindrical cover covering the sixth joint portion J6, and the display may be mounted on the base. Part 41.

The first joint portion J1 is, for example, a torsion joint centered on the first rotation axis RA1 that is vertically supported by the base surface. The second joint portion J2 is a curved joint centering on the second rotating shaft RA2 disposed perpendicular to the first rotating shaft RA1. The third joint portion J3 is a joint in which the arm portion 2 linearly expands and contracts with the third axis (moving axis) RA3 disposed perpendicular to the second rotation axis RA2 as a center.

The fourth joint portion J4 is a torsion joint centering on the fourth rotation axis RA4. When the seventh joint portion J7 which will be described later does not rotate, that is, when the entire arm portion 2 has a linear shape, the fourth rotation axis RA4 substantially coincides with the third movement axis RA3. The fifth joint portion J5 is the fifth orthogonal to the fourth rotation axis RA4. The curved joint of the rotating shaft RA5 is the center. The sixth joint portion J6 is a curved joint centering on the sixth rotation axis RA6 that is orthogonal to the fourth rotation axis RA4 and that is perpendicular to the fifth rotation axis RA5.

The arm support (first support) 11a forming the base 1 has a hollow hollow structure formed around the first rotation axis RA1 of the first joint portion J1. The first joint portion J1 is attached to a fixed table (not shown). When the first joint portion J1 rotates, the arm portion 2 rotates left and right together with the shaft of the first support body 11a. Further, the first support 11a may be fixed to the ground contact surface. In this case, the structure is set to be separated from the first support 11a and the arm 2 is rotated. The second support portion 11b is connected to the upper portion of the first support 11a.

The second support portion 11b has a hollow structure continuous with the first support portion 11a. One end of the second support portion 11b is attached to the rotating portion of the first joint portion J1. The other end of the second support portion 11b is opened, and the third support portion 11c is rotatably fitted to the second rotation axis RA2 of the second joint portion J2. The third support portion 11c has a hollow structure including a scaly outer shape that communicates with the first support portion 11a and the second support portion. The third support portion 11c is accommodated in the second support portion 11b or is delivered from the second support portion 11b in accordance with the bending of the second joint portion J2. The rear portion of the arm portion 2 of the linear motion expansion joint portion J3 (the third joint portion J3) constituting the mechanical arm mechanism is housed inside the hollow structure in which the first support portion 11a and the second support portion 11b are continuous by contraction. .

The third support portion 11c is rotatably fitted to the lower portion of the open end of the second support portion 11b around the second rotation axis RA2. borrow In this case, the second joint portion J2 which is a curved joint portion around the second rotation axis RA2 is formed. When the second joint portion J2 is rotated, the arm portion 2 is rotated in the vertical direction around the second rotation axis RA2, that is, the undulating motion.

The fourth joint portion J4 has a torsion joint with a fourth rotation axis RA4 that is typically in contact with the arm center axis of the arm portion 2 in the telescopic direction, that is, the third movement axis RA3 of the third joint portion J3. When the fourth joint portion J4 rotates, the wrist portion 4 and the robot hand attached to the wrist portion 4 rotate around the fourth rotation axis RA4. The fifth joint portion J5 has a curved joint portion of the fifth rotation axis RA5 that is orthogonal to the fourth rotation axis RA4 of the fourth joint portion J4. When the fifth joint portion J5 is rotated, the fifth joint portion J5 is rotated up and down (the vertical direction around the fifth rotation axis RA5) from the distal end to the robot hand. The sixth joint portion J6 has a curved joint of a sixth rotation axis RA6 that is orthogonal to the fourth rotation axis RA4 of the fourth joint portion J4 and perpendicular to the fifth rotation axis RA5 of the fifth joint portion J5. When the sixth joint portion J6 rotates, the robot hand swings left and right.

As described above, the robot hand attached to the adapter of the wrist portion 4 is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and the fourth, fifth, and sixth joints are used. The parts J4, J5, and J6 are arranged in any posture. In particular, the length of the stretching distance of the arm portion 2 of the third joint portion J3 allows the robot hand to reach a wide range of objects from the proximal position of the base portion 1 to the remote position. The third joint portion J3 is characterized by a linear stretching operation and a length of a stretching distance thereof by a linear motion stretching mechanism.

Fig. 2 is a perspective view showing the internal structure of the mechanical arm mechanism of Fig. 1. The linear motion expansion mechanism has an arm portion 2 and an injection portion 30. Arm 2 has the first The chain link row 21 and the second connecting chain link row 22 are connected. The first connecting link row 21 includes a plurality of first connecting links 23 . The first connecting link 23 is formed in a substantially flat plate shape. The first connecting links 23 in the front and rear are connected to each other at their end portions, and are bent and connected in a row by a pin. The first connecting link row 21 can be freely bent toward the inside or the outside.

The second connecting link row 22 includes a plurality of second connecting links 24 . The second connecting link 24 is configured as a cross section Short groove shaped body. The front and rear second connecting links 24 are connected to each other at the end portions of the bottom surfaces thereof so as to be bent and connected in a row by pins. The second connecting link row 22 can be bent inward. The cross section of the second connecting link 24 is The shape of the word is such that the second connecting link row 22 and the side plates of the adjacent second connecting link 24 collide with each other and are not bent outward. Further, the surface of the first and second connecting links 23 and 24 facing the second rotating shaft RA2 is defined as an inner surface, and the surface on the opposite side is referred to as an outer surface. The first connecting link 23 at the foremost end of the first connecting link row 21 and the second connecting link 24 at the foremost end of the second connecting link row 22 are connected by a joint link 27. For example, the joint link 27 has a shape in which the second joint link 24 and the first joint link 23 are combined.

The injection unit 30 is formed by a plurality of upper rolls 31 and a plurality of lower rolls 32 supported by a frame 35 having a rectangular tube shape. For example, the plurality of upper rollers 31 are arranged along the central axis of the arm at intervals substantially equivalent to the length of the first connecting link 23. Similarly, a plurality of lower rollers 32 are arranged along the central axis of the arm at intervals substantially equivalent to the length of the second connecting link 24. After the injection portion 30, the guide roller 40 and the drive gear 50 are opposed to each other with the first connecting link row 21 interposed therebetween. Drive gear 50 is via The stepper motor 330 is connected to the illustrated reducer. A linear gear is formed on the inner surface of the first connecting link 23 along the connecting direction. When the plurality of first connecting links 23 are linearly aligned, the linear gears are linearly connected to each other to form a long linear gear. The drive gear 50 is meshed with a linear linear gear. The linearly connected linear gear train and the drive gear 50 together constitute a rack and pinion mechanism.

When the arm is extended, the motor 55 is moved, and the drive gear 50 is rotated in the forward direction, the first connecting link row 21 is brought into a position parallel to the central axis of the arm by the guide roller 40, and is guided to the upper roller 31 and the lower roller 32. between. As the first connecting link row 21 moves, the second connecting link row 22 is guided to the upper portion of the injection portion 30 between the upper roller 31 and the lower roller 32 by a guide rail (not shown) disposed behind the injection portion 30. . The first and second connecting link rows 21 and 22 guided between the upper roller 31 and the lower roller 32 are pressed against each other. Thereby, the columnar bodies are constituted by the first and second connecting link rows 21 and 22. The injection unit 30 joins the first and second connecting link rows 21 and 22 to form a columnar body, and holds the columnar body up, down, left, and right. The columnar body formed by joining the first and second connecting link rows 21 and 22 is prevented from coming out by the injection unit 30, thereby maintaining the joined state of the first and second connecting link rows 21 and 22. When the joined state of the first and second connecting link rows 21 and 22 is maintained, the bending of the first and second connecting link rows 21 and 22 is mutually restrained. Thereby, the first and second connecting link rows 21 and 22 constitute a columnar body having a certain rigidity. The columnar system refers to a columnar rod in which the first connecting link row 21 is joined to the second connecting link row 22. The columnar system second connecting link 24 and the first connecting link 23 are integrally formed into a tubular body having various cross-sectional shapes. Place The tubular system is defined as a shape in which the front and rear portions and the rear end portion are open, surrounded by the top, bottom, and side plates. The columnar system in which the first and second connecting link rows 21 and 22 are joined is a starting end of the joining link 27, and is linearly fed out from the opening of the third supporting portion 11c along the third moving axis RA3.

When the arm is contracted, the motor 55 is moved, and the drive gear 50 is rotated in the reverse direction, and the first connecting link row 21 engaged with the drive gear 50 is pulled back into the first support 11a. As the first connecting link row moves, the columnar body is pulled back into the third support 11c. The columnar body that is pulled back is separated behind the injection portion 30. For example, the first connecting link row 21 constituting the columnar body is sandwiched by the guide roller 40 and the drive gear 50, and the second connecting link row 22 constituting the columnar body is pulled downward by gravity, whereby the second link The chain link row 22 and the first connecting link row 21 are apart from each other. The first and second connecting link rows 21 and 22 that have moved away from each other are restored to a bendable state. At the time of storage, the second connecting link row 22 is conveyed to the inside of the first support body 11a (base portion 1) from the injection portion 30, and the first connecting link row 21 is also connected to the second link. The chain rows 22 are bent in the same direction (inside) and transported. The first connecting link row 21 is housed in a state substantially parallel to the second connecting link row 22 .

Figure 3 is a diagram showing the mechanical arm mechanism of Figure 1 by representation of the symbols. In the arm mechanism, three positional degrees of freedom are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 which constitute the three axes of the root portion. Further, three posture degrees of freedom are realized by the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 which constitute the three axes of the wrist.

The robot coordinate system Σ b is a coordinate system having an arbitrary position on the first rotation axis RA1 of the first joint portion J1 as an origin. In the robot coordinate system Σ b, three orthogonal axes (Xb, Yb, Zb) are defined. The Zb axis is an axis parallel to the first rotation axis RA1. The Xb axis and the Yb axis are orthogonal to each other and orthogonal to the Zb axis. The end coordinate system Σ h is a coordinate system in which the robot hand 5 attached to the wrist 4 is at an arbitrary position (end reference point). For example, when the robot hand 5 is a 2-finger hand, the position of the end reference point (hereinafter simply referred to as the end) is defined at the center position between the two fingertips. In the end coordinate system Σ h, three orthogonal axes (Xh, Yh, and Zh) are defined. The Zh axis is an axis parallel to the sixth rotation axis RA6. The Xh axis and the Yh axis are orthogonal to each other and orthogonal to the Zh axis. For example, the Xh axis is an axis parallel to the front and rear directions of the robot hand 5. The end posture is set as the rotation angle of the end coordinate system Σ h relative to the robot coordinate system 绕 b around the orthogonal three axes (rotation angle around the Xh axis (roll angle) α, rotation angle around the Yh axis ( The pitch angle β, the rotation angle around the Zh axis (swing angle) γ).

The first joint portion J1 is disposed between the first support portion 11a and the second support portion 11b, and is configured as a torsion joint centering on the rotation axis RA1. The rotation axis RA1 is disposed perpendicular to the reference surface BP of the base on which the fixing portion of the first joint portion J1 is provided.

The second joint portion J2 is configured as a curved joint centering on the rotation axis RA2. The rotation axis RA2 of the second joint portion J2 is provided in parallel with the Xb axis on the space coordinate system. The rotation axis RA2 of the second joint portion J2 is oriented perpendicular to the rotation axis RA1 of the first joint portion J1. Further, the second joint portion J2 is formed on the first rotating shaft RA1 with respect to the first joint portion J1. It is shifted in the two directions of the (Zb axis direction) and the Yb axis direction perpendicular to the first rotation axis RA1. The second support 11b is attached to the first support 11a so that the second joint portion J2 is displaced in the above-described two directions with respect to the first joint portion J1. The dummy arm portion (link portion) that connects the second joint portion J2 to the first joint portion J1 has a crank shape in which two hook-shaped bodies that are vertically bent at the tip end are combined. The dummy arm portion is composed of first and second supports 11a and 11b having a hollow structure.

The third joint portion J3 is configured as a linear motion expansion joint centering on the movement axis RA3. The movement axis RA3 of the third joint portion J3 is oriented perpendicular to the rotation axis RA2 of the second joint portion J2. When the rotation angle of the second joint portion J2 is zero degrees, that is, the undulation angle of the arm portion 2 is zero and the arm portion 2 is horizontal, the movement axis RA3 of the third joint portion J3 is set to be the second joint portion J2. The rotation axis RA2 and the rotation axis RA1 of the first joint portion J1 are perpendicular to each other. In the space coordinate system, the movement axis RA3 of the third joint portion J3 is provided in parallel with the Yb axis perpendicular to the Xb axis and the Zb axis. Further, the third joint portion J3 is offset from the second joint portion J2 in the direction of the rotation axis RA2 (Yb axis direction) and the direction of the Zb axis orthogonal to the movement axis RA3. The third support 11c is attached to the second support 11b such that the third joint portion J3 is offset from the second joint portion J2 in the above two directions. The dummy arm portion (link portion) that connects the third joint portion J3 to the second joint portion J2 has a hook-shaped body whose front end is vertically curved. The dummy arm portion is composed of the second and third supports 11b and 11c.

The fourth joint portion J4 is configured to be twisted around the rotation axis RA4. joint. The rotation axis RA4 of the fourth joint portion J4 is disposed so as to substantially coincide with the movement axis RA3 of the third joint portion J3.

The fifth joint portion J5 is configured as a curved joint centering on the rotation axis RA5. The rotation axis RA5 of the fifth joint portion J5 is disposed so as to be substantially orthogonal to the movement axis RA3 of the third joint portion J3 and the rotation axis RA4 of the fourth joint portion J4.

The sixth joint portion J6 is configured as a torsion joint centering on the rotation axis RA6. The rotation axis RA6 of the sixth joint portion J6 is disposed so as to be substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5. The sixth joint portion J6 is provided to rotate the robot hand 5 as an end effector to the right and left. Further, the sixth joint portion J6 may constitute a curved joint whose rotation axis RA6 is substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5.

In this way, one of the three joints of the roots of the plurality of joint portions J1 - J6 is replaced by a linear motion joint portion, and the second joint portion J2 is offset in the two directions with respect to the first joint portion J1. The joint portion J3 is shifted in the two directions with respect to the second joint portion J2, whereby the mechanical arm mechanism of the robot apparatus of the present embodiment structurally eliminates the critical point posture.

Fig. 4 is a block diagram showing the configuration of the robot apparatus of the embodiment. The joint portions J1, J2, J3, J4, J5, and J6 of the robot arm mechanism of the robot apparatus of the present embodiment are provided with stepping motors 310, 320, 330, 340, 350, and 360 as actuators, respectively. The stepper motors 310, 320, 330, 340, 350, 360 are electrically connected to the driver units 210, 220, 230, 240, 250, 260. Typically, the drive unit 210, 220, 230, 240, 250, and 260 are respectively disposed in parallel with the stepping motor of the control object. The driver units 210, 220, 230, 240, 250, and 260 have the same configuration, and the same operation is performed on the stepping motor to be controlled in accordance with the control signal of the control device 100. Here, only the driver unit 210 will be described, and the description of the other driver units 220, 230, 240, 250, 260 will be omitted.

The stepping motor 310 is formed by arranging a plurality of stator coils around a rotor to which a drive shaft is connected. The stator coil is connected to the power supply circuit 212 via a switching element. The switching elements are turned on by a pulse signal supplied from the pulse signal generating unit 213. The stepping motor 310 (rotor) can be sequentially rotated at a specific step angle by sequentially turning on the switching elements. The rotation speed of the stepping motor 310 can be changed by changing the period of the switching pulse signal. The reciprocal of this period is defined as the pulse frequency.

The driver unit 210 controls the sway and stop of the stepping motor 310. The driver unit 210 includes a control unit 211, a power supply circuit 212, a pulse signal generation unit 213, a rotary encoder 215, and a counter 217. The control unit 211 collectively controls the driver unit 210 in accordance with the command value input from the control device 100.

The control unit 211 inputs a current command code indicating the field current value of the stepping motor 310 from the control device 100. The control unit 211 outputs a control signal corresponding to the current command code to the power supply circuit 212. The power supply circuit 212 is a current-variable AC/DC conversion power supply circuit that generates a current of a field current value specified by a current command code. The generated exciting current is supplied to the stator coil of the stepping motor 310. Moreover, the control unit 211 is a self-control device. The 100 input has a position command code indicating the angle of the next joint. The next joint angle refers to the joint angle after a specific control period Δt (for example, 10ms). Further, in the joint portions J1, J2, J4, J5, and J6, the joint angle indicates the positive and negative rotation angles from the reference position, and in the joint portion J3, the stretch distance indicates the distance from the most contracted state. Joint angle and elongation distance are collectively referred to as joint variables.

The control unit 211 outputs a pulse control signal corresponding to the position command code to the pulse signal generation unit 213. Specifically, the control unit 211 determines the number of pulses from the current joint variable by dividing the difference between the joint angles after the specific control period Δt input from the control device 100 by the step angle, by controlling the period Δ. The division of t by the number of pulses determines the pulse frequency based on its reciprocal. The control unit 211 outputs a pulse control signal corresponding to the determined pulse condition (number of pulses and pulse frequency) to the pulse signal generation unit 213.

The pulse signal generation unit 213 supplies an excitation pulse to each switching element based on a predetermined excitation sequence in accordance with a pulse control signal output from the control unit 211. Thereby, the joint portion J1 is rotated to the next joint angle. Similarly, in each of the driver units 220, 240, 250, and 260 corresponding to the joint portions J2, J4, J5, and J6, a position command code indicating the next joint angle is input from the control device 100, and corresponds to the joint portion J3. The driver unit 230 inputs a position command code indicating the next stretching distance (direct movement displacement) from the control device 100.

The rotary encoder 215 is connected to the drive shaft of the stepping motor 310, and outputs a pulse signal (encoded pulse) at a constant rotation angle.

The counter 217 outputs the self-rotating encoder 215 according to the direction of rotation. The number of coded pulses is added and subtracted, thereby calculating the number of counts. The counter 217 outputs the data relating to the accumulated count number every control period Δt. The data relating to the cumulative count number output by the counter 217 is input to the control device 100 via the driver unit interface 111.

The temperature sensor 410 outputs a signal corresponding to the temperature of the stepping motor 310. For example, the temperature sensor 410 uses a thermocouple as a sensor for measuring a surface temperature of a detecting element. The temperature sensor 410 is attached to the surface of the stepping motor 310 by, for example, a magnet or the like. The temperature sensor 410 outputs a voltage signal corresponding to the temperature of the stepping motor 310 every specific control period Δt. The voltage signal output by the temperature sensor 410 is input to the control device 100 via the temperature sensor interface 112.

The control device 100 includes a system control unit 101, an operation unit interface 102, a storage unit 103, a current position, a posture calculation unit 104, a command value calculation unit 105, an operation state determination unit 106, a movable limit determination unit 107, and an overheat state determination unit 108. The offset determination unit 109, the display control unit 110, the driver unit interface 111, the temperature sensor interface 112, the output unit 113, and the overspeed determination unit 114.

The control device 100 inputs data relating to the cumulative count number of coded pulses from each of the driver units 210-260 via the driver unit interface 111. Moreover, the temperature of each of the stepping motors 310-360 is input to the control device 100 from each of the temperature sensors 410-460 via the temperature sensor interface 112 every other control cycle (for example, every 10 ms). Corresponding voltage signal.

The control unit 100 is connected to the operation unit via the operation unit interface 102 60. The operation unit 60 functions as an input interface for the operator to input the change (movement) of the position of the wrist 4 or the robot hand (end effector), the change of the posture, and the like. For example, the operation unit 60 has a joystick or the like for designating a final target position and a movement time for moving the robot hand. For example, based on the operating direction of the joystick, the tilt angle of the joystick, and the operating acceleration of the joystick, the final target position and movement time of the robot hand are input. Further, the input devices constituting the operation unit 60 may be replaced by other devices such as a mouse, a keyboard, a trackball, a touch panel, and the like. For example, the operation unit 60 as a box for teaching is typically a touch panel or the like.

The system control unit 101 includes a CPU (Central Processing Unit), a semiconductor memory, and the like, and controls the control device 100 in a unified manner. The system control unit 101 is connected to each other via the control/data bus 120.

The memory unit 103 is a data of a joint variable (a movable threshold value) of a joint variable (a joint angle and a tensile distance (also referred to as an arm length from the origin)) in the joint joints J1 - J6, The data of the temperature threshold of each of the stepping motors 310-360 and the speed threshold of each of the stepping motors 310-360.

The threshold value of the joint variable is preferably set to the structural limit or approximate safety or control limit of each of the joint portions J1-J6. The temperature threshold is preferably set to a temperature limit that prevents the stepper motor from overheating. The speed threshold is set to a value at which the rotational angular velocity of each of the joint portions J1, J2, and J4-J6 does not exceed the upper limit value for safety consideration or misalignment prevention. Moreover, the speed threshold is set such that the telescopic speed of the joint portion J3 does not exceed safety considerations or misalignment prevention. The value of the limit. The threshold value of the joint variable, the temperature threshold, and the speed threshold can be appropriately changed in accordance with an operator's instruction by the operation unit 60.

The current position ‧ posture calculating unit 104 calculates the current position ‧ posture of the end point of interest based on the current joint variable of each of the joint portions J1 - J6 Specifically, the current position ‧ posture calculating unit 104 calculates the current state of each of the joint portions J1 - J6 by multiplying the cumulative count count counted by the counters of each of the driver units 210 - 260 by the step angle corresponding to 1 count Joint variable. The current position ‧ posture calculating unit 104 substitutes the current joint variable of each of the joint portions J1 - J6 as a parameter to the homogeneous transformation matrix K, and calculates the current position ‧ posture of the end point of interest observed from the robot coordinate system Σ b. The homogeneous transformation matrix K is a matrix in which the relationship between the end coordinate system Σ h and the robot coordinate system Σ b is defined. The homogeneous transformation matrix K is determined by the relationship between the links constituting the arm mechanism (the twist angle of the link length and the link) and the relationship between the axes of the joints (the distance between the links and the angle between the links). . The current position ‧ posture calculating unit 104 repeats the above-described calculation processing every control cycle Δt, and calculates the current position ‧ posture of the end point of interest every control period Δt.

The command value calculation unit 105 calculates a joint variable vector that is supplied to each of the driver units 210 to 260 as the command value for each control period Δt. In addition, the joint variable vector refers to six joint variables of the joint portions J1-J6, that is, six joint variables of the joint angles of the rotary joint portions J1, J2, and J4-J6 and the linear motion displacement of the linear motion joint portion J3.

The command value calculation unit 105 calculates the connection between the current position ‧ posture of the end point of interest and the final target position ‧ posture of the end point A point column of the target position of the end point of interest per unit time Δt (control period, for example, 10 ms). The current position of the end ‧ the posture is obtained from the calculation processing of the current position ‧ posture calculating unit 104. The final target position of the end ‧ posture and movement time are input by the operator via, for example, the operation unit 60. The trajectory calculation unit 105 substitutes the current position of the end point of interest ‧ the position of the end point of interest and the final target position ‧ posture of the end point of interest as a parameter, thereby calculating the orbit of the end point of interest (hereinafter referred to as The end track), and the point column of the target position is calculated every unit time Δt on this end track. The orbital calculation method uses any method.

The command value calculation unit 105 calculates a plurality of joint variable vectors corresponding to the plurality of calculated target positions. The command calculation unit calculates the end speed based on the current position of the end point of interest, the posture, the target position ‧ posture after the unit time Δt, and the unit time Δt, and converts the calculated end speed into a joint using the Jacobian inverse matrix Angular velocity. The Jacobian inverse matrix is provided by partial differentiation of the joint variable representing the position of the end point of interest ‧ end pose, and transforms the end velocity (minor change of the end position ‧ posture) into the joint angular velocity (joint angle ‧ telescopic A matrix of small changes in length). The Jacobian inverse matrix is calculated by the current joint variable vector and the link parameters of the arm construction. The command value calculation unit 105 calculates the displacement amount of each joint portion between the unit time Δt by multiplying the joint angular velocity by the unit time Δt, and adds the calculated displacement amount of each joint portion to the point immediately before the movement ( The current joint vector of the joint, thereby calculating the joint variable vector after unit time Δt.

The output unit 113 outputs the command value (joint variable) of each of the joint portions J1 to J6 calculated by the command value calculation unit 105 to each of the driver units 210-260 in accordance with the control of the system control unit 101.

The operation state determination unit 106 determines whether or not each of the joint portions J1 - J6 is in operation. Specifically, the operation state determination unit 106 repeatedly inputs the joint angle of the joint portion J1 at a specific cycle, and compares the current joint angle of the joint portion J1 with the joint angle of the previous one (before one cycle). When the current joint angle is not displaced from the previous joint angle, the operation state determination unit 106 determines that the joint portion J1 is "in the middle of stop", and outputs an operation determination signal informing that the joint portion J1 is in the stop. On the other hand, when the current joint angle is displaced with respect to the previous joint angle, the operation state determination unit 106 determines that the joint portion J1 is "in operation", and outputs an operation determination signal informing the joint portion J1 that it is in operation. In the same manner, the operation state determination unit 106 determines whether or not each of the other joint portions J2-J6 is in operation. The operation determination signal output from the operation state determination unit 106 includes a code for the specific joint portion and a code indicating the operation state ("operation" or "stop").

The movable limit determination unit 107 determines whether or not each of the joint portions J1 - J6 is a movable limit. The movable limit of the joint portion J3 refers to a state in which the arm portion 2 of the joint portion J3 is stretched to a threshold value of a predetermined stretch distance (linear movement displacement). The threshold value of the stretching distance can be set to the longest distance on the structure in which the arm portion 2 can be stretched, or can be set to be slightly shorter than the longest distance in the structure for safety or control in order to reliably continue the telescopic control of the arm portion 2. The ultimate distance. The longest distance in the structure corresponds to the linear gear meshing of the first connecting link 23 up to the end of the first connecting link row 21 The distance from which the arm portion 2 is stretched up to the moving gear 50. The movable limit of the joint portions J1, J2, J4, J5, and J6 refers to a state in which each of the joint portions J1, J2, J4, J5, and J6 is rotated to a threshold value of a predetermined joint angle. The threshold value of the joint angle can be set to the maximum angle of the structure in which each joint portion can be rotated, and can be set to be slightly smaller than the maximum angle of the structure in order to surely continue the rotation control of each joint portion.

Specifically, the movable limit determination unit 107 compares the current joint angle of the joint portion J1 with the threshold value of the joint angle. When the current joint angle reaches the threshold value, the movable limit determination unit 107 determines that the joint portion J1 is "the movable limit has been reached", and outputs a movable limit determination signal that notifies the joint portion J1 of the movable limit. In the same manner, the movable limit determining unit 107 determines whether or not each of the joint portions J2-J6 is the movable limit. The movable limit determination signal output from the movable limit determining unit 107 includes a code for specifying the joint portion that has reached the movable limit.

The overheated state determination unit 108 determines whether or not the stepping motor of each of the joint portions J1 - J6 is overheated, that is, whether the stepping motor of each of the joint portions J1 - J6 exceeds the normal temperature range. Specifically, the overheated state determining unit 108 holds the data of the correspondence table of the output voltage and the temperature of the temperature sensor 410 in its ROM. The overheat state determination unit 108 converts the voltage signal output from the temperature sensor 410 into a temperature by referring to the correspondence table. This temperature corresponds to the current temperature of the stepper motor 310 as measured by the temperature sensor 410. The overheated state determining unit 108 compares the current temperature of the stepping motor 310 with a temperature threshold. When the current temperature reaches the temperature threshold, the overheated state determining unit 108 determines that the stepping motor 310 is in the "overheated state". And outputting an overheat determination signal informing that the stepping motor 310 is in an overheated state. In the same manner, the overheated state determining unit 108 determines whether or not each of the stepping motors 320-360 corresponding to the joint portions J2-J6 is in an overheated state. The overheat determination signal output from the overheat state determination unit 108 includes a code for specifying a joint portion of the stepping motor having the overheated state.

The offset determination unit 109 determines whether or not the stepping motor of each of the joint portions J1 - J6 is out of adjustment. The stepping motor 310-360 repeatedly provides the joint variable as the command value every control cycle Δt. Therefore, the offset determination unit 109 determines whether or not each of the stepping motors 310-360 is displaced into a joint variable such as a command value after the control period Δt has elapsed, thereby determining whether or not the offset state is present. Specifically, the imbalance determination unit 109 compares the current joint variable of the joint portion J1 with the command value (joint variable) that is supplied to the stepping motor 310 (before one cycle). The current joint variable is obtained by the calculation processing of the current position ‧ posture calculating unit 104. When the current joint variable does not coincide with the joint variable supplied as the command value one cycle ago, the imbalance determination unit 109 determines that the stepping motor 310 of the joint portion J1 is "offset" and outputs an offset determination signal. In the same manner, the offset determination unit 109 determines whether or not the stepping motors 320-360 corresponding to the joint portions J2-J6 are out of adjustment. The offset determination signal output from the self-offset determination unit 109 includes a code for specifying the joint portion that has been out of adjustment.

From the viewpoint of safety, the upper limit of the moving speed is set in advance for the moving speed of the end of the robot hand 5 attached to the front end of the arm portion 2. The upper limit of the rotational angular velocity is set in advance for each of the joint portions J1 - J6 in accordance with the end speed upper limit value.

The overspeed determining unit 114 determines whether or not the rotational angular velocity of the rotational axis of the joint portions J1 - J6 exceeds the upper limit of each joint angular velocity set in advance from the viewpoint of self-offset prevention or safety, based on the command value calculated by the command value calculating unit 105. . Here, an example will be described in which the upper limit value of the speed at which the rotation axis of the joint portion J1 exceeds the prevention of misalignment or safety considerations. The determination process of the joint overspeed of other joints J2-J6 is also the same.

In the command value calculation unit 105, in order to realize the movement speed and the movement direction of the end corresponding to the movement operation (operation angle, operation direction) of the joystick (operation angle) of the cartridge (operation unit) 60, the control period is Δ. t (for example, 10 ms) calculates the command value (joint position (joint angle from the reference position)) to the joint portion J3. The output unit 113 sequentially outputs the command values of the respective times every control cycle Δt in accordance with the elapse of the operation start time. The overspeed determining unit 114 calculates the difference between the command value (joint angle) of one of the time points on the time axis, that is, the angular extent of the displacement between the control periods Δt, and divides by the control period Δt, thereby calculating the command The value is the angular velocity of rotation commanded by the stepper motor 310. The overspeed determining unit 114 compares the calculated rotational angular velocity with a velocity threshold set in advance to the joint portion J3. When the calculated rotational angular velocity exceeds the speed threshold, the overspeed determining unit 114 determines that "the rotational angular velocity of the joint portion J3 exceeds the upper limit value" and outputs an overspeed signal before outputting the command value.

In the same manner, the overspeed determining unit 114 determines whether or not the speed of each of the joint portions J2-J6 (J2, J4-J5 is the rotational angular velocity, and J3 is the expansion/contraction speed) exceeds the preset upper limit value. The overspeed determination signal output from the overspeed determination unit 114 includes a code for the joint portion for specifying the excess speed.

The system control unit 101 generates a notification screen corresponding to the state of each of the joint portions J1 - J6 and writes it to the frame memory of the display control portion 110. The display control unit 110 reads out the data of the image stored in the frame memory and displays it on the display unit 41. Typical examples of the display portion 41 include, for example, a CRT display or a liquid crystal display, an organic EL display, a plasma display, and the like.

FIG. 5 is a view showing an example of a notification screen 400 for notifying the state of the joint portions J1 - J6 on the display portion 41 of FIG. 4 . The system control unit 101 forms, in accordance with the determination results of the operation determination signal, the movement limit determination signal, the overheat determination signal, the offset determination signal, and the overspeed determination signal, whether or not the difference between the stop/operations of each of the joint portions J1-J6 is displayed. The notification screen 400 that reaches the movable limit, whether or not an abnormality has occurred, and the information (error code) of the specific abnormality generated is displayed on the display unit 41.

The template unit of the notification screen 400 and the above various string data are stored in the storage unit 103. As shown in FIG. 5, an item 401-1 indicating a joint, an item 401-2 indicating an operation state, an item 401-3 indicating a movable state, and an item 401 indicating an error code display are arranged in the column direction in the screen template. 4. Further, below the joint item 401-1, strings 40-1 to 402-6 that distinguish the joint portions J1 - J6 are arranged in the row direction. Below the item 401-3, the operation states 403-1 to 403-6 of the joint portions J1 - J6 are arranged by distinguishing the strings in the stop/operation. Similarly, below the item 401-3, the characters 404-1 to 404-6 indicating whether or not each of the joint portions J1 - J6 has reached the movable limit are arranged. Here, the string of "movable limit" is displayed only when the movable limit is reached. Below the item 401-4, each of the specific joints J1-J6 is arranged. Abnormal error code 405-1~405-6.

The system control unit 101 reads out the code indicating each of the joint portions J1 - J6 and the code indicating the operation state of each of the joint portions J1 - J6 included in the motion determination signal, and reads out the joint portion J1 - J6 from the memory portion 103 . The string data of the operation state is generated by superimposing the read string on the notification screen 400 of each of the operation state display areas 403-1 to 403-6 of the screen template. For example, when the motion determination signal includes the code indicating that the joint portion J1 is being stopped, the system control unit 101 generates a notification screen in which the operation state display area 403-1 of the screen template is displayed in the stop state as shown in FIG. 400 information. Similarly, when the motion determination signal includes the code indicating that the joint portion J2 is in operation, the system control unit 101 generates a notification indicating the character string in the operation state display region 403-2 of the screen template as shown in FIG. Information on screen 400.

The system control unit 101 generates, based on the code indicating the joint portion included in the movable limit determination signal, the information on the notification screen 400 indicating the movable limit display in the movable state display region corresponding to the joint portion reaching the movable limit of the screen template. For example, when the movable limit determination signal includes the code indicating the joint portion J3, the system control unit 101 generates a notification screen 400 in which the movable state display region 404-3 of the screen template is laid out to indicate the character reaching the movable limit as shown in FIG. . The system control unit 101 generates an error code display area corresponding to the joint portion of the screen template corresponding to the misalignment based on the code indicating the joint portion included in the offset determination signal, and displays a notification screen indicating the error code string corresponding to the offset. 400 information. For example, the self-disorder determination unit 109 outputs a code including the code indicating the joint portion J5. When the determination signal is adjusted, the system control unit 101 generates a message on the notification screen 400 in which the error code display area 405-5 of the screen template is arranged to display the error code string corresponding to the offset as shown in FIG. 5. The system control unit 101 generates an error code display area corresponding to the joint portion of the screen template corresponding to the command value for which the overspeed command is input, based on the code indicating the joint portion included in the overspeed determination signal, and the layout indicates the error code string corresponding to the overspeed. The information of the notification screen 400. For example, when the overspeed determination unit 114 outputs an overspeed signal including the code indicating the joint portion J1, the system control unit 101 generates an error corresponding to the overspeed in the error code display area 405-1 of the screen template as shown in FIG. The information of the notification screen 400 of the code string. The system control unit 101 generates an error code display area corresponding to the joint portion of the screen template in the superheat state based on the code indicating the joint portion included in the overheat determination signal, and layouts the information on the notification screen 400 indicating the character string of the overheated state.

According to the robot apparatus of the present embodiment described above, as shown in FIG. 1, the display unit 41 is attached to the side surface of the cylindrical cover covering the sixth joint portion J6 of the wrist portion 4. The display unit 41 displays a notification screen indicating the state of each of the joint portions J1 - J6. The operator can grasp the state of each of the joint portions J1 - J6 by viewing the notification screen. For example, the operator can grasp whether the joint portion reaches the movable limit, whether an inappropriate value is input to the driver unit of the joint portion as a command value, whether the joint portion is out of adjustment, or the like. For example, by visually recognizing the notification screen shown in FIG. 5, the operator can grasp that the reason why the arm portion 2 of the joint portion J3 cannot be stretched is not the abnormality on the robot apparatus side, but because the arm portion 2 of the joint portion J3 has been stretched. To the limit. Moreover, the operator can grasp that the reason why the joint portion J1 does not operate is because the input exceeds the joint The driver unit 210 of the unit J1 presets the command value of the upper limit of the speed. Further, the operator can grasp that the joint portion J5 does not operate because the joint portion J5 is out of adjustment.

In this way, when the robot arm does not operate, the operator can visually recognize the display screen provided on the display portion 41 of the wrist portion 4, and grasp that the robot arm cannot be operated due to the abnormality of the robot device side represented by the overheating of the stepping motor. In addition, the robot arm cannot be operated because the joints J1 - J6 reach the movable limit, provide the command value of the overspeed, generate an imbalance, and the like, which is not an abnormality on the robot apparatus side. Therefore, when the operator or the like looks at the end point of interest and operates the operation unit 60, the operator can grasp the reason without moving the line of sight from the end when the arm is not operated. That is, the robot apparatus of the present embodiment can reduce the work load of the operator when the robot arm does not operate. Further, the reason why the robot arm does not operate is not the cause of the abnormality on the robot apparatus side, and the operator can perform the work corresponding to the reason. For example, if the stepping motor is out of adjustment and the arm does not operate, the operator can change the workpiece held by the robot hand. Further, if the robot arm does not operate due to the provision of the command value of the overspeed, the command value may be changed or the like. If the joint reaches the movable limit, the joint can be displaced in the return direction.

(First Modification)

In the above-described robot apparatus, the display unit 41 is attached to the side surface of the cylindrical cover covering the sixth joint portion J6. However, the arrangement of the display unit 41 is not limited to this. The display portion 41 is disposed at a position corresponding to the position of the operator or the operator's preference with respect to the set position of the robot apparatus Yes. Further, in order to prevent the operator from deteriorating the visibility of the display unit 41 even if the posture of the wrist portion 4 is changed, a plurality of display portions 41 may be provided in the wrist portion 4. The first, second, third, fourth, fifth, and sixth modifications are related to other arrangements of the display unit 41.

Fig. 6 is a perspective view showing the positions of the display portions 42 and 43 of the mechanical arm mechanism according to the first modification of the embodiment. As shown in FIG. 6, the display portions 42, 43 may be provided at both end portions of the cover covering the fifth joint portion J5. The display center axes of the display units 42 and 43 are parallel to the fifth rotation axis RA5 and are opposite to each other. The display screen can be visually recognized from either of the left and right sides.

(Second modification)

Fig. 7 is a perspective view showing the positions of the display portions 44 and 45 of the mechanical arm mechanism according to the second modification of the embodiment. As shown in FIG. 7, the display portions 44 and 45 may be provided on the side surface of the cover of the V-shaped link connecting the fifth joint portion J5 and the sixth joint portion J6. The display unit 44 is disposed such that the direction of the display central axis is different from the display central axis of the display unit 45.

(Third Modification)

Fig. 8 is a perspective view showing the position of the display unit 46 of the mechanical arm mechanism according to the third modification of the embodiment. As shown in FIG. 8, the display portion 46 may be provided on one end surface of a cylindrical cover covering the sixth joint portion J6. In addition, a hand is attached to the other end surface.

(Fourth Modification)

Fig. 9 is a perspective view showing the position of a display unit of the mechanical arm mechanism according to a fourth modification of the embodiment. As shown in FIG. 9, the display portions 47 and 48 may be attached to the front and back surfaces of the cover that covers the fourth joint portion J4, respectively. The display units 47 and 48 are disposed at positions symmetrical with respect to a plane defined by the fourth rotation axis RA4 and the fifth rotation axis RA5. Even if the arm 2 is undulating, the operator can visually recognize one of the display portions 47, 48 regardless of its angle.

(Fifth Modification)

Fig. 10 is a perspective view showing the position of the display unit 52 of the mechanical arm mechanism according to the sixth modification of the embodiment. The display unit 52 may be provided not only on the cover covering the wrist portion 4 but also on the cover covering each of the joint portions J1 to J3. For example, as shown in FIG. 10, the display unit 52 is provided in the vicinity of the ejection opening of the cover covering the third joint portion J3.

(Sixth Modification)

The display unit may be provided at at least two of a plurality of positions on the display unit of the robot apparatus. Thereby, it is possible to prevent the visibility of the display screen due to the change in the posture of the wrist portion 4 from being lowered. Fig. 11 is a perspective view showing the positions of the display portions 49, 50, and 51 of the mechanical arm mechanism according to the sixth modification of the embodiment. As shown in FIG. 11, the display portions 49 and 50 are provided at positions corresponding to the display portions 47 and 48 of the fourth modification. The display unit 51 is provided at a position that coincides with the display unit 41 of the present embodiment.

(Seventh Modification)

In the above-described robot apparatus, the notification screen indicating the state of each of the joint portions J1 - J6 is displayed on the display screen, and the state of each of the joint portions J1 - J6 is notified to the operator. However, the robot apparatus may be provided with an indicator light for notifying the operator of the state of each of the joint portions J1 - J6 as a display device. The seventh and eighth modifications are related to the arrangement example of the indicator lamps.

Fig. 12 is a perspective view showing the positions of the indicator lamps 71, 72, and 73 of the mechanical arm mechanism according to the seventh modification of the embodiment. As shown in FIG. 12, a plurality of indicator groups 74 including three indicator lights 71, 72, and 73 are provided in the vicinity of the joint portion J1. For example, the indicator lights 71, 72, and 73 distinguish the various states of the joint portion J1 by the change in the display state such as the color of the lamp or the flashing of the lamp, and notify the operator. For example, when the indicator lamp 71 is lit in blue, the joint portion J1 is "in operation", and when it is lit in red, the joint portion J1 is "in progress". When the indicator lamp 72 is lit in blue, it indicates that the joint portion J1 is not the movable limit, and when it is lit in red, it indicates that the joint portion J1 is the movable limit. When the indicator lamp 73 is lit in blue, the stepping motor 310 of the joint portion J1 is not in an overheated state, and when the lighting is in red, the stepping motor 310 of the joint portion J1 is in an overheated state.

Similarly to the indicator group 74 disposed in the vicinity of the joint portion J1, indicator groups 75-79 for presenting the operation state of the corresponding joint portion are disposed in the vicinity of each of the joint portions J2-J6. Therefore, when the robot does not operate, the operator can change the color of the lamp and the display state of the lamp according to the plurality of indicator groups 74-79 corresponding to the joint portions J1-J6, respectively. And immediately grasp the reason.

(eighth modification)

Fig. 13 is a perspective view showing the position of the indicator light 80 of the mechanical arm mechanism according to the eighth modification of the embodiment. As shown in FIG. 13, one indicator light 80 may be provided on the side surface of the cylindrical cover covering the sixth joint portion J6 of the wrist portion 4. When the indicator light 80 is lit in blue, it means that the joint portions J1-J6 have not reached the movable limit, and the stepping motors of the joint portions J1-J6 are not overheated, that is, the joint portions J1-J6 are each Operating status. When the indicator light 80 is lit yellow, it means that at least one of the joint portions J1 - J6 is a movable limit. When the indicator lamp 80 is lit red, it indicates that the stepping motor corresponding to at least one of the joint portions J1 - J6 is in an overheated state. When the indicator light 80 alternately blinks in red and yellow, it means that at least one of the joint portions J1 - J6 is a movable limit, and the stepping motor corresponding to at least one of the joint portions J1 - J6 is overheated. status. Thereby, when the operator does not operate, the operator can grasp the reason according to the change of the color of the lamp and the display state of the lamp.

Further, the robot apparatus may include both a display unit and an indicator light as display means for notifying the state of each of the joint portions J1 to J6. For example, a display portion may be provided on the wrist portion 4, and an indicator group may be provided in the joint portion frequently swung among the joint portions J1-J6. Thereby, the operator can recognize the change of the state of the joint portion by using the indicator light, and can grasp the reason by visually recognizing the display portion.

The embodiments of the present invention have been described, but the embodiments are presented as examples and are not intended to limit the scope of the invention. The embodiments can be implemented in various other forms, and various omissions, substitutions and changes can be made without departing from the scope of the invention. The invention and its modifications are intended to be included within the scope of the invention and the scope of the invention.

1‧‧‧ base

2‧‧‧arms

4‧‧‧ wrist

J1, J2, J4, J5, J6‧‧‧ Rotating joints

J3‧‧‧Directive telescopic joint

11a‧‧‧1st support

11b‧‧‧2nd support

11c‧‧‧3rd support

21‧‧‧1st link chain

22‧‧‧2nd link chain

23‧‧‧1st link link

24‧‧‧2nd link chain

27‧‧‧Combined links

41‧‧‧Display Department

RA1‧‧‧1st rotating shaft

RA2‧‧‧2nd rotating shaft

RA3‧‧‧3rd moving axis

RA4‧‧‧4th rotating shaft

RA5‧‧‧5th rotating shaft

RA6‧‧‧6th rotating shaft

Claims (12)

A robot apparatus including a multi-joint arm mechanism having a plurality of joint portions, wherein a cover covering at least one of the plurality of joint portions is provided with a plurality of joint portions for displaying the plurality of joint portions Status display device. A robot apparatus according to claim 1, wherein the display device is provided in a cover covering at least one joint portion of the wrist portion among the plurality of joint portions. The robot apparatus of claim 2, wherein the display means displays whether each of the plurality of joint portions reaches a movable limit or approaches a movable limit. The robot apparatus of claim 3, wherein each of the plurality of joint portions is provided with a stepping motor as an actuator, and in the display device, in addition to displaying whether each of the plurality of joint portions reaches a movable limit or a near movable limit It is also shown whether or not the stepping motor of each of the plurality of joint portions has an offset. The robot apparatus of claim 3, wherein an AC motor or a DC motor is provided as an actuator in each of the plurality of joint portions, and in the display device, in addition to displaying whether each of the plurality of joint portions reaches a movable limit or is close to The movable limit also indicates whether the motor of each of the plurality of joints is overloaded. The robot apparatus of claim 3, wherein in the display device, in addition to displaying whether each of the plurality of joint portions reaches a movable limit Or, close to the movable limit, the difference between the action and the stop of each of the plurality of joint portions is also displayed. The robot apparatus of claim 4, wherein the display device displays, in addition to displaying whether the plurality of joint portions reach a movable limit or a near movable limit and a difference between the movement and the stop of each of the plurality of joint portions, It is displayed whether or not each of the plurality of joint portions is overspeeded. A robot apparatus according to claim 2, wherein the cover of the wrist portion is provided with another display device for displaying the state of each of the plurality of joint portions in a different direction from the display device. The robot apparatus of claim 2, wherein a plurality of indicator lights are respectively disposed in the vicinity of the plurality of joint portions, and the plurality of indicator lights respectively display states of the joint portions in the vicinity. The robot apparatus of claim 2, wherein one of the plurality of joint portions is a linear motion joint portion, and the linear motion joint portion has an arm portion that can change a state between a hard straight state and a curved state; And supporting the arm portion in the rigid straight state; the accommodating portion accommodating the arm portion in the bent state; and the transport portion that transports the arm portion between the support portion and the accommodating portion. A robot apparatus including a multi-joint arm mechanism having a plurality of joint portions, wherein a cover covering at least one of the plurality of joint portions is provided with at least one of displaying the plurality of joint portions Whether to An indicator that reaches the movable limit or is close to the movable limit. The robot apparatus of claim 11, wherein the indicator light is provided in a cover covering at least one joint portion of the wrist portion among the plurality of joint portions.