JP7522340B2 - Robot status display device and industrial robot - Google Patents

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 equipped with light-emitting units (lamps) that turn on and off in conjunction with the robot's motors (see, for example, Patent Document 1). By using the light-emitting units to clearly indicate that the robot is in operation, this can contribute to improving the convenience of the robot.

JP 2011-62792 A

Here, the inventor of the present application has devised a robot status display device that constructs a light-emitting section by combining multiple light sources with different luminous colors, and by mixing these luminous colors, can distinguish and display various robot states (e.g., standby state, operating state, teaching state, etc.). Expanding the display function in this way is preferable for improving user convenience.

However, in this type of robot status display device, the brightness of each light source decreases due to the deterioration of the light source. The degree of brightness decrease may vary depending on the specifications of the light-emitting elements that make up each light source and the usage conditions. If the relationship between the brightness of each light-emitting element is lost due to deterioration of the light-emitting element, the color (display color) actually displayed on the robot status display unit may deviate from the color that should be displayed. This is expected to hinder the normal performance of the status display function, and the difference with the color indicating other states becomes small, increasing the possibility that the user will misinterpret the robot's state. This is a factor that reduces 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 of the robot status display device described above in terms of further improving convenience while suppressing a decrease in reliability by distinguishing and displaying various states by mixing colors.

The present invention was made in consideration of the above problems, and its main objective is to improve the convenience of industrial robots while preventing a decrease in reliability.

The following describes the means to solve the above problems.

First means: A light-emitting unit (light-emitting unit 46) that is a combination of a plurality of light sources (light-emitting bodies 47 to 49) that emit light of different colors;
A power supply unit (power supply unit 70) that supplies power to the plurality of light sources;
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 a status of an industrial robot (robot 20) by mixing colors of light from the multiple light sources,
The plurality of light sources include a first light source (e.g., a red light emitter 47 and a green light emitter 48) and a second light source (e.g., a blue light emitter 49) that is more likely to deteriorate and have a lower brightness than the first light source when used under a predetermined condition,
A detection unit (voltage sensor 81) capable of detecting deterioration of the second light source;
and a correction unit (switching unit 80) that corrects the brightness ratio of the multiple light sources by reducing the power supplied to the first light source when the detection unit detects a predetermined deterioration under a situation where light emission control is performed to make the light-emitting unit emit light in a predetermined display color (e.g., white) that is a mixture of colors.

If the status of the industrial robot is indicated by the color (display color) of the light-emitting unit, the user can easily understand the state of the industrial robot by looking at the display color. In particular, in the first means described above, the display color of the light-emitting unit is a mixed color obtained by mixing light from multiple light sources. With this configuration, various states of the industrial robot can be indicated by different display colors, and the display function of the robot status display unit can be enhanced (improved expressiveness). This is preferable for further improving the convenience of the industrial robot.

However, in a configuration in which the light emission color differs for each light source, the deterioration (reduction in brightness) of each light source may differ. This causes the ratio (balance) of the brightness of each light source in the mixed color to be lost. Here, according to the configuration shown in the first means, the deterioration of the second light source, which is prone to deterioration, is monitored. Then, when the light-emitting unit emits light in a predetermined display color, if the second light source has a predetermined deterioration, the power supplied to the first light source is reduced compared to when the predetermined deterioration does not occur, thereby correcting the ratio of the brightness of each light source. This makes it possible to prevent the actual display color of 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. It also makes it possible to prevent the user from misunderstanding the state of the industrial robot. Therefore, it is possible to prevent a decrease in the reliability of the industrial robot while improving the convenience of the industrial robot.

Here, the deterioration of the light source becomes more noticeable as the power supplied to the light source increases. In other words, increasing the power supplied to the light source accelerates the deterioration of the light source, which can be a factor in shortening the life of the status display device. In order to correct the brightness ratio to reduce the effects of deterioration, it is possible to configure the brightness ratio to be corrected by increasing the power supplied to the light source that is more susceptible to deterioration, for example. However, if such a configuration is adopted, a new problem arises in that the product life is shortened even if the convenience and reliability of the industrial robot are optimally achieved. In this regard, if the brightness ratio is corrected by reducing the power supply as shown in this means, the problem (shortening the product life) can be optimally solved. In addition, the light-emitting part can become darker as the deterioration occurs, which can indicate to the user that deterioration is occurring.

By monitoring the second light source, which is more susceptible to deterioration than the first light source or the second light source, it is possible to prevent deterioration from becoming hidden by external disturbances such as noise and becoming difficult to detect. This is a preferable configuration for stably performing the correction function described above.

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 (e.g., 5 V) to the first light source, and a second power supply unit (low voltage power supply unit 76) capable of applying a second voltage (e.g., 3.5 V) lower than the first voltage to the first light source are provided;
The correction unit is configured to set the power supply unit that applies voltage to the first light source as the first power supply unit when the detection unit does not detect the specified deterioration under a situation in which light emission control is performed to make the light emitting unit emit light in the specified display color, and to set the power supply unit that applies voltage to the first light source as the second power supply unit when the detection unit detects the specified deterioration under a situation in which light emission control is performed to make the light emitting unit emit light in the specified display color.

As shown in this embodiment, if the voltage applied to the first light source is reduced (switched from the first voltage to the second voltage) when a certain level of deterioration occurs in the second light source, the effect shown in the first embodiment can be achieved with a simple configuration.

The above configuration may be defined as "a power supply unit that applies a voltage to the first light source, which includes a first power supply unit capable of applying a first voltage to the first light source, a second power supply unit capable of applying a second voltage lower than the first voltage to the first light source, and a third power supply unit capable of applying a third voltage lower than the second voltage to the first light source, and the predetermined deterioration includes a first deterioration and a second deterioration having a greater degree of deterioration than the first deterioration, and the correction unit detects the predetermined deterioration by the detection unit under a situation in which light emission control is performed to cause the light emitting unit to emit light in the predetermined display color." If the first deterioration is detected by the detection unit under a condition in which light emission control is performed to make the light-emitting unit emit light in the predetermined display color, the power supply unit that applies a voltage to the first light source is configured to be the first power supply unit, if the first deterioration is detected by the detection unit under a condition in which light emission control is performed to make the light-emitting unit emit light in the predetermined display color, the power supply unit that applies a voltage to the first light source is configured to be the second power supply unit, and if the second deterioration is detected by the detection unit under a condition in which light emission control is performed to make the light-emitting unit emit light in the predetermined display color, the power supply unit that applies a voltage to the first light source is configured to be the third power supply unit.

The degree of deterioration of the light source increases with the duration of use. Therefore, by gradually lowering the applied voltage (switching from the first voltage to the second voltage to the third voltage) according to the degree of deterioration as described above, it is possible to effectively prevent a decrease in the reliability of the industrial robot (robot status display device) due to misidentification of the display color.

The control unit controls the amount of current flowing through the light sources by PWM control, thereby changing the display colors of the light-emitting units according to the state of the industrial robot.
The correction unit is configured to correct the ratio by reducing the duty ratio of the PWM signal output to the first light source when the detection unit detects the specified deterioration under a situation in which light emission control is performed to make the light emitting unit emit light in a specified display color (e.g., white), which is a mixture of colors, compared to a case in which the detection unit does not detect the specified deterioration.

In a configuration in which the dimming of each light source is performed by PWM control, if the brightness ratio is corrected by reducing the duty ratio of the PWM signal output to the first light source when a certain level of deterioration occurs in the second light source, the effect shown in the first means above can be achieved with a simple configuration.

Fourth means: When the luminance ratio is corrected by reducing the power supplied to the first light source by the correction unit, the luminance ratio of the first light source after the correction is configured to be lower than the ratio when the predetermined degradation does not occur.

Even if the brightness ratio is corrected as shown in the first means etc., the display color may become more divergent again due to further deterioration even after the correction. For example, if the correction is performed every time the deterioration progresses to a certain extent, such concerns can be eliminated, but the configuration related to detection and correction becomes complicated. Therefore, as shown in this means, if the brightness ratio of the first light source after correction is not made to match the ratio (initial ratio) when no deterioration occurs, but is made higher than the ratio when no deterioration occurs in anticipation of further deterioration, the brightness ratio will change to approach the normal ratio for a while even if deterioration progresses after correction, and the period until the effect of deterioration becomes noticeable again can be extended. This is preferable in terms of minimizing the frequency of correction and preventing the configuration related to the correction from becoming excessively complicated.

Fifth Means: The first light source and the second light source are configured to emit different colors of light due to differences in the emission wavelengths of the light-emitting elements,
The predetermined deterioration is detected when the amount of voltage drop in the second light source reaches a threshold value.

As shown in this method, by monitoring the amount of voltage drop, the degree of deterioration can be accurately grasped.

A resistor section connected in series to the second light source is provided between the power supply section and a ground section,
The detection section has a voltage sensor that detects a voltage drop in the resistor section, and detects the predetermined deterioration based on the voltage drop.

In a configuration in which the state of an industrial robot is displayed by mixing colors, it is preferable to place each light source as close as possible. Therefore, if a voltage sensor is used to detect the voltage drop of a resistor connected in series to the second light source as shown in this embodiment, the voltage sensor configuration can be prevented from being an obstacle to realizing a centralized arrangement of light sources.

Seventh Means: A first display color (e.g., white) indicating that the industrial robot is in an operating state and a second display color (e.g., yellow) indicating that the industrial robot is in a stationary state are set as display colors of the light-emitting unit,
a ratio of luminance of each light source when the light-emitting unit emits light in the first display color can change from a ratio corresponding to the first display color to a ratio corresponding to the second display color due to deterioration of the plurality of light sources,
the predetermined display color is the first display color,
When the detection unit detects the specified deterioration under a situation where light emission control is being performed to make the light emitting unit emit light in the first display color, the correction unit is configured to correct the luminance ratio of the multiple light sources to approach the luminance ratio corresponding to the first display color by reducing the power supplied to the first light source compared to a case where the detection unit does not detect the specified deterioration.

Even if the light-emitting section is illuminated in the first display color when the industrial robot is in an operating state, if that display color is mistaken for the second display color indicating a stationary state, there is a high possibility that the industrial robot will start operating when the user approaches the industrial robot, resulting in a collision between the industrial robot and the user. This is undesirable as it can cause the industrial robot to malfunction or break down. In this regard, according to the configuration shown in the present means, when the above-mentioned deterioration occurs, the brightness ratio is corrected to approach the ratio corresponding to the first display color. In this way, by suppressing user misinterpretation, the industrial robot can be protected and a decrease in reliability of the industrial robot can be avoided.

Eighth means: the second light source is a blue LED that emits blue light, and the first light source is a red LED that emits red light or a green LED that emits green light,
The detection unit is capable of detecting deterioration of the blue LED.

Compared to red and green LEDs, blue LEDs tend to deteriorate more easily. Therefore, when using a blue LED in combination with at least one of a red LED and a green LED, the effect shown in the first means can be effectively achieved by monitoring the blue LED for deterioration.

Ninth means: The plurality of light sources are composed of the second light source emitting blue light, the first light source emitting one of red and green light, and a third light source emitting the other of red and green light,
the control unit is configured to control the plurality of light sources so as to cause the light emitting unit to emit white light when the industrial robot is in an operating state, and to cause the light emitting unit to emit yellow light when the industrial robot is in a stationary state,
The correction unit has a means for correcting the luminance ratio of the multiple light sources to approach the luminance ratio corresponding to white by reducing the power supplied to the first light source and the third light source compared to a case in which the detection unit does not detect the specified deterioration when the detection unit detects the specified deterioration under a situation in which light emission control is being performed to make the light emitting unit emit light in the specified display color, which is white.

In the case where the display color of the light-emitting part is white when the industrial robot is in an operating state and yellow when the industrial robot is in a stationary state, and the respective states can be distinguished from one another, the display color may become yellowish when the white light is emitted due to the deterioration of the light source, which may cause the brightness ratio to be distorted. Even though the industrial robot is in an operating state, the user may mistakenly recognize that the display color of the light-emitting part is yellow, i.e., that the industrial robot is in a stationary state, and approach the industrial robot, increasing the possibility of a collision between the industrial robot and the user. This is undesirable because it may cause the industrial robot to malfunction or break down. Therefore, as shown in this means, when the above-mentioned deterioration occurs, the brightness ratio is corrected to approach the brightness ratio corresponding to white, thereby suppressing the user's misrecognition. This is preferable in terms of protecting the industrial robot and avoiding a decrease in the reliability of the industrial robot.

The plurality of light sources include the first light source, the second light source, and a third light source,
the third light source is configured to be less susceptible to deterioration and luminance reduction than the first light source when used under the specified conditions;
The correction unit is configured to correct the luminance ratio of the multiple light sources by individually reducing the power supplied to the first light source and the power supplied to the third light source when the detection unit detects the specified deterioration under a situation in which light emission control is performed to make the light emitting unit emit light in a specified display color (e.g., white), which is a mixture of colors.

When the first to third light sources are used in combination as light sources with different light emission colors, the first and third light sources that are the subject of correction may also differ in the degree of deterioration. Therefore, as shown in this embodiment, if the power supplied to the first light source and the power supplied to the third light source are configured to be controlled separately, the effect of suppressing the above-mentioned discrepancy through correction can be more effectively achieved.

11. The first light source is a red LED that emits red light, the second light source is a blue LED that emits blue light, and the third light source is a green LED that emits green light,
The correction unit is configured to perform the correction so that the amount of reduction in power supplied to the red LED when the power supplied to the red LED is reduced based on the detection of the specified deterioration by the detection unit is smaller than the amount of reduction in power supplied to the green LED when the power supplied to the green LED is reduced based on the detection of the specified deterioration by the detection unit.

Red LEDs tend to deteriorate more easily than green LEDs. Therefore, when reducing the power supply to correct the brightness ratio, a practically preferable configuration can be realized by making the amount of degradation smaller for red LEDs than for green LEDs.

A light-emitting unit (light-emitting unit 46) that is a combination of a plurality of light sources (light-emitting bodies 47 to 49) that emit light of different colors;
A power supply unit (power supply unit 70) that supplies power to the plurality of light sources;
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 a status of an industrial robot (robot 20) by mixing colors of light from the multiple light sources,
A detection unit (voltage sensor 81) capable of detecting deterioration of at least one of the plurality of light sources;
The device is provided with a correction unit (path switching unit 80) that corrects the ratio of the luminance of each of the plurality of light sources by adjusting the power supplied to one of the plurality of light sources when the detection unit detects a predetermined deterioration under a situation in which light emission control is performed to make the light emitting unit emit light of a predetermined color (e.g., white).

As described above, if the status of the industrial robot is indicated by the color (display color) of the light-emitting unit, the user can easily understand the state of the industrial robot by looking at the display color. In particular, in the twelfth means described above, the display color of the light-emitting unit is a mixed color obtained by mixing light from multiple light sources. With this configuration, various states of the industrial robot can be indicated by different display colors, and the display function of the robot status display unit can be enhanced (improved expressiveness). This is preferable for further improving the convenience of the industrial robot.

However, in a configuration in which the light emission color differs for each light source, the deterioration (reduction in brightness) of each light source may differ. This causes the ratio (balance) of the brightness of each light source in the mixed color to be lost. Here, according to the configuration shown in the twelfth means, the deterioration of any of the light sources is monitored. Then, when the light source being monitored is made to emit light in a predetermined display color, if a predetermined deterioration occurs in the light source, the power supplied to any of the light sources is adjusted to correct the ratio of the brightness of each light source. This makes it possible to prevent the actual display color of 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. It also makes it possible to prevent the user from misunderstanding the state of the industrial robot. Therefore, it is possible to improve the convenience of the industrial robot while preventing a decrease in the reliability of the industrial robot (more specifically, the robot status display device).

It is also possible to apply the technical ideas presented in the first to eleventh means to this twelfth means.

The industrial robot of the thirteenth means is equipped with the robot status display device.

The above configuration can effectively improve the convenience and reliability of industrial robots.

FIG. 1 is a block diagram showing a robot system according to an embodiment. FIG. FIG. FIG. 4 is a schematic diagram showing the relationship between the state of the robot and the display color. A schematic diagram comparing the progression of deterioration for each light emitter. 5A and 5B are schematic diagrams showing changes in display color due to deterioration. FIG. FIG. 4 is a schematic diagram showing a power supply state when no predetermined deterioration occurs; FIG. 4 is a schematic diagram showing a power supply state when a predetermined deterioration occurs. 5 is a schematic diagram showing a flow of correction of a display color.

One embodiment will be described below with reference to the drawings. This embodiment is embodied in a robot system having an industrial robot that works in collaboration 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 via a hub so that they can communicate wirelessly.

The robot 20 is composed of a robot body 22, which is a vertically articulated industrial robot, and a servo amplifier 50 attached to the robot body 22. The robot body 22 has a base 31 fixed to the base plate 21, a six-axis arm 32 attached to the base 31, and a tool such as a hand fixed to the tip of the arm 32 (see Figure 2). The arm 32 is made up of six movable parts 33-38 connected together, and each joint is provided with a motor 41 that drives the movable parts 33-38, and an encoder 42 that detects the rotation angle of each motor 41.

The servo amplifier 50 is provided with a communication section that communicates with the motion controller 90, and a control section 51 that performs drive control of the motors 41 of each joint based on commands from the motion controller 90 and rotation angles detected by the encoder 42. The commands sent from the motion controller 90 include information indicating the state (control state) of the robot 20, and the control section 51 grasps the state of the robot 20 based on this information.

The state of the robot 20 is as follows:
(1) A startup preparation state from when the power is turned on until startup is complete. (2) A connection waiting state in which communication with the motion controller 90 is awaited. (3) A teaching state in which a collaborative program (a program indicating an operation sequence, an operation position, an operation trajectory, etc.) for product assembly, transportation, etc. is set or modified. (4) A collaborative program playback state in which a set collaborative program is played back. (5) A diagnostic execution state in which each motor 41 is driven based on a set diagnostic program and a diagnosis is made as to whether the motors 41 are operating normally. (6) An abnormality state in which various operations of the robot 20 are temporarily restricted due to an operational abnormality, etc.

Of these various states, the collaborative program playback state and diagnostic execution state are "operating states" in which the robot 20 operates (the arm 32 is displaced). In contrast, the start-up preparation state, connection waiting state, teaching state, and abnormality occurrence state are "non-operating states" in which the robot 20 does not operate (the arm 32 is not displaced). Considering that in the "non-operating states," the robot 20 remains stationary unless an external force is applied to the robot 20, the "non-operating states" can also be said to be "stationary states."

Incidentally, the robot 20 shown in this embodiment is capable of direct teaching, in which the user directly moves the arm 32 of the robot 20 by hand to teach the operating position, operating trajectory, etc., thereby improving convenience when setting or modifying the collaboration program shown in (3) above.

As shown in FIG. 2, the base 31 (non-movable part) of the robot main body 22 is provided with a status display unit 45 that indicates the status of the robot 20. The status display unit 45 has a plurality of light-emitting units 46 (see FIG. 3) that combine three light sources: a red light-emitting body 47 that is a red light-emitting diode, a green light-emitting body 48 that is a green light-emitting diode, and a blue light-emitting body 49 that is a blue light-emitting diode. The light-emitting units 46 are arranged along the outer periphery of the base end of the arm 32 to form a ring shape as a whole. By devising the positioning and shape of the status display unit 45 in this way, the status display unit 45 is easily visible to the user regardless of whether the user views the robot 20 from the front, back, left, or right direction.

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 the on/off of each of the light emitters 47-49. Specifically, the memory unit 52 of the control unit 51 stores the on/off patterns of each of the light emitters 47-49 for each state of the robot 20, and the control unit 51 identifies the state of the robot 20 and controls the light emission of each of the light emitters 47-49 so that the pattern corresponds to the identified state. As a result, the display color of the status display unit 45 is changed to a color corresponding to the state of the robot 20 by mixing the lights of the light emitters 47-49. In other words, the user can understand the state of the robot 20 from the display color of the status display unit 45.

For example, when the robot 20 is in a start preparation state or a connection waiting state, the display color of the status display unit 45 is "green", when the robot 20 is in a collaborative program playback state or a diagnostic execution state, the display color of the status display unit 45 is "white", and when an abnormality occurs, the display color of the status display unit 45 is "red". In addition, the position that can be specified in the teaching state and the designated range of the start are limited to a predetermined range, and when the robot 20 is operated within the predetermined range, the display color of the status display unit 45 is "blue", and when the robot 20 is operated outside the predetermined range, the display color of the status display unit 45 is "yellow" (see FIG. 4). As described above in detail, increasing the number of colors that can be displayed by mixing colors and improving the expressiveness of the status display unit 45 has the technical significance of contributing to further improving the convenience of the status display unit 45.

Here, all light-emitting diodes (LEDs) deteriorate with use, and the degree of deterioration over time (luminous flux reduction curve) tends to differ depending on the color of light emitted. It is assumed that one of the reasons for this difference is the relationship between the wavelength of each color of light emitted and the energy consumed. As shown in FIG. 5, the degree of deterioration increases in the order green < red < blue, and as deterioration progresses, a significant difference occurs between blue and green and red. As deterioration progresses, the balance (ratio) of the luminance of each light-emitting element 47-49 in the mixed color is lost, which is a factor in the difference between the set display color and the actual display color. In this embodiment, the red light-emitting element 47 or the green light-emitting element 48 corresponds to the "first light source," and the blue light-emitting element 49 corresponds to the "second light source."

For example, as shown in FIG. 6(a), when a collaborative program is played under conditions where there is almost no deterioration, display control is executed so that the display color of the status display unit 45 becomes "white". In such a case, the balance (ratio) of the brightness of each light emitter 47-49 is almost the same as when there is no deterioration, so the display color when the status display unit 45 is actually viewed is also "white". Next, as shown in FIG. 6(b), when a collaborative program is played under conditions where there is a certain degree of deterioration, the display control is executed in the same manner as the example shown in FIG. 6(a), so that the balance of the brightness of each light emitter 47-49 is lost. Specifically, 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, so that the balance of the brightness of each light emitter 47-49 is lost. As a result, the display color when the status display unit 45 is actually viewed becomes "light yellow". In other words, the color of the display color of the status display unit 45 approaches the other display color "yellow" from the original display color "white".

If the user recognizes this display color as "yellow," the robot 20 may be mistaken for being in a teaching state. As already explained, the teaching state means a "stationary state." For this reason, if a user who mistakenly recognizes the robot 20 as being in a teaching state approaches the robot 20, there is a high possibility that the robot 20 will collide with the user. This is because even in an "operating state," the arm 32 is not always displaced, and there may be cases where the robot is temporarily stationary. There is concern that the application of an external force to the robot 20 due to the collision may cause the robot 20 to shift position or malfunction, such as breaking down.

One of the features of this embodiment is that it takes such circumstances into consideration and is designed to prevent user misunderstandings. The design will be described below with reference to Figs. 7 to 9. Figs. 7 to 9 are schematic diagrams showing a power supply circuit 60 that supplies power from a power supply unit 70 (power supply terminal) to the light emitters 47 to 49. The power supply circuit 60 is provided on a light-emitting substrate on which the light emitters 47 to 49 are mounted.

The power supply circuit 60 is provided with a first power supply path 61 that supplies power from a first power supply unit 71 to the blue light emitter 49, and a second power supply path 62 that supplies power from a second power supply unit 72 to the red light emitter 47 and the green light emitter 48. Note that, in reality, 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 provided separately, but for the sake of convenience in FIG. 7 and other figures, 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 shown as being shared.

The second power supply unit 72 is composed of 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 a lower voltage (3.5V) than that of the high-voltage power supply unit 75. The second power supply path 62 is composed of 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 a low-voltage side supply path 66 that supplies power from the low-voltage power supply unit 76 to the red light emitter 47 and the green light emitter 48, which are arranged in parallel.

The power supply circuit 60 is also provided with a switching unit 80 (corresponding to a "correction unit") that switches the power supply source for the red light emitter 47 and the green light emitter 48 between the high-voltage power supply unit 75 and the low-voltage power supply unit 76. The switching unit 80 has a high-voltage side switch 85 arranged between the high-voltage power supply unit 75 and the light emitters 47, 48 in the high-voltage side supply path 65, and a low-voltage side switch 86 arranged between the low-voltage power supply unit 76 and the light emitters 47, 48 in the low-voltage side supply path 66. 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, 48, and when the high-voltage side switch 85 is in the OFF state and the low-voltage side switch 86 is in the ON state, a voltage is applied from the low-voltage power supply unit 76 to the light emitters 47, 48.

In the first power supply path 61, a resistor 78 is provided in series with the blue light emitter 49 in a portion between the first power supply unit 71 and the ground (more specifically, between the blue light emitter 49 and the ground). The power supply circuit 60 is provided with a voltage sensor 81 that detects the amount of voltage drop in the resistor 78. When the blue light emitter 49 deteriorates, the resistance of the blue light emitter 49 increases and the amount of voltage drop in the blue light emitter 49 increases. This reduces the amount of voltage drop in the resistor 78. In this embodiment, the voltage sensor 81 functions as a detector that detects deterioration of the blue light emitter 49, and deterioration in which the amount of voltage drop falls below a threshold corresponds to "predetermined deterioration".

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

When the voltage drop detected by the voltage sensor 81 is greater than the threshold value, i.e., when the deterioration of the blue light emitter 49 is not very advanced, the high-voltage side switch 85 is turned ON and the low-voltage side switch 86 is turned OFF, as shown in FIG. 8. This causes a voltage to be applied to the red light emitter 47 and the green light emitter 48 from the high-voltage power supply 75. In other words, in the example shown in FIG. 8, a voltage is applied to all of the red light emitter 47, the green light emitter 48, and the blue light emitter 49 from the high-voltage power supply (5V).

On the other hand, when the voltage drop detected by the voltage sensor 81 is smaller than the threshold value, i.e., when the deterioration of the blue light emitter 49 has progressed significantly and the above-mentioned specified deterioration has occurred, as shown in FIG. 9, the high-voltage side switch 85 is turned OFF and the low-voltage side switch 86 is turned ON. As a result, a voltage is applied to the red light emitter 47 and the green light emitter 48 from the low-voltage power supply unit 76. In other words, in the example shown in FIG. 9, power is applied to the blue light emitter 49 from the high-voltage power supply unit (5V), while a voltage is applied to the red light emitter 47 and the green light emitter 48 from the low-voltage power supply unit (3.5V), correcting the brightness balance.

Here, we will provide additional explanation on the flow of brightness balance correction with reference to Figure 10. Figure 10 illustrates an example in which the display color of the status display unit 45 is set to "white," and for ease of explanation, we also show the flow in the case where it is assumed that no correction is performed. Note that in Figure 10, the brightness is set to 100% when the light-emitting elements 47-49 are illuminated to make the display color of the status display unit 45 "white" in a situation in which none of the light-emitting elements 47-49 have deteriorated, and the brightness balance in this case is red:green:blue = 1:1:1.

Incidentally, the main state of the robot 20 shown in this embodiment is the collaboration program execution state, and the period during which it is in other states is extremely short compared to the period during which it is in the collaboration program execution state. In other words, there are extremely few opportunities for each of the light emitters 47-49 to be used alone or for the blue light emitter 49 to be the only one not to be illuminated, and the difference in the usage time of each of the light emitters 47-49 is so small that it can be ignored in terms of operation.

As already described, the deterioration of the blue light emitter 49 is more noticeable than that of the red light emitter 47 and the green light emitter 48. As shown in FIG. 10, when the luminance of the blue light emitter 49 is reduced to about 70%, the luminance of the red light emitter 47 and the green light emitter 48 is about 90%. As a result of the luminance imbalance being lost in this way, the display color of the status display unit 45 becomes light yellow. In this embodiment, when the luminance of the blue light emitter 49 is reduced to 70%, the voltage switching condition is established (the voltage drop detected by the voltage sensor 81 falls below the threshold value), and the voltage applied to the red light emitter 47 and the green light emitter 48 is reduced. As a result, the luminance of the red light emitter 47 is reduced from 90% to 62%, the luminance of the green light emitter 48 is reduced from 90% to 63%, and the luminance of the blue light emitter 49 is reduced from 70% to 70%, and the luminance balance approaches red:green:blue=1:1:1.

By correcting the brightness balance, the status display section 45 becomes slightly darker and approaches its original color (white). Here, the brightness of the red light emitter 47 and the green light emitter 48 immediately after the correction is lower than the brightness of the blue light emitter 49. This is a measure to prevent the degree of decrease in brightness from increasing as deterioration progresses, i.e., to prevent the effect of the correction from decreasing too quickly.

After that, as the degradation of each of the light emitters 47 to 49 progresses, the luminance balance becomes 1:1:1, and a perfect white color is reproduced. Then, as the degradation progresses further, the luminance balance is reversed, and the color becomes yellowish again. However, when the luminance of the blue light emitter 49 falls to 50% after the above correction, the luminance of the red light emitter 47 is about 57%, and the luminance of the green light emitter 48 is about 58%. If the luminance of the blue light emitter 49 falls to 50% without the above correction, the luminance of the red light emitter 47 will be about 82%, and the luminance of the green light emitter 48 will be about 83%. Considering this, the effect of suppressing misconception of the display color is preferably exerted.

The embodiment described above provides the following excellent effects:

If the state of the robot 20 is indicated by the display color of the status display unit 45, the user can easily understand the state of the robot 20 by looking at the display color. The display color of the status display unit 45 is a mixture of the light from the light emitters 47 to 49. With this configuration, various states of the robot 20 can be indicated by different display colors, and the display function of the status display unit 45 can be enhanced (improved expressiveness). This is preferable for further improving the convenience of the robot 20.

However, in a configuration in which the light-emitting color differs for each light-emitting body, the deterioration (reduction in brightness) of each light-emitting body may differ. This causes the ratio (balance) of the brightness of each light-emitting body in the mixed color to be lost. Here, in the above embodiment, the deterioration of the blue light-emitting body 49, which is prone to deterioration, is monitored. Then, when the status display unit 45 is made to emit white light, if a certain deterioration has occurred in the blue light-emitting body 49, the power supplied to the red light-emitting body 47 and the green light-emitting body 48 is reduced compared to when the certain deterioration has not occurred, thereby correcting the brightness ratio of each light-emitting body 47 to 49. This makes it possible to prevent the actual display color of the status display unit 45 from deviating from the preset display color, making it difficult to grasp the status of the robot 20. It also makes it possible to prevent the status of the robot 20 from being misunderstood by the user. Therefore, it is possible to prevent a decrease in the reliability of the robot 20 while improving the convenience of the robot 20.

Here, the deterioration of the light emitters 47 to 49 becomes more noticeable as the power supplied to the light emitters 47 to 49 increases. In other words, increasing the power supplied to the light emitters 47 to 49 accelerates the deterioration of the light emitters 47 to 49, which may shorten the life of the status display unit 45. In order to correct the brightness ratio to reduce the effects of deterioration, it is possible to configure the brightness ratio to be corrected by increasing the power supplied to the light emitter (blue light emitter 49) that is greatly affected by deterioration. However, if such a configuration is adopted, a new problem arises in that the product life is shortened even if the convenience and reliability of the robot 20 are favorably achieved. In this regard, if the brightness ratio is corrected by reducing the power supply as described above, the problem (shortening the product life) can be favorably solved. In addition, the status display unit 45 can be darkened as deterioration occurs, thereby suggesting to the user that deterioration is occurring.

By monitoring the blue light-emitting element 49, which is the most susceptible to deterioration among the three light-emitting elements 47 to 49, it is possible to prevent deterioration from becoming hidden by external disturbances such as noise and becoming difficult to detect. This is a preferable configuration for stably performing the correction function described above.

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 a certain level of deterioration occurs in the blue light emitter 49, the above-mentioned various effects can be achieved with a simple configuration.

Even if the brightness ratio is corrected as described above, the display color may become more divergent again due to further deterioration even after the correction. For example, if the correction is performed every time the deterioration progresses to a certain extent, such concerns can be eliminated, but the configuration related to detection and correction becomes complicated. Therefore, as shown in this embodiment, if the brightness ratio of the red light emitter 47 and the green light emitter 48 after correction is configured to be higher than the ratio when no deterioration occurs in anticipation of further deterioration, the brightness ratio will change to approach the normal ratio for a while even if deterioration progresses after correction, and the period until the effect of deterioration becomes noticeable again can be extended. This is preferable in terms of minimizing the frequency of correction and preventing the configuration related to the correction from becoming excessively complicated.

In a configuration in which the state of the robot 20 is displayed by mixing colors, it is preferable to arrange the light emitters 47-49 as close as possible to each other. Therefore, if the voltage sensor 81 is configured to detect the voltage drop of the resistor unit 78 connected in series to the blue light emitter 49 as shown in this embodiment, it is possible to prevent the configuration related to the voltage sensor 81 from interfering with realizing the centralized arrangement of the light emitters 47-49. Furthermore, if the voltage drop amount is monitored as shown in this embodiment, the degree of deterioration can be accurately grasped.

<Other embodiments>
The present invention is not limited to the above-described embodiment, and may be implemented as follows. Each of the following configurations may be applied individually to the above-described embodiment, or may be applied in combination with some or all of the following configurations to the above-described embodiment.

- In the above embodiment, when the luminance of the blue light-emitting body 49 decreases, the voltage applied to the red light-emitting body 47 and the green light-emitting body 48 is reduced to reduce the current supplied to the red light-emitting body 47 and the green light-emitting body 48, thereby adjusting (reducing) the luminance of these light-emitting bodies 47 to 48, but this is not limited to the above. For example, a variable resistor may be used to reduce the current supplied to the red light-emitting body 47 and the green light-emitting body 48, thereby adjusting (reducing) the luminance of these light-emitting bodies 47 to 48.

- It is also possible to configure the luminance of the light emitters 47-49 to be adjusted by pulse control (so-called PWM (Pulse Width Modulation) method). In other words, it is also possible to configure the display color to be switched by adjusting the ratio (duty ratio) of the ON time (lighting time) in the pulse width while maintaining the cycle constant. For example, the duty ratio of the pulse signal output to each light emitter 47-49 may be stored in the memory unit 52 for each state of the robot 20, and the control unit 51 may specify the state of the robot 20 and perform pulse control of each light emitter 47-49 so that the duty ratio corresponds to the specified state. With such a configuration, it is possible to increase the number of colors that can be displayed on the status display unit 45. 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 balance of the luminance of each light emitter 47-49 by adjusting the duty ratio according to the degree of deterioration.

- In the above embodiment, the object to be monitored for deterioration is the blue light-emitting element 49, but this is not limited to this. It is also possible to monitor the red light-emitting element 47 or the green light-emitting element 48 for deterioration instead of or in addition to the blue light-emitting element 49.

For example, if there is a correlation between the progression of deterioration of each of the light emitters 47 to 49, the deterioration of the blue light emitter 49 can be estimated from the monitoring results of the deterioration of the red light emitter 47 and the monitoring results of the deterioration of the green light emitter 48. In view of this situation, it is also possible to configure the voltage applied to the red light emitter 47 and the green light emitter 48 to be switched based on the above monitoring results (estimated results). However, in order to improve the reliability of the misrecognition suppression function shown in the above embodiment, it is preferable to directly monitor the deterioration of the blue light emitter 49, which has a relatively large range of voltage change.

In addition, if significant deterioration has occurred in the light emitters (red light emitters 47 and green light emitters 48) whose luminance is reduced by the above-mentioned correction, the correction may cause a significant imbalance in luminance. Therefore, it is preferable to determine whether or not to perform the above-mentioned correction based on the degree of deterioration of each light emitter 47, 48.

- In the above embodiment, the voltage applied to the red light emitter 47 and the green light emitter 48 is switched between a low voltage and a high voltage to adjust the brightness of the light emitters 47 to 48, but this is not limited to the above. 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) may be provided as the voltages applied to the red light emitter 47 and the green light emitter 48, and a first threshold and a second threshold (first threshold>second threshold) may be provided as thresholds for the voltage monitored by the voltage sensor. When the monitored voltage is equal to or greater than the first threshold, the first voltage is applied, when the monitored voltage falls below the first threshold, the second voltage is applied, and when the monitored voltage falls below the second threshold, the third voltage is applied, thereby gradually reducing the amount of light.

- In the above embodiment, the voltage sensor 81 is used to monitor the deterioration of the blue light-emitting body 49, and the brightness of the other light-emitting bodies 47-48 is adjusted when a certain level of deterioration occurs. However, the specific configuration for monitoring the deterioration is arbitrary. For example, a current sensor may be used to monitor the deterioration of the blue light-emitting body 49, or a light sensor may be used to monitor the deterioration of the blue light-emitting body 49.

- In the above embodiment, when the balance of the mixed colors (the relationship between the brightness ratios of the light emitters 47 to 49) is lost due to deterioration of the light emitters 47 to 49, the brightness ratio is corrected by lowering the brightness of the red light emitter 47 and the green light emitter 48, but this is not limited to the above. For example, when the balance of the mixed colors is lost due to deterioration of the light emitters 47 to 49, it is also possible to correct the brightness ratio by increasing the voltage applied to the blue light emitter 49 to suppress the decrease in the brightness of the blue light emitter 49.

- In the above embodiment, three types (three colors) of light-emitting elements 47 to 49 are used in combination, but this is not limited to the present invention. It is sufficient if the display colors can be diversified by at least mixing the colors, and it is also possible to use two types (two colors) of light-emitting elements in combination, or to use four or more types (four colors) of light-emitting elements in combination.

- In the above embodiment, the display colors of the status display unit 45 are diversified by additive color mixing using the so-called three primary colors of color light (red, green, and blue), but the base color for the mixed colors can be a color other than the three primary colors. For example, this does not deny the configuration of diversifying the display colors of the status display unit 45 by subtractive color mixing using the so-called three primary colors of color materials (yellow, magenta, and cyan).

- The relationship between the display color of the status display unit 45 shown in FIG. 4 in the above embodiment and the state of the robot 20 may be changed arbitrarily. For example, it is possible to make the display color of the status display unit 45 white when the robot is in a startup preparation state or a connection waiting state, and to make the display color of the status display unit 45 green when the robot is in a collaboration program playback state or a diagnostic execution state. Even with this configuration, it is possible to reduce the chances of the robot being mistaken for being in a teaching state despite being in a startup preparation state or a connection waiting state by suppressing imbalance in the mixed colors in consideration of deterioration of the blue light-emitting element 49.

- It is also possible to change each of the light emitters 47 to 49 shown in the above embodiment from a filterless type to a filter type. In a configuration in which coloring is performed using color filters, the light emitting elements that serve as light sources can be aligned to have the same color, making it possible to suppress changes in the display color due to deterioration of the light emitting elements. However, even in such a configuration, there is a possibility that differences in the decrease in luminance due to deterioration of the color filters may occur. In light of this situation, even when coloring is performed using color filters, it is desirable to configure the configuration so that the deterioration of a specific light emitter (color filter) that is most noticeable is monitored, and the luminance is adjusted based on the monitoring results.

The specific configuration for monitoring the deterioration of the filter-type light-emitting body (color filter) is arbitrary. For example, the color filter itself may be monitored, or the brightness of the light irradiated through the color filter may be monitored using an optical sensor such as a photosensor.

- In the above embodiment, 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, but this is not limited to the above. In view of the fact that there is a slight difference between the degree of deterioration of the red light emitter 47 and the degree of deterioration of the green light emitter 48 (see FIG. 5), the voltage (first low voltage) applied to the red light emitter 47 and the voltage (second low voltage) applied to the green light emitter 48 may be different by the correction. Specifically, the voltage (first low voltage) applied to the red light emitter 47 may be greater than the voltage (second low voltage) applied to the green light emitter 48. Note that the first low voltage and the second low voltage may be set so that the luminance of each of the light emitters 47 to 49 after the correction is the same or approximately the same.

- OLEDs (Organic Light Emitting Diodes) may be used as the light emitters 47 to 49.

- In the above embodiment, the status display unit 45 is disposed on the base 31 of the robot 20, but the location of the status display unit 45 may be changed as desired. For example, it may be disposed on the arm 32 or on the base plate 21. In addition, the status display unit 45 does not necessarily have to be annular, and its shape may be changed as desired.

- The configuration related to the status display unit 45 shown in the above embodiment may be applied to a status display unit that displays the status of other industrial equipment (e.g., transport devices such as conveyors and processing devices such as presses).

20...robot, 45...status display unit, 46...light emitting unit, 47...red light emitting element, 48...green light emitting element, 49...blue light emitting element, 50...servo amplifier, 51...control unit, 52...storage unit, 60...power supply circuit, 61...first supply path, 62...second supply path, 65...high voltage supply path, 66...low voltage supply path, 70...power supply unit, 75...high voltage power supply unit, 76...low voltage power supply unit, 80...switching unit, 81...voltage sensor, 85...high voltage side switch, 86...low voltage side switch.

Claims (12)

A light-emitting unit including a combination of a plurality of light sources having different light emission colors;
a power supply unit for supplying power to the plurality of light sources;
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 a 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 that is more likely to deteriorate and have a lower brightness than the first light source when used under a predetermined condition,
A detection unit capable of detecting deterioration of the second light source;
a correction unit that corrects the brightness ratio of the multiple light sources by reducing the power supplied to the first light source when the detection unit detects a predetermined deterioration under a situation where light emission control is performed to make the light-emitting unit emit light in a predetermined display color, which is a mixture of colors, compared to a case where the detection unit does not detect the predetermined deterioration. a first power supply unit capable of applying a first voltage to the first light source and a second power supply unit capable of applying a second voltage lower than the first voltage to the first light source are provided as power supply units that apply a voltage to the first light source;
2. The robot status display device according to claim 1, wherein the correction unit is configured to set a power supply unit that applies a voltage to the first light source as the first power supply unit when the detection unit has not detected the specified deterioration under a situation in which light emission control is being performed to make the light-emitting unit emit light in the specified display color, and to set a power supply unit that applies a voltage to the first light source as the second power supply unit when the detection unit has detected the specified deterioration under a situation in which light emission control is being performed to make the light-emitting unit emit light in the specified display color. the control unit is configured to change display colors of the light-emitting units according to a state of the industrial robot by controlling an amount of current flowing through the light sources by PWM control,
2. A robot status display device as described in claim 1, wherein when the detection unit detects the specified deterioration under a situation in which light emission control is performed to make the light-emitting unit emit light in a specified display color that is a mixture of colors, the correction unit corrects the ratio by reducing the duty ratio of the PWM signal output to the first light source compared to a case in which the detection unit does not detect the specified deterioration. A robot status display device according to any one of claims 1 to 3, configured such that when the brightness ratio is corrected by reducing the power supplied to the first light source by the correction unit, the brightness ratio of the first light source after the correction is lower than the ratio when the predetermined degradation does not occur. The first light source and the second light source are configured to emit light of different colors due to differences in emission wavelengths of light-emitting elements,
5. The robot status display device according to claim 1, wherein the predetermined deterioration is detected when an amount of voltage drop in the second light source reaches a threshold value. a resistor connected in series to the second light source is provided between the power supply and a ground,
6. A robot status display device according to claim 1, wherein the detection unit has a voltage sensor that detects an amount of voltage drop in the resistor unit, and detects the predetermined deterioration based on the amount of voltage drop. A first display color indicating that the industrial robot is in an operating state and a second display color indicating that the industrial robot is in a stationary state are set as display colors of the light-emitting unit,
a ratio of luminance of each light source when the light-emitting unit emits light in the first display color can change from a ratio corresponding to the first display color to a ratio corresponding to the second display color due to deterioration of the plurality of light sources,
the predetermined display color is the first display color,
7. A robot status display device as described in any one of claims 1 to 6, wherein when the detection unit detects the specified deterioration under a situation where light emission control is being performed to make the light emitting unit emit light in the first display color, the correction unit is configured to correct the luminance ratio of the multiple light sources to approach the luminance ratio corresponding to the first display color by reducing the power supplied to the first light source compared to a case where the detection unit does not detect the specified deterioration. The second light source is a blue LED that emits blue light, and the first light source is a red LED that emits red light or a green LED that emits green light,
8. The robot status display device according to claim 1, wherein the detection unit is capable of detecting deterioration of the blue LED. the plurality of light sources are composed of the second light source having a blue light emission color, the first light source having one of a red and a green light emission color, and a third light source having the other of the red and the green light emission color;
the control unit is configured to control the plurality of light sources so as to cause the light emitting unit to emit white light when the industrial robot is in an operating state, and to cause the light emitting unit to emit yellow light when the industrial robot is in a stationary state,
9. The robot status display device according to claim 8, wherein the correction unit has a means for correcting the luminance ratio of the plurality of light sources to approach the luminance ratio corresponding to white by reducing the power supplied to the first light source and the third light source when the detection unit detects the specified deterioration under a situation in which light emission control is performed to make the light emitting unit emit light in the specified display color, which is white, compared to a case in which the detection unit does not detect the specified deterioration. The plurality of light sources include the first light source, the second light source, and a third light source,
the third light source is configured to be less susceptible to deterioration and luminance reduction than the first light source when used under the specified conditions;
10. A robot status display device as described in any one of claims 1 to 9, wherein the correction unit is configured to correct the luminance ratio of the multiple light sources by individually reducing the power supplied to the first light source and the power supplied to the third light source when the detection unit detects the specified deterioration under a situation in which light emission control is performed to make the light emitting unit emit light in a specified display color that is a mixture of colors. The first light source is a red LED that emits red light, the second light source is a blue LED that emits blue light, and the third light source is a green LED that emits green light,
11. A robot status display device as described in claim 9 or claim 10, wherein the correction unit is configured to perform the correction so that the amount of reduction in power supplied to the red LED when the power supplied to the red LED is reduced based on the detection of the specified deterioration by the detection unit is smaller than the amount of reduction in power supplied to the green LED when the power supplied to the green LED is reduced based on the detection of the specified deterioration by the detection unit. An industrial robot equipped with the robot status display device described in any one of claims 1 to 11.

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