Robot control system, robot control device, and control method

Abstract

To provide a robot control system, a robot control device and a control method for operating a robot arm with high safety.SOLUTION: The robot control device includes an opening / closing signal acquisition unit configured to acquire an opening / closing signal, a trigger signal acquisition unit configured to acquire a trigger signal, and a safety confirmation state setting unit configured to set a state in which the opening / closing detection unit detects the closed state based on the opening / closing signal acquired by the opening / closing signal acquisition unit and the trigger signal acquisition unit acquires the trigger signal as a safety confirmation state when power is supplied to the robot control device. The robot control device permits the operation of the robot arm when the determination unit determines that the safety confirmation state is established, and prohibits the operation of the robot arm when the determination unit determines that the safety confirmation state is not established.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a robot control system, a robot control device, and a control method. [Background technology]

[0002] In recent years, due to rising labor costs and labor shortages in factories, robot systems have been used to transport, manufacture, process, assemble, and inspect workpieces such as machine parts, and the automation of tasks that were previously done manually is progressing. Such robot systems require high levels of safety, and various innovations are being implemented.

[0003] For example, Patent Document 1 discloses a semiconductor transport device having a robot for transporting semiconductors and a casing for housing the robot. The casing has an opening for accessing the interior and a cover that serves as a door for opening and closing the opening. In this robot system, when the power is on and the cover is open, an interlock is activated, and the robot stops operating unless a predetermined release operation is performed. This prevents a human body or other object from entering the casing through the opening and coming into contact with the operating robot, thereby improving safety. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-190103 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the semiconductor transport device in Patent Document 1 is not configured to activate an interlock when the power is turned on from off, so there is a risk that the robot may operate even if the cover is open when the power is turned on. Furthermore, simply activating the interlock when the power is turned on is not sufficient to ensure high safety. [Means for solving the problem]

[0006] The robot control system of the present invention includes: an opening / closing unit that opens and closes an access unit that allows access to a movable area of ​​a robot having a robot arm; an open / close detection unit that detects an open or closed state of the open / close unit; an open / close signal transmitting unit that transmits an open / close signal including information on the open / close state detected by the open / close detection unit; a robot control device that outputs a drive signal to the robot to control the operation of the robot, The robot control device an opening / closing signal acquisition unit that acquires the opening / closing signal; a trigger signal acquisition unit that acquires a trigger signal; a determination unit that, when power is supplied to the robot control device, determines that the open / close detection unit is in the closed state based on the open / close signal acquired by the open / close signal acquisition unit and that the trigger signal acquisition unit has acquired the trigger signal, as a safety confirmed state, and determines whether or not the robot is in the safety confirmed state; The robot control device allows the robot arm to operate when the judgment unit judges that the safety confirmation state is in effect, and prohibits the robot arm from operating when the judgment unit judges that the safety confirmation state is not in effect.

[0007] A robot control device of the present invention is a robot control device that outputs a drive signal to a robot having a robot arm to control the operation of the robot, an opening / closing signal acquiring unit that acquires an opening / closing signal including information on the opening / closing state of an opening / closing unit that opens and closes an access unit that allows access to a movable area of ​​the robot; a trigger signal acquisition unit that acquires a trigger signal; a determination unit that, when power is supplied to the robot control device, determines that the robot is in the safety confirmed state when the open / close detection unit detects that the robot is in the closed state based on the open / close signal acquired by the open / close signal acquisition unit and the trigger signal acquisition unit acquires the trigger signal, and determines whether the robot is in the safety confirmed state; When the determination unit determines that the safety confirmed state is established, the operation of the robot arm is permitted, and when the determination unit determines that the safety confirmed state is not established, the operation of the robot arm is prohibited.

[0008] The control method of the present invention is a control method for a robot control device that includes an open / close signal acquisition unit that acquires an open / close signal including information on the open / close state of an open / close unit that opens and closes an access unit that can access a movable area of ​​a robot having a robot arm, and a trigger signal acquisition unit that acquires a trigger signal, and that outputs a drive signal to the robot to control the operation of the robot, a first step of determining whether or not the robot is in the safety confirmed state when, upon power being supplied to the robot control device, the open / close detection unit detects the closed state based on the open / close signal acquired by the open / close signal acquisition unit and the trigger signal acquisition unit acquires the trigger signal, and determining that the robot is in the safety confirmed state; The method has a second step of permitting operation of the robot arm if it is determined in the first step that the safety confirmation state is in effect, and prohibiting operation of the robot arm if it is determined that the safety confirmation state is not in effect. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of a robot system including a robot control system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram of the robot system shown in FIG. [Figure 3] FIG. 3 is a block diagram illustrating an example of a hardware configuration of the robot system shown in FIG. [Figure 4]4 is a plan view of a notification unit included in the robot control device shown in FIG. [Figure 5] FIG. 5 is a flowchart illustrating an example of a control method according to the first embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart illustrating an example of a control method according to the second embodiment of the present invention. [Figure 7] FIG. 7 is a schematic configuration diagram of a robot system including a robot control system according to a third embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart illustrating an example of a control method according to the third embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart illustrating an example of a control method according to the fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] First Embodiment Fig. 1 is a schematic configuration diagram of a robot system including a robot control system according to a first embodiment of the present invention. Fig. 2 is a block diagram of the robot system shown in Fig. 1. Fig. 3 is a block diagram showing an example of the hardware configuration of the robot system shown in Fig. 1. Fig. 4 is a plan view of a notification unit included in the robot control device shown in Fig. 1. Fig. 5 is a flowchart for explaining an example of a control method according to the first embodiment of the present invention.

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot control system, a robot control device, and a control method according to the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

[0012] For ease of explanation, the robot arm will be hereinafter referred to as the "base end" on the side of the base 21 in FIG. 1 and the "tip end" on the opposite side, i.e., the side of the end effector 26.

[0013] As shown in Fig. 1, robot system 1 is a system that executes the control method of the present invention, and includes a robot 2, a robot control device 3 which is an example of a robot control device of the present invention, a safety fence system 4, and a transmission device 5. The robot control device 3 and the safety fence system 4 constitute a robot control system 100 which is an example of a robot control system of the present invention. Furthermore, the robot control device 3 and the transmission device 5 constitute a control system 200.

[0014] First, the robot 2 will be described. As shown in Fig. 1, the robot 2 is a SCARA robot that drives a robot arm 22 in a desired manner to perform tasks such as transporting, assembling, and inspecting workpieces such as electronic components, or performing various types of processing and painting on the workpieces using tools (hereinafter, these may be collectively referred to simply as "tasks"). However, the use of the robot 2 is not particularly limited. Furthermore, the robot 2 according to the present invention may be a robot other than a SCARA robot, such as a six-axis articulated robot, a Cartesian robot incorporating linear sliders, or a dual-arm robot.

[0015] 1, the robot 2 has a base 21, which is a base portion, and a robot arm 22 rotatably connected to the base 21. The base 21 is fixed to a floor surface that is parallel to a horizontal plane.

[0016] The robot arm 22 has a first arm 23 whose base end is connected to the base 21 and rotates around a first rotation axis J1 that is vertical to the base 21, and a second arm 24 whose base end is connected to the tip end of the first arm 23 and rotates around a second rotation axis J2 that is vertical to the first arm 23.

[0017] A work head 25 is provided at the tip of the second arm 24. The work head 25 has a spline nut 251 and a ball screw nut 252 that are coaxially arranged at the tip of the second arm 24, and a spline shaft 253 that is inserted through the spline nut 251 and the ball screw nut 252. The spline shaft 253 is rotatable relative to the second arm 24 around a third rotation axis J3 that is its central axis and extends in the vertical direction, and is also movable up and down along the third rotation axis J3.

[0018] An end effector 26 is attached to the lower end of the spline shaft 253. The end effector 26 is detachable and can be selected appropriately for the intended task. Examples of the end effector 26 include those that can hold a workpiece or a tool.

[0019] The robot 2 has a first joint actuator 27 that connects the base 21 and the first arm 23 and rotates the first arm 23 relative to the base 21 around a first rotation axis J1, and a second joint actuator 28 that connects the first arm 23 and the second arm 24 and rotates the second arm 24 relative to the first arm 23 around a second rotation axis J2.

[0020] The robot 2 also has a first drive mechanism 291 that rotates the spline nut 251 to rotate the spline shaft 253 around the third rotation axis J3, and a second drive mechanism 292 that rotates the ball screw nut 252 to raise and lower the spline shaft 253 in a direction along the third rotation axis J3.

[0021] The first joint actuator 27 has a motor 27A as a first motor, and a reducer, encoder, etc. (not shown). The second joint actuator 28 has a motor 28A as a second motor, and a reducer, encoder, etc. (not shown). The first drive mechanism 291 has a motor 291A, and a reducer, encoder, etc. (not shown). The second drive mechanism 292 has a motor 292A, and a reducer, encoder, etc. (not shown).

[0022] 2, motor 27A, motor 28A, motor 291A, and motor 292A are each electrically connected to robot control device 3 via a motor driver (not shown). Robot control device 3 controls the conditions for supplying electricity to motor 27A, motor 28A, motor 291A, and motor 292A from a power supply (not shown) via each motor driver, i.e., the amount of electricity, timing of electricity supply, etc. This makes it possible to control the operation of robot arm 22 so as to change each arm to a desired posture.

[0023] Each encoder is electrically connected to the robot control device 3. Each encoder detects rotational position information of the corresponding motor and transmits it to the robot control device 3. The robot control device 3 controls the energization conditions for motor 27A, motor 28A, motor 291A, and motor 292A based on the rotational position information of each motor received from each encoder. By controlling the operation of robot arm 22 while understanding the rotational positions of motors 27A, motor 28A, motor 291A, and motor 292A, it is possible to accurately perform predetermined operations.

[0024] Next, the safety fence system 4 will be described. As shown in FIGS. 1 and 2, the safety fence system 4 includes a safety fence 41, an opening / closing door 42, an opening / closing detection unit 43, and an opening / closing signal transmission unit 44.

[0025] The safety fence 41 is provided around the robot 2 so as to enclose a movable area A of the robot 2. This prevents other objects such as people or obstacles from unintentionally entering the movable area A or approaching the robot 2 while the robot 2 is in operation, thereby ensuring safety. The movable area A of the robot 2 is a space that includes the space in which the robot 2, particularly the robot arm 22, can move and its surrounding area. The movable area A differs depending on the type of robot 2.

[0026] A part of the safety fence 41 is provided with an access section 45, which is configured as an opening through which a worker or the like can enter and exit, and which provides access to the movable area A of the robot 2. The access section 45 is provided with an opening / closing door 42 that serves as an opening / closing section for opening and closing the access section 45. When the opening / closing door 42 is in a fully open state (hereinafter referred to as the "open state"), a worker can enter inside the safety fence 41 through the access section 45 and perform work such as installing, replacing, or removing a workpiece (workpiece) by the robot 2, or performing maintenance on the robot 2. On the other hand, when the opening / closing door 42 is in a fully closed state (hereinafter referred to as the "closed state"), it is possible to prevent a worker or the like from entering or exiting through the access section 45. The opening / closing door 42 is in an open state when it is not in a completely closed state (fully closed state), but is, for example, half-open.

[0027] The open / close detection unit 43 is provided near the opening / closing door 42 and detects the open or closed state of the opening / closing door 42. The open / close detection unit 43 generates information on the detected open or closed state, i.e., information on the open or closed state, and outputs it to the open / close signal transmission unit 44.

[0028] The detection method of the open / close detector 43 is not particularly limited, and examples thereof include an optical method, a contact method, and a capacitance method.

[0029] The open / close signal transmitting unit 44 converts the open / close state information output by the open / close detection unit 43 into an electric signal and transmits it to the robot control device 3. Hereinafter, a signal including the open / close state information transmitted by the open / close signal transmitting unit 44 will be referred to as an open / close signal. That is, the open / close signal includes information on the open or closed state of the open / close door 42. Herein, the open / close signal is not particularly limited, and may be, for example, an electric signal that has a different voltage value when the open / close door 42 is in the closed state and when the open / close door 42 is in the open state. In this case, the open / close signal transmitting unit 44 and the robot control device 3 are electrically connected, and the voltage value of the electric signal transmitted from the open / close signal transmitting unit 44 to the robot control device 3 is monitored to determine whether the open / close door 42 is in the open state or the closed state.

[0030] In such a safety fence system 4, from the viewpoint of improving safety, it is preferable to operate the robot 2 when the opening and closing door 42 is in a closed state.

[0031] 1 and 2, the transmitting device 5 is a device that transmits a safety confirmation signal, which is an example of a trigger signal, to the robot control device 3. When the worker confirms that the opening and closing door 42 is closed, for example by visually checking or touching it with his / her hand (hereinafter referred to as "safety confirmation"), the worker inputs to the transmitting device 5 that the safety confirmation has been completed, and the transmitting device 5 transmits the safety confirmation signal to the robot control device 3.

[0032] The transmitting device 5 has a display unit 50, and a display control unit 51 and a safety confirmation signal transmitting unit 52 as functional units. In this embodiment, the transmitting device 5 is a tablet terminal that has the display unit 50. However, the transmitting device 5 is not limited to this configuration, and may be a notebook computer, a desktop computer, a teaching pendant, a smartphone, or a device built into any of these. Furthermore, as will be described later, the transmitting device 5 may be a button without a display unit 50 as long as it is capable of receiving input from the worker that a safety confirmation has been performed.

[0033] The display unit 50 is a display configured with a touch panel. By viewing the image displayed on the display unit 50 and performing desired touch operations with their finger or a touch pen, the worker can perform operations such as inputting various information, such as the fact that a safety check has been performed (described later), and issuing a command to send a safety check signal.

[0034] Although not shown, the display unit 50 displays a safety confirmation input screen on which the worker inputs that the safety confirmation has been performed. For example, a safety confirmation completion button (not shown) is displayed on the safety confirmation input screen, and the worker presses the safety confirmation completion button to input that the safety confirmation has been performed. The safety confirmation performed by the worker means, when starting the operation of the robot 2, checking that the opening / closing door 42 is in a closed state, for example, by visually checking or by touching it with one's hand (hereinafter collectively referred to as "visual check").

[0035] The display unit 50 is configured with a display panel in which, for example, liquid crystal elements, organic EL elements, etc. are arranged in a planar form, and has an operation function (input function) by touch in addition to the function of displaying information. The display unit 50 can display the display screen and operation screen in color or monochrome. The touch panel type of the display unit 50 may be either a pressure-sensitive type or a capacitance type.

[0036] The display control unit 51 controls the operation of the display unit 50 so as to display a screen to be displayed on the display unit 50, for example, a safety confirmation input screen.

[0037] The safety confirmation signal transmitting unit 52 acquires a signal indicating that a safety confirmation has been performed, that is, a safety confirmation signal, input from the safety confirmation input screen, and transmits it to the robot control device 3. The safety confirmation signal may be transmitted automatically after input on the safety confirmation input screen, or may be transmitted when the worker performs an operation on the display unit 50 to instruct transmission of the safety confirmation signal.

[0038] 1, the robot control device 3 is installed outside the safety fence 41. However, the present invention is not limited to this configuration, and the robot control device 3 may be installed inside the safety fence 41.

[0039] As shown in FIG. 2, the robot control device 3 has, as functional units, a safety confirmation signal acquisition unit 30, a determination unit 33, a drive control unit 34, a notification signal output unit 35, a storage unit 36, and a notification unit 37.

[0040] The robot control device 3 is provided with a power switch (not shown), which is turned on / off by the operator. When the power switch is in the on state, power is supplied from an external power source to the robot control device 3, making it possible to supply power to each part of the robot 2 and output drive signals to the robot 2. On the other hand, when the power switch is in the off state, power is not supplied from the external power source to the robot control device 3 and each part of the robot 2, making it impossible for the robot control device 3 to operate the robot 2.

[0041] The safety confirmation signal acquisition unit 30 includes an opening / closing signal acquisition unit 31 and a trigger signal acquisition unit 32 .

[0042] The opening / closing signal acquiring unit 31 acquires the opening / closing signal transmitted by the opening / closing signal transmitting unit 44 of the safety fence system 4, and stores it in the storage unit .

[0043] The trigger signal acquisition unit 32 acquires the safety confirmation signal transmitted by the safety confirmation signal transmission unit 52. Information about the safety confirmation signal acquired by the trigger signal acquisition unit 32 is stored in the storage unit .

[0044] The judgment unit 33 judges whether or not the robot control device 3 is in a safety confirmation state when power is supplied to the robot control device 3, that is, when a power switch (not shown) of the robot control device 3 is turned on. The safety confirmation state is a state in which the following conditions (1) and (2) are satisfied.

[0045] Condition (1): The open / close detection unit 43 detects that the door 42 is in the closed state based on the open / close signal acquired by the open / close signal acquisition unit 31. Satisfying condition (1) means that the open / close detection unit 43 has detected that the door 42 is in the closed state.

[0046] In addition, the determination of condition (1) is not limited to the above configuration, and for example, the robot control device 3 may be configured to determine that the opening / closing door 42 is in a closed state based on the opening / closing signal acquired by the opening / closing signal acquisition unit 31.

[0047] Condition (2): The trigger signal acquisition unit 32 acquires a safety confirmation signal (trigger signal). Satisfying condition (2) means that the worker has confirmed, for example, visually that the opening and closing door 42 is closed, and has input and transmitted that information.

[0048] If both conditions (1) and (2) are satisfied, the judgment unit 33 judges that the state is a "safety confirmed state," and if at least one of conditions (1) and (2) is not satisfied, the judgment unit 33 judges that the state is a "safety unconfirmed state."

[0049] The determination result of the determination unit 33 is transmitted to the drive control unit 34. That is, information on whether the vehicle is in a safety confirmed state or a safety unconfirmed state is transmitted to the drive control unit 34.

[0050] Supplying power to the robot control device 3 includes switching the power supply from an OFF state to an ON state, and switching the robot control device 3 from a sleep state (low power state) to a normal operating state.

[0051] When the determination unit 33 determines that the safety is confirmed, the drive control unit 34 permits the operation of the robot arm 22. That is, when the determination unit 33 determines that the safety is confirmed, and the drive control unit 34 receives an operation start instruction, for example, by a touch operation on the display unit 50 by the worker, the drive control unit 34 reads and executes various operation programs stored in the memory unit 36. The drive signals generated by the drive control unit 34 are transmitted to each unit of the robot 2. This allows the robot arm 22 to safely perform a predetermined operation (task) under predetermined conditions.

[0052] On the other hand, when the determination unit 33 determines that the safety is not confirmed, i.e., that the safety is not confirmed, the drive control unit 34 prohibits the operation of the robot arm 22. In other words, when the determination unit 33 determines that the safety is not confirmed, the drive control unit 34 does not send a drive signal to each unit of the robot 2 and does not operate the robot 2, regardless of whether or not an operation start command has been issued by the operator.

[0053] In this way, when the power switch is turned on, the robot control device 3 permits operation of the robot arm 22 only when both conditions (1) and (2) are satisfied. In other words, operation of the robot arm 22 is permitted only when the open / close detection unit 43 detects that the door 42 is closed and an operator has confirmed, for example, visually, that the door 42 is closed, i.e., when the double check is complete. This effectively prevents erroneous recognition of the open / close state due to human error (e.g., erroneous recognition due to an operator's misreading), machine error (e.g., malfunction or failure of the open / close detection unit 43), or system error (e.g., malfunction or failure of the open / close signal acquisition unit 31 or the open / close signal transmission unit 44), allowing the robot arm 22 to be operated with high safety.

[0054] When the determination unit 33 determines that the vehicle is not in a safety confirmed state (safety unconfirmed state), the notification signal output unit 35 generates a signal for notifying the vehicle that the safety is not confirmed. Specifically, the notification signal output unit 35 generates and outputs a signal for notifying the notification unit 37 of a pattern indicating that the vehicle is not in a safety confirmed state (safety unconfirmed state).

[0055] The notification unit 37 operates in accordance with the signal output from the notification signal output unit 35 . 4, in this embodiment, the notification unit 37 is configured with a so-called 7-segment lamp provided on the outer surface of the robot control device 3, and the lighting pattern of each lamp notifies the operator that the safety confirmation state is not in place. This allows the operator to know that the safety confirmation state is not in place (safety unconfirmed state). Note that the notification unit 37 is not limited to the above configuration, and may have the same configuration as the display unit 50, or may be configured to notify by lighting or flashing a light-emitting element such as a single-color or multi-color LED, or by sound, or a combination of these.

[0056] The notification unit 37 can display numbers, letters, symbols, etc. by changing the lighting patterns of the segment lamps. In the example shown in Fig. 4, the notification unit 37 displays a combination of symbols and numbers, "-50-". The pattern "-50-" indicates that the door 42 is open. This allows the worker to understand that the reason the safety confirmation state is not met is because the door 42 is open, and the worker can go and close the door 42 or check whether the door 42 is open or closed.

[0057] When the pattern "-70-" is displayed on the notification unit 37, it indicates that the door 42 is closed, but the trigger signal acquisition unit 32 has not received a safety confirmation signal (trigger signal). This allows the worker to perform a safety confirmation, input to the transmission device 5 that the safety confirmation has been completed, and transmit a safety confirmation signal to the robot control device 3.

[0058] When the pattern "-30-" is displayed on the notification unit 37, it indicates that the door 42 is in the open state and that the worker has not transmitted a safety confirmation signal (trigger signal). This allows the worker to close the door 42, perform a safety confirmation, input to the transmitter 5 that the safety confirmation has been completed, and transmit a safety confirmation signal to the robot controller 3.

[0059] In this embodiment, the notification unit 37 can also notify (display) that the safety confirmation state is in effect. When the pattern "-00-" is displayed on the notification unit 37, this indicates that the door 42 is in a closed state and that the trigger signal acquisition unit 32 has received a safety confirmation signal (trigger signal). This indicates that the operation of the robot arm 22 is permitted.

[0060] The operator already knows what kind of error the pattern displayed on the notification unit 37 indicates, i.e., the fact that the safety is not confirmed and the cause of the error and the relationship between the displayed pattern are known. Therefore, by visually checking the pattern displayed on the notification unit 37, the operator can easily understand what kind of error has occurred in the robot system 1.

[0061] In this way, it is possible to notify that the safety confirmation state is not in a valid state (safety unconfirmed state) by the pattern displayed on the notification unit 37. Furthermore, it is possible to notify that the safety confirmation state is not in a valid state, together with the cause of the safety confirmation state not being in a valid state, i.e., which of the above conditions (1) and (2) is not met, by the pattern displayed on the notification unit 37. This allows the worker to easily understand the cause of the safety confirmation state not being in a valid state, and to take appropriate and prompt measures to resolve the cause.

[0062] Another example of the configuration of the alarm unit 37 will be described. The alarm unit 37 has light-emitting elements of three colors, blue, yellow, and red, and all light-emitting elements are turned off when the safety confirmation state is in effect. When the safety confirmation state is not in effect because an opening / closing signal cannot be obtained from the safety fence system 4, the yellow light-emitting element flashes. When the safety confirmation state is not in effect because the opening / closing door 42 is in an open state, the yellow light-emitting element lights up. When the safety confirmation state is not in effect because a safety confirmation signal has not been received, the blue light-emitting element lights up.

[0063] Furthermore, when the notification unit 37 is configured to have light-emitting elements of four colors, green, blue, yellow, and red, it may be controlled as follows. First, if the safety confirmation state is established, the green light-emitting element flashes. After the robot arm 22 is permitted to operate, the green light-emitting element lights up. If the safety confirmation state is not established because an opening / closing signal cannot be obtained from the safety fence system 4, the yellow light-emitting element flashes. If the safety confirmation state is not established because the opening / closing door 42 is open, the yellow light-emitting element lights up. If the safety confirmation state is not established because a safety confirmation signal has not been received, the blue light-emitting element lights up.

[0064] Furthermore, when the notification unit 37 is configured to notify by voice, it notifies by voice whether the safety is confirmed or not confirmed, and if the safety is not confirmed, it can also notify by voice the cause of the not confirmed state. For example, voice messages such as "The door is not closed" or "The safety confirmation signal cannot be received" can be issued as causes. The notification unit 37 configured in this way can also notify that the safety is not confirmed, along with the cause of the not confirmed state.

[0065] The storage unit 36 ​​stores programs and the like for executing the control operations performed by the above-mentioned functional units.

[0066] The functional units of the robot control device 3, safety fence system 4, and transmission device 5 can be realized by the hardware configuration example shown in Fig. 3. The robot control device 3, safety fence system 4, and transmission device 5 each have at least one processor, memory, and I / O interface. The control unit, storage unit, and communication unit are connected to each other so that they can communicate with each other, for example, via a bus.

[0067] Here, the safety fence system 4 may be configured to transmit a signal indicating the open or closed state of the opening / closing door 42, and may, for example, be configured without a processor but with a physical switch electrically connected to the robot control device 3.

[0068] The processor is, for example, a central processing unit (CPU), and reads and executes various programs stored in the memory. The processor is an example of a control unit.

[0069] The memory stores various programs executed by the processor. Examples of memory include volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and removable external storage devices. The memory is an example of a storage unit. The storage unit is not limited to this configuration, and may be implemented as a relay circuit that switches depending on the state.

[0070] The I / O interface is compatible with communication means such as a wired LAN (Local Area Network) or a wireless LAN. This allows signals to be transmitted and received between the robot control device 3, the safety fence system 4, and the transmitter 5, or between them and external devices. Signals may be transmitted and received via a server (not shown), or via a network such as the Internet. The I / O interface is an example of a communication unit.

[0071] As described above, the robot control device 3 is a robot control device that outputs a drive signal to the robot 2 having the robot arm 22 to control the operation of the robot 2, and is equipped with an opening / closing signal acquisition unit 31 that acquires an opening / closing signal including information on the opening / closing state of the opening / closing door 42 as an opening / closing unit that opens and closes the access unit 45 that allows access to the movable area A of the robot 2, a trigger signal acquisition unit 32 that acquires a safety confirmation signal (trigger signal), and a judgment unit 33 that, when power is supplied to the robot control device 3, detects that the opening / closing detection unit 43 is in a closed state based on the opening / closing signal acquired by the opening / closing signal acquisition unit 31 and determines that the robot is in a safety confirmation state if the trigger signal acquisition unit 32 acquires a trigger signal, and judges whether the robot is in a safety confirmation state or not.If the judgment unit 33 determines that the robot is in a safety confirmation state, it allows the robot arm 22 to operate, and if the judgment unit 33 determines that the robot is not in a safety confirmation state, it prohibits the operation of the robot arm 22. This allows a configuration in which operation of the robot arm 22 is permitted only when confirmation of the closed state of the opening / closing section (opening / closing door 42) has been completed both via the opening / closing signal acquisition unit 31 and via the trigger signal acquisition unit 32. This effectively prevents erroneous recognition of the open / closed state due to human error, machine error, or system error, and allows the robot arm 22 to be operated with a high degree of safety.

[0072] The robot control system 100 also includes an opening / closing door 42 as an opening / closing section that opens and closes an access section 45 that allows access to the movable area A of the robot 2 having the robot arm 22, an opening / closing detection section 43 that detects the open or closed state of the opening / closing door 42, an opening / closing signal transmission section 44 that transmits an opening / closing signal including information on the opening / closing state detected by the opening / closing detection section 43, and a robot control device 3 that outputs a drive signal to the robot 2 to control the operation of the robot 2. The robot control device 3 also includes an opening / closing signal acquisition unit 31 that acquires an opening / closing signal, a trigger signal acquisition unit 32 that acquires a safety confirmation signal (trigger signal), and a determination unit 33 that, when power is supplied to the robot control device 3, determines whether the robot control device 3 is in the safety confirmed state by detecting the opening / closing detection unit 43 being in the closed state based on the opening / closing signal acquired by the opening / closing signal acquisition unit 31 and the trigger signal acquisition unit 32 acquiring the safety confirmation signal. The robot control device 3 permits operation of the robot arm 22 when the determination unit 33 determines that the safety confirmed state is in effect, and prohibits operation of the robot arm 22 when the determination unit 33 determines that the safety confirmed state is not in effect. This allows operation of the robot arm 22 only when confirmation of the closed state of the opening / closing unit (opening / closing door 42) via both the opening / closing signal acquisition unit 31 and the trigger signal acquisition unit 32 has been completed. This effectively prevents erroneous recognition of the opening / closing state due to human error, machine error, or system error, enabling the robot arm 22 to be operated with high safety.

[0073] In this embodiment, the trigger signal has been described as an example of a safety confirmation signal input by the worker using the transmitting device 5, but the present invention is not limited to this, and the trigger signal may also be a signal output by the intrusion detection sensor 6 described in the third embodiment (a signal indicating that no intrusion has occurred).

[0074] Furthermore, in this embodiment, a configuration has been described in which the drive control unit 34 allows or prohibits the operation of the robot arm 22, but the present invention is not limited to this, and a functional unit other than the drive control unit 34 may allow or prohibit the operation of the robot arm 22 by switching between supplying and cutting off power to the robot 2.

[0075] As described above, the robot control device 3 is also provided with the notification unit 37 that notifies the operator that the safety confirmation state is not reached when the determination unit 33 determines that the safety confirmation state is not reached (safety unconfirmed state). This allows the operator to understand that the safety confirmation state is not reached and to take the necessary measures.

[0076] The robot control device 3 does not necessarily have to include the notification unit 37. In this case, it is preferable that a device other than the robot control device 3, for example, the transmission device 5, notify the robot control device 3 that it is not in the safety confirmation state.

[0077] Furthermore, the notification unit 37 notifies the operator that the safety is not confirmed (safety unconfirmed state) together with the cause of the safety not being confirmed, thereby enabling the operator to grasp the cause of the safety not being confirmed and to take appropriate and prompt measures to resolve the cause.

[0078] The notification unit 37 is not limited to the above configuration, and may be configured to omit notification of the cause of the state where the safety is not confirmed, and to notify only that the state is not where the safety is not confirmed.

[0079] Next, an example of the control method of the present invention will be described with reference to the flowchart shown in FIG. First, in step S101, the power supply is turned on. That is, a power switch (not shown) is turned on to supply power to the robot control device 3 from an external power source.

[0080] Next, in step S102, it is determined whether an open / close signal has been acquired. That is, it is determined whether the open / close signal acquisition unit 31 has acquired an open / close signal. If it is determined in step S102 that an open / close signal has been acquired (step S102: YES), the process proceeds to step S103, and if it is determined in step S102 that an open / close signal has not been acquired (step S102: NO), the process proceeds to step S106.

[0081] In step S103, it is determined whether or not the door is in the closed state. That is, it is determined whether or not the acquired open / close signal includes information about the closed state. If it is determined in step S103 that the door is in the closed state (step S103: YES), the process proceeds to step S104, and if it is determined in step S103 that the door is not in the closed state (step S103: NO), the process proceeds to step S106.

[0082] In step S104, it is determined whether a trigger signal, which is a safety confirmation signal, has been acquired. That is, it is determined whether the trigger signal acquisition unit 32 has acquired a trigger signal. If it is determined in step S104 that a trigger signal has been acquired (step S104: YES), the process proceeds to step S105, and if it is determined in step S104 that a trigger signal has not been acquired (step S104: NO), the process proceeds to step S106.

[0083] Steps S102, S103, and S104 are the first steps for determining whether or not the safety confirmation state is in effect. Steps S102, S103, and S104 are executed by determination unit 33. If the answers to all of steps S102, S103, and S104 are YES, it is determined that the safety confirmation state is in effect, and in step S105, operation of robot arm 22 is permitted.

[0084] On the other hand, if any one of steps S102, S103 and S104 is NO, the operation of the robot arm 22 is prohibited in step S106.

[0085] Steps S105 and S106 are the second steps in which, if the judgment unit 33 judges that the safety confirmation state is established, the operation of the robot arm 22 is permitted, and, if the judgment unit 33 judges that the safety confirmation state is not established, the operation of the robot arm 22 is prohibited.

[0086] After step S106, in step S107, an announcement is made by the announcement unit 37. The announcement content is that the safety is not confirmed and the cause thereof. Step S107 is executed by the announcement signal output unit 35 and the announcement unit 37, as described above.

[0087] Although not shown, after step S105, in step S107, a notification that the vehicle is in a safety confirmation state may be given.

[0088] After executing step S107, the process returns to step S102 and executes the subsequent steps in order.

[0089] As described above, the control method of the present invention is a control method for a robot control device 3 that includes an opening / closing signal acquirer 31 that acquires an opening / closing signal including information about the opening / closing state of the opening / closing door 42 serving as an opening / closing unit that opens and closes the access unit 45 that allows access to the movable area A of the robot 2 having the robot arm 22, and a trigger signal acquirer 32 that acquires a trigger signal, and that outputs a drive signal to the robot 2 to control the operation of the robot 2. The control method includes a first step of determining whether the safety confirmed state is reached when power is supplied to the robot control device 3, in which the opening / closing detection unit 43 detects a closed state based on the opening / closing signal acquired by the opening / closing signal acquirer 31 and the trigger signal acquirer 32 acquires a trigger signal, and determining whether the safety confirmed state is reached in the first step, and a second step of permitting operation of the robot arm 22 if it is determined in the first step that the safety confirmed state is reached, and prohibiting operation of the robot arm 22 if it is determined that the safety confirmed state is not reached. This allows operation of the robot arm 22 only when both the closed state of the opening / closing unit (opening / closing door 42) has been confirmed via the opening / closing signal acquirer 31 and the trigger signal acquirer 32. Therefore, it is possible to effectively prevent erroneous recognition of the open / closed state due to human error, machine error, or system error, and the robot arm 22 can be operated with high safety.

[0090] Note that the order of steps S102, S103, and S104 is not limited to this, and steps may be executed in the order of step S104, step S102, and step S103, for example.

[0091] Second Embodiment FIG. 6 is a flowchart illustrating an example of a control method according to the second embodiment of the present invention.

[0092] Hereinafter, a second embodiment of the robot control system, robot control device, and control method of the present invention will be described with reference to FIG. 6. However, the following mainly describes the differences from the first embodiment, and omits a description of the commonalities.

[0093] In this embodiment, when power is supplied to the robot control device 3, the judgment unit 33 judges whether the robot control device 3 is in a safety confirmation state by judging whether the following conditions (1A) and (2) are satisfied.

[0094] Condition (1A): The open / close detection unit 43 detects a change from an open state to a closed state based on the open / close signal acquired by the open / close signal acquisition unit 31. Satisfying condition (1A) means that the open / close signal contains information that the state has been switched from an open state to a closed state. When condition (1A) is satisfied, it means that it has been confirmed that the open / close door 42 has been switched from an open state to a closed state, and it can be considered that the worker has performed the task of closing the open / close door 42.

[0095] Condition (2): The trigger signal acquisition unit 32 acquires a safety confirmation signal (trigger signal). Satisfying condition (2) means that the worker has confirmed, for example, visually that the opening and closing door 42 is closed, and has input and transmitted that information. Condition (2) is the same as in the first embodiment.

[0096] If both conditions (1A) and (2) are satisfied, the judgment unit 33 judges that the state is a "safety confirmed state," and if at least one of conditions (1A) and (2) is not satisfied, the judgment unit 33 judges that the state is a "safety unconfirmed state."

[0097] According to condition (1A), if the opening / closing door 42 is in a closed state when power is supplied to the robot control device 3, the worker must open the opening / closing door 42 once and then close it again. When performing this task, the worker can be encouraged to visually check the safety of the movable area A of the robot 2. Therefore, the robot arm 22 can be operated with even greater safety.

[0098] As described above, in this embodiment, a state in which it is confirmed that the opening / closing door 42 has switched from the open state to the closed state and the worker has confirmed, for example, by visual inspection, that the opening / closing door 42 is in the closed state is defined as a safety confirmed state. When the determination unit 33 determines that the safety confirmed state is established, the operation of the robot arm 22 is permitted. This allows the configuration to permit the operation of the robot arm 22 only when both confirmation of the closed state via the opening / closing signal acquisition unit 31 and confirmation of the closed state via the trigger signal acquisition unit 32 are completed. In particular, since it is possible to confirm that the opening / closing door 42 has switched from the open state to the closed state, the robot arm 22 can be operated with even greater safety.

[0099] 6, the control method of this embodiment includes steps S201, S202, S203, S204, S205, S206, and S207. Steps S201, S202, S204, S205, S206, and S207 are similar to steps S101, S102, S104, S105, S106, and S107 in the first embodiment, respectively, so their description will be omitted and only step S203 will be described.

[0100] In step S203, it is determined whether or not the open / close signal acquired by the open / close signal acquisition unit 31 in step S202 includes information indicating a switch from an open state to a closed state. If it is determined in step S203 that the open / close signal includes information indicating a switch from an open state to a closed state, the process proceeds to step S204, and if it is determined in step S203 that the open / close signal does not include information indicating a switch from an open state to a closed state, the process proceeds to step S206.

[0101] Although not shown in FIG. 6, after step S205, in step S207, a notification that the vehicle is in a safety confirmation state may be given.

[0102] In this way, when an opening / closing signal indicating that the opening / closing door 42 serving as an opening / closing unit has switched from the open state to the closed state is received, the determination unit 33 detects that it is in the closed state. This makes it possible to confirm that the opening / closing door 42 has switched from the open state to the closed state, thereby enabling the robot arm 22 to be operated with even greater safety.

[0103] Furthermore, even if an opening / closing signal indicating an open state and an opening / closing signal indicating a closed state are received sequentially, these two opening / closing signals can be considered as opening / closing signals indicating that the state has switched from the open state to the closed state.

[0104] As described above, in this embodiment, when power is supplied to the robot control device 3, if an open / close signal indicating a switch from the open state to the closed state is received, the determination unit 33 determines that the safety confirmation state has been reached. This allows the robot arm 22 to be operated with even greater safety.

[0105] Third Embodiment Fig. 7 is a schematic configuration diagram of a robot system including a robot control device and a robot control system according to a third embodiment of the present invention, and Fig. 8 is a flowchart for explaining an example of a control method according to the third embodiment of the present invention.

[0106] Hereinafter, a third embodiment of the robot control system, robot control device, and control method of the present invention will be described with reference to Figures 7 and 8. Below, the differences from the first embodiment will be mainly described, and the commonalities will not be described.

[0107] 7, the robot system 1 includes an intrusion object detection sensor 6 that detects an object entering the movable area A. The intrusion object detection sensor 6 is configured by, for example, various image recognition devices (cameras), various contact-type (touch) sensors, various optical sensors, various magnetic sensors, various capacitance sensors, etc., or a combination of two or more of these. The intrusion object detection sensor 6 is electrically connected to the robot control device 3, and the detection value detected by the intrusion object detection sensor 6 is transmitted to the robot control device 3 as an electric signal and acquired by the trigger signal acquisition unit 32.

[0108] The trigger signal includes an electrical signal (hereinafter referred to as a "sensor signal") of the detection value detected by the intruding object detection sensor 6. That is, the trigger signal includes the safety confirmation signal described in the first embodiment and the sensor signal.

[0109] The sensor signal may be a signal after determining whether or not an intruding object is present, or may be a signal before determining whether or not an intruding object is present. In other words, the intruding object detection sensor 6 may be configured to determine whether or not an intruding object is present, or the robot control device 3 may be configured to determine whether or not an intruding object is present.

[0110] The judgment unit 33 judges whether or not the robot control device 3 is in a safety confirmed state when power is supplied to the robot control device 3. The safety confirmed state is a state in which the following conditions (1), (2), and (3) are satisfied.

[0111] Condition (1): The open / close detector 43 detects the closed state based on the open / close signal acquired by the open / close signal acquirer 31. This is the same as in the first embodiment.

[0112] Condition (2): The trigger signal acquisition unit 32 has acquired a safety confirmation signal (trigger signal) from the transmission device 5. This is the same as in the first embodiment.

[0113] Condition (3): The result of the determination of whether or not an intrusion exists based on the sensor signal is that no intrusion exists.

[0114] The judgment unit 33 judges that the state is in a safety confirmed state if all of the conditions (1), (2), and (3) are satisfied, and judges that the state is in a safety unconfirmed state if at least one of the conditions (1), (2), and (3) is not satisfied.

[0115] In this way, when the power switch is turned ON, the robot control device 3 permits operation of the robot arm 22 only when all of conditions (1), (2), and (3) are satisfied. In other words, operation of the robot arm 22 is permitted only when the open / close detection unit 43 detects that the door 42 is closed, and the worker confirms, for example, by visual inspection that the door 42 is closed, and further confirms that no object has entered based on the sensor signal from the entering object detection sensor 6, that is, when the triple check is completed. This makes it possible to more effectively prevent erroneous recognition of the open / close state due to human error, machine error, or system error, and enables the robot arm 22 to be operated with even greater safety.

[0116] In particular, when conditions (1) and (2) are satisfied, even if an object suddenly enters the movable area A, the robot arm 22 is not permitted to operate, thereby ensuring high safety.

[0117] As described above, when power is supplied to the robot control device 3, the determination unit 33 determines that the open / close detection unit 43 is in the closed state, the trigger signal acquisition unit 32 acquires a safety confirmation signal as a trigger signal, and the determination unit 33 determines that no object has entered the movable area A based on a signal transmitted from the intrusion object detection sensor 6 that detects an object entering the movable area A. This makes it possible to operate the robot arm 22 after further confirming that no object has entered the movable area A. Therefore, the robot arm 22 can be operated with even greater safety.

[0118] 8, the control method of this embodiment includes steps S301, S302, S303, S304, S305, S306, S307, and S308. Steps S301, S302, S303, S304, S305, and S306 are similar to steps S101, S102, S103, S104, S105, and S106 in the first embodiment, respectively, so their description will be omitted and only steps S307 and S308 will be described.

[0119] Step S308 is executed by the determination unit 33 when it is determined in step S304 that a trigger signal has been acquired (S304: YES).

[0120] In step S308, it is determined whether or not an intruding object exists in the movable area A based on the sensor signal, which is a signal transmitted from the intruding object detection sensor 6. If it is determined in step S308 that no intruding object exists, the process proceeds to step S305, and if it is determined in step S308 that an intruding object exists, the process proceeds to step S306.

[0121] In this way, with the control method of this embodiment, the robot arm 22 can be operated after further confirming that no object has entered the movable area A. Therefore, the robot arm 22 can be operated with even higher safety.

[0122] After step S306, step S307 is executed. In step S307, the alarm unit 37 issues an alarm. The alarm content is to inform the user that the safety is not confirmed, that is, that at least one of conditions (1), (2), and (3) is not met, and the cause thereof. As in the first embodiment, causes of the safety is not confirmed include the absence of condition (1) and condition (2), as well as the absence of condition (3), that is, the intrusion of an object into the movable area A.

[0123] Step S307 is executed by the notification signal output unit 35 and the notification unit 37, as in the first embodiment.

[0124] Although not shown in FIG. 8, after step S305, in step S307, a notification that the vehicle is in a safety confirmation state may be given.

[0125] In this embodiment, the detection (confirmation) of the presence or absence of an intruding object in the movable area A may be performed at a predetermined time, for example, before the robot arm 22 starts operating, at the start of operation, or during operation, or may be performed at any time.

[0126] In this embodiment, step S303 may be the same as step S203 in the second embodiment.

[0127] <Fourth embodiment> FIG. 9 is a flowchart illustrating an example of a control method according to the fourth embodiment of the present invention.

[0128] Below, we will explain the fourth embodiment of the robot control system, robot control device, and control method of the present invention with reference to Figure 9. Below, we will mainly explain the differences from the first embodiment, and omit explanation of the common points.

[0129] This embodiment has the same system configuration as the third embodiment, and includes a robot 2, a robot control device 3, a safety fence system 4, a transmitting device 5, and an intruding object detection sensor 6, as shown in FIG.

[0130] This embodiment differs from the first embodiment in that the method of safety confirmation is different depending on the result of detection by the intruding object detection sensor 6 when the power switch is turned on.

[0131] 9, the control method of this embodiment includes steps S401, S402, S102, S103, S104, S202, S203, S204, S105, S106, S107, S205, S206, and S207. Step S401 is the same as step S101 in the first embodiment, so its description will be omitted and step S402 will be described.

[0132] In step S402, the presence or absence of an intruding object in the movable area A is determined based on a sensor signal, which is a signal transmitted from the intruding object detection sensor 6. If it is determined in step S402 that no intruding object is present, the process proceeds to step S102, and thereafter, the same control operations as in the first embodiment are executed until the process proceeds to step S105 or step S107. If it is determined in step S402 that an intruding object is present, the process proceeds to step S202, and thereafter, the same control operations as in the second embodiment are executed until the process proceeds to step S205 or step S207.

[0133] In other words, in this embodiment, if it is determined in step S402 that there is no intruding object, the control operations (S102 to S107) of the first embodiment are executed. That is, the operation of the robot arm 22 is permitted only when conditions (1) and (2) are satisfied. On the other hand, if it is determined in step S402 that there is an intruding object, the control operations (S202 to S207) of the second embodiment are executed. That is, the operation of the robot arm 22 is permitted only when conditions (1A) and (2) are satisfied. By selecting whether to use conditions (1) and (2) or conditions (1A) and (2) as the judgment criteria depending on whether there is an intruding object, it is possible to effectively prompt the worker to visually confirm the safety of the movable area A of the robot 2 when there is an intruding object.

[0134] As described above, in the control method of this embodiment, when an object has entered the movable area A, the condition (1A) that the open / close signal has switched from the open state to the closed state must be satisfied in order to permit operation of the robot arm 22, and therefore the robot arm 22 can be operated with higher safety compared to when no object has entered the movable area A. Furthermore, by varying the condition for permitting operation of the robot arm 22 depending on whether or not an object has entered the movable area A, convenience for the worker can be improved.

[0135] Although the robot control system, robot control device, and control method of the present invention have been described above with reference to the illustrated embodiments, the present invention is not limited to these. Furthermore, each part and each step of the robot control system, robot control device, and control method can be replaced with any structure or step that can perform the same function. Furthermore, any structure or step may be added.

[0136] In addition, the robot control device may be capable of operating to disable the step of allowing the robot arm to operate if the judgment unit judges that the safety confirmation state is in effect, and prohibiting the operation of the robot arm if the judgment unit judges that the safety confirmation state is not in effect.

[0137] In addition, if the safety fence system is equipped with a light curtain, a photoelectric sensor, or a laser range sensor, which are examples of intrusion detection sensors, instead of an opening and closing door, the judgment unit may determine that the safety confirmation state is in place if both conditions (2) and (3) are satisfied. [Explanation of symbols]

[0138] 1...Robot system, 2...Robot, 3...Robot control device, 4...Safety fence system, 5...Transmitter, 6...Intrusion object detection sensor, 21...Base, 22...Robot arm, 23...First arm, 24...Second arm, 25...Work head, 26...End effector, 27...First joint actuator, 27A...Motor, 28...Second joint actuator, 28A...Motor, 30...Safety confirmation signal acquisition unit, 31...Open / close signal acquisition unit, 32...Trigger signal acquisition unit, 33...Determination unit, 34...Drive control unit, 35...Alarm signal output unit, 36...Memory unit, 37...Alarm unit, 41...Safety fence, 42...Open / close door, 43...Open / close detection unit, 44...Open / close signal transmission unit, 45...Access unit, 50...Display unit, 51...Display control unit, 52...Safety confirmation signal transmission unit, 100...Robot control system, 200...Control system, 251...Spline nut, 252...Ball screw nut, 253...Spline shaft, 291...First drive mechanism, 291A...Motor, 292...Second drive mechanism, 292A...Motor, A...Moving area, J1...First rotation axis, J2...Second rotation axis, J3...Third rotation axis

Claims

1. an opening / closing unit that opens and closes an access unit that allows access to a movable area of ​​a robot having a robot arm; an open / close detection unit that detects an open or closed state of the open / close unit; an open / close signal transmitting unit that transmits an open / close signal including information on the open / close state detected by the open / close detection unit; a robot control device that outputs a drive signal to the robot to control the operation of the robot, The robot control device an opening / closing signal acquisition unit that acquires the opening / closing signal; a trigger signal acquisition unit that acquires a trigger signal; a determination unit that, when power is supplied to the robot control device, determines that the open / close detection unit is in the closed state based on the open / close signal acquired by the open / close signal acquisition unit and that the trigger signal acquisition unit has acquired the trigger signal, as a safety confirmed state, and determines whether or not the robot is in the safety confirmed state; The robot control system is characterized in that the robot control device allows the robot arm to operate when the judgment unit determines that the safety confirmation state is in effect, and prohibits the robot arm from operating when the judgment unit determines that the safety confirmation state is not in effect.

2. The robot control system according to claim 1 , wherein when the opening / closing signal indicating that the opening / closing unit has switched from the open state to the closed state is received, the determination unit detects that the opening / closing unit is in the closed state.

3. 3. The robot control system according to claim 1, wherein the judgment unit determines that the robot is in the safety confirmation state when, when power is supplied to the robot control device, the open / close detection unit detects that the robot is in the closed state, the trigger signal acquisition unit acquires a safety confirmation signal as the trigger signal, and determines that no object has entered the movable area based on a signal transmitted from an intrusion detection sensor that detects an object entering the movable area.

4. 3. The robot control system according to claim 1, wherein the robot control device further comprises a notification unit that notifies the robot of the fact that the safety confirmation state is not established when the determination unit determines that the safety confirmation state is not established.

5. The robot control system according to claim 4 , wherein the notification unit notifies the robot that the safety confirmation state is not reached together with a cause of the safety confirmation state not being reached.

6. A robot control device that outputs a drive signal to a robot having a robot arm to control the operation of the robot, an opening / closing signal acquiring unit that acquires an opening / closing signal including information on the opening / closing state of an opening / closing unit that opens and closes an access unit that allows access to a movable area of ​​the robot; a trigger signal acquisition unit that acquires a trigger signal; a determination unit that, when power is supplied to the robot control device, determines that the robot is in the safety confirmed state when the open / close detection unit detects that the robot is in the closed state based on the open / close signal acquired by the open / close signal acquisition unit and the trigger signal acquisition unit acquires the trigger signal, and determines whether the robot is in the safety confirmed state; A robot control device characterized in that, when the judgment unit determines that the safety confirmation state is established, operation of the robot arm is permitted, and when the judgment unit determines that the safety confirmation state is not established, operation of the robot arm is prohibited.

7. A control method for a robot control device comprising: an opening / closing signal acquiring unit that acquires an opening / closing signal including information on the opening / closing state of an opening / closing unit that opens and closes an access unit that can access a movable area of ​​a robot having a robot arm; and a trigger signal acquiring unit that acquires a trigger signal, the control method outputting a drive signal to the robot to control operation of the robot, a first step of determining whether or not the robot is in the safety confirmed state when, upon power being supplied to the robot control device, the open / close detection unit detects the closed state based on the open / close signal acquired by the open / close signal acquisition unit and the trigger signal acquisition unit acquires the trigger signal, and determining that the robot is in the safety confirmed state; a second step of permitting operation of the robot arm if it is determined in the first step that the safety confirmation state is in effect, and prohibiting operation of the robot arm if it is determined that the safety confirmation state is not in effect.

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