Control device, bending system, robot control method, and robot control program

Abstract

To provide a control device, a bending processing system, a robot control method, and a robot control program that enable use of a cooperative robot in a reduced space while securing user safety.SOLUTION: A control device includes a control part capable of controlling a multi-joint cooperative robot that conveys a workpiece with respect to a carrying target. The control part is configured to cause the multi-joint cooperative robot to operate in prior to the workpiece such that at least a part of the multi-joint cooperative robot is located in front of the workpiece in a travel direction, in at least one of carrying-out operation of carrying out the workpiece from the carrying target and carrying-in operation of carrying in the workpiece toward the carrying target.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a control device, a bending processing system, a robot control method, and a robot control program.

Background Art

[0002] Conventionally, a die / hand storage device including a die mounting stocker for mounting a punch and a die of a press brake and a hand mounting stocker for mounting a hand used by a bending robot has been known (for example, Patent Document 1). In the system of Patent Document 1, the die / hand storage device is installed on the side of the press brake, and the bending robot is installed in front of the press brake and the die / hand storage device. The entire press brake, die / hand storage device, and bending robot are surrounded by a safety fence.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the conventional system surrounded by a safety fence has a problem that a large installation area needs to be secured.

[0005] As one means to solve such a problem, it is conceivable to adopt a collaborative robot that stops operating when it senses contact with a user as a bending robot. By adopting such a collaborative robot, it is possible to reduce the risk of injury to the user and eliminate the safety fence. However, even if the collaborative robot is safe, since the workpieces transported by the collaborative robot often have sharp parts, there is a further problem that the user may come into contact with the workpiece during transportation and get injured.

[0006] One aspect of the present invention is a control device, a bending system, a robot control method, and a robot control program that enable the use of a collaborative robot in a space-saving manner while ensuring user safety. [Means for solving the problem]

[0007] A control device according to one aspect of the present invention includes a control unit capable of controlling an articulated collaborative robot that transports a workpiece to a transport target, wherein the control unit is configured to cause the articulated collaborative robot to perform a safety assurance operation in at least one of an unloading operation for unloading the workpiece from the transport target and an inloading operation for loading the workpiece into the transport target, and the safety assurance operation includes an operation to move the articulated collaborative robot ahead of the workpiece so that at least a part of the articulated collaborative robot is positioned in front of the direction of movement of the workpiece.

[0008] A bending system according to one aspect of the present invention comprises an articulated collaborative robot that transports a workpiece to a transport target, and a control device including a control unit capable of controlling the articulated collaborative robot, wherein the control unit is configured to cause the articulated collaborative robot to perform a safety assurance operation in at least one of an unloading operation that unloads the workpiece from the transport target and an inloading operation that loads the workpiece into the transport target, and the safety assurance operation includes an operation that causes the articulated collaborative robot to move ahead of the workpiece so that at least a part of the articulated collaborative robot is positioned in front of the direction of movement of the workpiece.

[0009] A robot control method according to one aspect of the present invention involves a multi-joint collaborative robot that transports a workpiece to a transport target, which performs an unloading operation to unload the workpiece from the transport target, an loading operation to load the workpiece into the transport target, and a safety assurance operation which includes an operation to move the multi-joint collaborative robot ahead of the workpiece so that at least a part of the multi-joint collaborative robot is positioned in front of the workpiece in the direction of movement of the workpiece, wherein the safety assurance operation is performed in at least one of the unloading operation and the loading operation.

[0010] A robot control program according to one aspect of the present invention causes a multi-joint collaborative robot that transports a workpiece to a transport target to perform an unloading operation to unload the workpiece from the transport target, an loading operation to load the workpiece into the transport target, and a safety assurance operation which includes an operation to move the multi-joint collaborative robot ahead of the workpiece so that at least a part of the multi-joint collaborative robot is positioned in front of the workpiece in the direction of movement of the workpiece, wherein the safety assurance operation is performed in at least one of the unloading operation and the loading operation.

[0011] According to one aspect of the present invention, a control device, a bending system, a robot control method, and a robot control program, by operating the articulated collaborative robot ahead of the workpiece so that at least a part of the articulated collaborative robot that transports the workpiece is positioned in front of the workpiece's direction of travel, even if a user approaches the articulated collaborative robot in operation, they will come into contact with the articulated collaborative robot without coming into contact with the workpiece, thus reducing the risk of injury to the user. This allows for the use of a collaborative robot in a space-saving manner while ensuring user safety. [Effects of the Invention]

[0012] According to one aspect of the present invention, a control device, a bending system, a robot control method, and a robot control program, a collaborative robot can be used in a space-saving manner while ensuring the safety of the user. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 is a schematic diagram showing a bending system according to this embodiment of the present invention. [Figure 2] Figure 2 is a schematic diagram showing the bending system of this embodiment. [Figure 3] Figure 3 is a schematic diagram showing the articulated collaborative robot of this embodiment. [Figure 4] Figure 4 is a functional block diagram showing the control device of this embodiment. [Figure 5]FIG. 5 is a flowchart showing a series of processes executed by the control device of the present embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of the process executed by the control device of the present embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of the safety ensuring operation of the present embodiment. [Figure 8] FIG. 8 is a plan view showing an example of the safety ensuring operation of the present embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of the process executed by the bending processing system of the present embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of the process executed by the bending processing system of the present embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of the process executed by the bending processing system of the present embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of the process executed by the bending processing system of the present embodiment.

MODE FOR CARRYING OUT THE INVENTION

[0014] Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. Note that the following embodiments do not limit the invention according to each claim, and not all combinations of the features described in the embodiments are essential for the solution means of the invention.

[0015] [OVERALL CONFIGURATION OF THE BENDING PROCESSING SYSTEM ACCORDING TO THE PRESENT EMBODIMENT] FIGS. 1 and 2 are schematic diagrams showing a bending processing system according to an embodiment of the present invention. First, referring to FIGS. 1 and 2, the bending system 1 according to an embodiment of the present invention will be outlined. The bending system 1 according to this embodiment generally includes, as shown in FIGS. 1 and 2, an articulated collaborative robot 100 that conveys a work W to a conveyance target, and a control device 200 that controls the articulated collaborative robot 100. Further, the bending system 1 includes a press brake 10 that functions as a bending machine.

[0016] In this embodiment, the conveyance target is mainly the press brake 10. However, it is not limited thereto, and the conveyance target may also be a loading cart �00, an unloading box 500, a double sheet prevention device, a suction device, etc., which will be described later.

[0017] Furthermore, the bending system 1 may include a robot carrier 300 capable of conveying the articulated collaborative robot 100, a loading cart 400 on which the work W to be processed is loaded, and an unloading box 500 for putting the work W on which the bending by the press brake 10 is completed. Also, the bending system 1 may include a double sheet prevention device (not shown) such as a magnetic floater or an air separator, a suction device (not shown) capable of gripping and replacing the work W, etc. The double sheet prevention device and the suction device may be independent devices, or may be provided, for example, on the robot carrier 300, the loading cart 400, etc.

[0018] Note that the bending system 1 may load the work W on a work placement table (not shown) instead of the loading cart 400. The work placement table may have a double sheet detection function and a double sheet prevention device. Also, the bending system 1 may include a pallet (loading and unloading platform), a belt conveyor, an AGV (Automatic Guided Vehicle), an AMR (Autonomous Mobile Robot), etc., on which the work W is placed instead of the loading cart 400 or the unloading box 500.

[0019] [Configuration of Press Brake] As shown in Figures 1 and 2, the press brake 10 comprises an upper table 11 and a lower table 12 positioned in the center of the front, aligned in the height direction such that one surface in the depth direction, for example, the outer plate surface, faces forward, and support parts (not shown) positioned on the left and right sides to support the upper table 11 and the lower table 12.

[0020] Furthermore, as shown in Figures 1 and 2, the press brake 10 includes, for example, a drive mechanism 16 configured to reciprocate the upper table 11 along the height direction relative to the lower table 12, and a position detection sensor (not shown) that detects the position of the upper table 11 when it moves due to the drive mechanism 16. The press brake 10 in this embodiment is configured to support both manual bending operations by the user and automatic bending operations by the articulated collaborative robot 100.

[0021] Furthermore, the press brake 10 may include a back gauge (not shown) for positioning the workpiece W in the depth direction, which is inserted between the upper die U and the lower die L, and an angle detection sensor (not shown) capable of detecting the bending angle of the workpiece W during bending.

[0022] In the following explanation, since various known configurations can be adopted for the basic structure of the press brake 10, a detailed explanation will be omitted.

[0023] The upper table 11 is made of a plate-like member such as metal, and has a plurality of upper die holders (punch holders) 14 at its lower end that hold an upper die U such as a punch. The lower table 12 is made of a plate-like member such as metal, similar to the upper table 11, and has a lower die holder (die holder) 15 at its upper end that holds a lower die L such as a die. When the upper die U is a die and the lower die L is a punch, the upper die holders 14 become die holders and the lower die holders 15 become punch holders.

[0024] The drive mechanism 16 is, for example, a hydraulic cylinder that serves as the drive source for the upper table 11, and is mounted on the upper part of each support section. Each drive mechanism 16 is configured to cause the upper table 11 to reciprocate (move up and down) relative to the lower table 12 in the height direction. With this configuration, the upper die U attached to the upper die holder 14 of the upper table 11 and the lower die L attached to the lower die holder 15 of the lower table 12 can move relative to each other.

[0025] Furthermore, each drive mechanism 16 may use other driving means such as a servo motor instead of a hydraulic cylinder. Also, the drive mechanism 16 is not limited to the embodiment described above, and the lower table 12 may be driven instead of the upper table 11.

[0026] [Configuration of a multi-joint collaborative robot] The articulated collaborative robot 100 can use any general-purpose industrial robot (collaborative robot) and is configured to operate in cooperation with a human. The articulated collaborative robot 100 is configured to load the workpiece W between the upper die U and lower die L of the press brake 10 as a workpiece holding means. The articulated collaborative robot 100 is also configured to unload the workpiece W from between the upper die U and lower die L of the press brake 10. In this embodiment, the articulated collaborative robot 100 is a vertical articulated collaborative robot, but is not limited to this and may be a horizontal articulated collaborative robot.

[0027] The articulated collaborative robot 100 has six control axes and is configured to hold the uppermost workpiece W among multiple workpieces W loaded on a loading trolley 400, for example, and to supply (load) that workpiece W to the press brake 10. The articulated collaborative robot 100 is also configured to transport (unload) the workpiece W after bending to a predetermined location (for example, an unloading box 500).

[0028] Specifically, as shown in Figure 1, the articulated collaborative robot 100 includes a robotic hand 120 capable of holding a workpiece W as a workpiece holding unit, and a robotic arm 140 that moves the robotic hand 120 closer to or further away from the workpiece W.

[0029] Figure 3 is a schematic diagram showing the articulated collaborative robot of this embodiment. In this embodiment, the articulated collaborative robot 100 is attached to a robot transporter 300, but is not limited thereto. The articulated collaborative robot 100 may include a moving mechanism having rails laid on the floor. In this embodiment, as shown in Figure 3, the articulated collaborative robot 100 includes a transporter connection part 160 that connects the robot arm 140 and the robot transporter 300.

[0030] The robot transporter 300 may be fitted with a safety laser scanner 360, as shown in Figures 1 and 2. The safety laser scanner 360 is configured to detect when a user approaches the articulated collaborative robot 100 (robot transporter 300). The safety laser scanner 360 is configured to allow setting the range in which it can detect the user.

[0031] The safety laser scanner 360 is configured to allow setting a warning area (an area where it is dangerous for the user to enter) and a protective area (an area narrower than the warning area) as the range for detecting a user. The range of the protective area includes the distance at which the user may come into contact with at least one of the articulated collaborative robot 100 and the workpiece W held by the articulated collaborative robot 100. The range of the protective area is generally set to the operating range of the articulated collaborative robot 100 and the workpiece W + approximately 2000 mm, and the warning area may be set to a wider range, however, in this embodiment, the range of the protective area can be set to a narrower range than the conventional protective area. In this embodiment, the range of the protective area is set, for example, to the operating range of the articulated collaborative robot 100 and the workpiece W + approximately 800 mm. Also, in this embodiment, the range of the warning area is set, for example, to the operating range of the articulated collaborative robot 100 and the workpiece W + approximately 2000 mm.

[0032] The robot hand 120 is detachably attached to the tip of the robot arm 140. The robot hand 120 may have a hand body for gripping the workpiece W, or it may have a hand body detachably attached to the tip of the robot arm 140 and a plurality of suction parts attached to the hand body and configured to hold the workpiece W. In this embodiment, the robot hand 120 is rotatable relative to the robot arm 140, as will be described later. Also in this embodiment, the suction parts are configured to be able to change to multiple angles (for example, 90 degrees or 45 degrees). However, it is not limited to this.

[0033] Furthermore, the robot hand 120 is not limited to the configuration described above, and various arbitrary configurations can be adopted.

[0034] As shown in Figure 3, the robot arm 140 is a multi-jointed arm having multiple arm sections 142 and joint sections 144. The robot arm 140 also has a hand connection section 150 for connecting to the robot hand 120, with one end connected to the robot hand 120 and the other end connected to the robot transporter 300 via a transporter connection section 160.

[0035] The robot arm 140 is configured to move the robot hand 120 closer to or further away from the workpiece W based on control signals from the control unit 230 of the control device 200, which will be described later. The robot arm 140 is configured to not only transport the workpiece W from the loading trolley 400, but also to load (insert) the workpiece W into the press brake 10, assist in processing (bending) the workpiece W, and transport (unload) the product (bent product) from the press brake 10.

[0036] Specifically, the robot arm 140 has a first arm portion 142a connected to the robot hand 120 and having a hand connection portion 150 at one end, a first joint portion 144a connected to the other end of the first arm portion 142a, and a second arm portion 142b, one end of which is connected to the first arm portion 142a via the first joint portion 144a. The hand connection portion 150 is configured to be rotatable, and the rotation of the hand connection portion 150 causes the robot hand 120 to rotate relative to the first arm portion 142a.

[0037] Furthermore, the robot arm 140 has a second joint portion 144b connected to the other end of the second arm portion 142b, a third arm portion 142c whose one end is connected to the second arm portion 142b via the second joint portion 144b, and a third joint portion 144c connected between the other end of the third arm portion 142c and the transporter connection portion 160.

[0038] Since the robot arm 140 can employ various known configurations, a detailed explanation will be omitted. Furthermore, the robot arm 140 is not limited to the configuration of a multi-joint arm having the six control axes described above, and can arbitrarily employ various known configurations.

[0039] [Control device configuration] Figure 4 is a functional block diagram showing the control device of this embodiment. As shown in Figure 4, the control device 200 includes an input unit 210, a display unit 220, a control unit 230, and a storage unit 240. The control device 200 according to this embodiment is, for example, a numerical control device or an electronic computer such as a desktop personal computer, a laptop computer, or a tablet terminal.

[0040] The input unit 210 is composed of input devices such as a keyboard, mouse, touchpad, and joystick. By operating the input unit 210, in addition to the information input functions normally required by the control device 200, operations such as inputting answers to questions (described later) and inputting teaching information (described later) can be performed. Furthermore, by operating the input unit 210, the user can change the safety assurance operation (described later) to the normal operation.

[0041] The display unit 220 has a display as a display device and functions as a question unit that presents questions to the user. In addition to the screen display functions normally required in the control device 200, the display unit 220 displays a question screen (not shown), etc.

[0042] Furthermore, the display unit 220 may be configured as a touch panel (touch screen) having the functions of the input unit 210. If the display unit 220 is configured as a touch panel, the user can perform various operations on the control device 200, such as inputting answers to questions, by operating the display unit 220.

[0043] Furthermore, the configuration of the input unit 210 and the display unit 220 is not limited to the configuration described above. Any configuration with equivalent functionality (for example, a remotely accessible display means or input means) can be used instead of the input unit 210 and the display unit 220.

[0044] The control unit 230 is composed of, for example, an integrated computing device having a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). Furthermore, as shown in Figure 4, the control unit 230 includes a provisional program creation unit 232, a teaching reflection unit 234, an entry determination unit 236, and a robot control unit 238. The control unit 230 is configured to control the articulated collaborative robot 100. The control unit 230 is also configured to control the press brake 10.

[0045] Figure 5 is a flowchart showing an example of the process performed by the control device of this embodiment. The provisional program creation unit 232 is configured to create a provisional program 244 that controls the press brake 10 and the articulated collaborative robot 100. Specifically, as shown in Figure 5, the provisional program creation unit 232 is configured to perform a question processing operation (S10 in Figure 5) that asks the user a question, and an answer receiving operation (S11 in Figure 5) that receives the user's answer to the question.

[0046] In this embodiment, the provisional program creation unit 232 is configured to ask questions to the user by displaying questions on the question screen of the display unit 220. The user answers the questions by selecting an option displayed on the question screen via the input unit 210, or by entering an answer on the question screen.

[0047] The provisional program creation unit 232 is configured to perform a selection process (S12 in Figure 5) that automatically selects a candidate job 246 for each provisional program 244 based on the answer, and a provisional program creation process (S13 in Figure 5) that creates a provisional program 244 that includes a fixed job 245 and the selected job 246.

[0048] The teaching reflection unit 234 is configured to perform a teaching reception process (S14 in Figure 5) that accepts operation teaching (instruction) from the user, and a teaching reflection process (S15 in Figure 5) that reflects the accepted teaching information in at least one of the fixed job 245 and the selected job 246 described later in the provisional program 244. The provisional program 244 after the teaching reflection process has been performed can be finalized as the robot control program 248 described later.

[0049] The entry determination unit 236 is configured to acquire the status of a user approaching the articulated collaborative robot 100. Specifically, the entry determination unit 236 acquires the status of a user approaching the articulated collaborative robot 100 from the detection results of the safety laser scanner 360 and determines whether the user has entered the warning area and the protected area. In this embodiment, the entry determination unit 236 is configured to determine that a user has approached the articulated collaborative robot 100 if it determines from the detection results of the safety laser scanner 360 that the user has entered the warning area. However, it is not limited to this, and the entry determination unit 236 may be configured to determine that a user has approached the articulated collaborative robot 100 if it determines that the user has entered the protected area.

[0050] The robot control unit 238 is configured to control the articulated collaborative robot 100 and is configured to cause the articulated collaborative robot 100 to perform a safety assurance operation in at least one of the unloading operation, which unloads the workpiece W from the transport target, and the loading operation, which loads the workpiece W into the transport target. In this embodiment, the safety assurance operation includes an operation to move the articulated collaborative robot 100 ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W. Details of the safety assurance operation will be described later.

[0051] In this embodiment, the loading operation includes not only the operation of carrying the workpiece W into the interior of the transport object, but also the operation of carrying the workpiece W into the placement area of ​​the transport object. Similarly, the unloading operation includes not only the operation of unloading the workpiece W from the interior of the transport object, but also the operation of unloading the workpiece W from the placement area of ​​the transport object.

[0052] Furthermore, in this embodiment, the area in front of the workpiece W in the direction of travel includes not only the area directly ahead of the workpiece W on its movement trajectory, but also the area in front of the workpiece W that deviates from its movement trajectory. In other words, the area in front of the direction of travel is not limited to the area directly ahead of the direction of travel, but can be an area that roughly coincides with the direction of travel. For this reason, in this embodiment, when it is stated that "at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel," this includes not only cases where at least a part of the articulated collaborative robot 100 is leading the workpiece W on its movement trajectory, but also cases where at least a part of the articulated collaborative robot 100 is leading at a position that is offset from the workpiece W's movement trajectory.

[0053] Furthermore, in this embodiment, "an action that causes the articulated collaborative robot 100 to move ahead of the workpiece W" refers to an action that causes the articulated collaborative robot 100 to contact the user before the workpiece W when the user is standing in a position where there is a possibility of contact with the workpiece W. In this embodiment, an action that causes the articulated collaborative robot 100 to move ahead of the workpiece W refers to, for example, the actions listed below.

[0054] 1. An action in which at least a portion of the robot arm 140 of the articulated collaborative robot 100 moves to a position beyond the planned position of the workpiece W. 2. At least a portion of the robot arm 140 of the articulated collaborative robot 100 moves ahead of the workpiece W along its trajectory. 3. An operation in which at least a part of the robot arm 140 moves in a concentric circle outside the concentric circle in which the workpiece W is located, centered on the transport body connection part 160 of the articulated collaborative robot 100. 4. The operation in which the workpiece W passes between the transport body connection part 160 and the outermost part of the robot arm 140 in a plan view. 5. An operation in which at least a portion of the robot arm 140 moves outside the horizontal movement path or movement area of ​​the workpiece W. 6. The robot arm 140 moves first in the direction of the destination of the workpiece W. 7. When the workpiece W moves horizontally, at least a portion of the robot arm 140 moves ahead of the projected area of ​​the workpiece W in the direction of movement of the workpiece W. 8. The workpiece W moves within the movement range of the leading robot arm 140 of the articulated collaborative robot 100.

[0055] In this embodiment, the robot control unit 238 is configured to operate the articulated collaborative robot 100 ahead of the workpiece W so that the joint portion 144 of the robot arm 140 of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement. The operation that causes the joint portion 144 of the articulated collaborative robot 100 to be positioned in front of the workpiece W in the direction of movement refers to, for example, the operations listed below.

[0056] 1. An action in which at least one joint 144 of the robot arm 140 moves first to a position beyond the planned position of the workpiece W. 2. An action in which at least one joint portion 144 leads along the trajectory of the workpiece W. 3. An action in which at least one of the joints 144 of the articulated collaborative robot 100 moves in a concentric circle outside the concentric circle in which the workpiece W is located, centered on the transport body connection part 160. 4. The operation in which the workpiece W passes between the transport body connection part 160 and at least one of the joint parts 144. 5. An operation in which at least one joint 144 moves outside the horizontal movement path or movement area of ​​the workpiece W. 6. An operation in which at least one joint 144 moves first in the direction of the transport destination of the workpiece W. 7. When the workpiece W moves horizontally, at least one of the joints 144 moves in front of the workpiece W in the direction of movement, relative to the projected area of ​​the workpiece W. 8. The operation in which the workpiece W moves inside the movement area of ​​the leading joint 144 of the articulated collaborative robot 100.

[0057] For example, in an unloading operation in which a workpiece W is unloaded from the press brake 10, the robot control unit 238 is configured to operate the articulated collaborative robot 100 ahead of the workpiece W, such that the joint 144 (first joint 144a in this embodiment) located closest to the robot hand 120 is positioned in front of the workpiece W as the workpiece W is transported from the press brake 10, which is the transport start position, to the unloading box 500, which is the transport completion position, while the robot hand 120 is holding the workpiece W.

[0058] Figure 7 is a schematic diagram showing an example of the safety assurance operation of this embodiment. Figure 8 is a plan view showing an example of the safety assurance operation of this embodiment. More specifically, as shown in Figures 7 and 8, the robot control unit 238 rotates the third joint portion 144c clockwise in a plan view, while rotating the second arm portion 142b in the axial direction of the second arm portion 142b so that the first arm portion 142a and the third arm portion 142c intersect, from a state where the first arm portion 142a and the third arm portion 142c are approximately parallel (see Figure 1). Furthermore, the second arm portion 142b is rotated so that the angle between the second arm portion 142b and the third arm portion 142c increases, thereby causing the first joint portion 144a to precede the area outside the workpiece W. At this time, the robot arm 140 is in a position where the first joint portion 144a protrudes toward the unloading box 500 side, i.e., forward in the direction of travel (conveying direction) of the workpiece W, as seen from the robot transporter 300.

[0059] Furthermore, the robot control unit 238 may be configured to determine, based on the job related to the transport of the workpiece W in the provisional program 244, whether or not to operate the articulated collaborative robot 100 ahead of the workpiece W in at least one of the unloading operation and the loading operation, such that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel.

[0060] In this embodiment, jobs related to the transport of workpiece W include jobs related to the loading of workpiece W and jobs related to the unloading of workpiece W. In this embodiment, jobs related to the loading of workpiece W include loading job 244a and approach job 244b. Jobs related to the unloading of workpiece W include workpiece retrieval job 244c and unloading job 244d.

[0061] For example, the robot control unit 238 may be configured to determine, based on the selection job 246 related to the transport of the workpiece W, whether or not to operate the articulated collaborative robot 100 ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel during at least one of the unloading operation and the loading operation. In this embodiment, the selection job 246 related to the transport of the workpiece W is the approach selection job 246a described later, but is not limited thereto. The selection job 246 related to the transport of the workpiece W may be the workpiece retrieval selection job 246b or other selection jobs 246.

[0062] Furthermore, the robot control unit 238 may be configured to determine, based on the fixed job 245 related to the transport of the workpiece W, whether or not to operate the articulated collaborative robot 100 ahead of the workpiece W in at least one of the unloading operation and loading operation, such that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel. In this embodiment, the fixed job 245 related to the transport of the workpiece W is, but is not limited to, the loading fixed job 245a or the unloading fixed job 245g described later.

[0063] The robot control unit 238 determines that at least a portion of the articulated collaborative robot 100 holding the workpiece W should move ahead of the workpiece W, that is, if a user approaches the articulated collaborative robot 100, it causes the articulated collaborative robot 100 to perform a safety operation, such as an approach selection job 246a, which causes the articulated collaborative robot 100 to move ahead of the workpiece W, so that at least a portion of the articulated collaborative robot 100 transporting the workpiece W is positioned in front of the direction of movement of the workpiece W.

[0064] On the other hand, if the robot control unit 238 determines that safety-enhancing operations should not be performed, that is, if there is no risk of the workpiece W and the user coming into contact even if the user approaches the articulated collaborative robot 100, it will have the articulated collaborative robot 100 perform normal operations using an approach selection job 246a or the like.

[0065] In this embodiment, the normal operation is the operation as specified in approach selection job 246a. In this embodiment, if the robot control unit 238 determines that safety assurance operations should be performed, it will change some of the operations included in approach selection job 246a to safety assurance operations, but is not limited to this. If the robot control unit 238 determines that safety assurance operations should be performed, it may also select a new approach selection job 246a that includes safety assurance operations and change the existing approach selection job 246a.

[0066] Furthermore, the safety-enhancing operation is configured to be manually changed to normal operation by the user. The timing for changing to normal operation is not limited to when the robot control unit 238 is not controlling the articulated robot 100, but may also be during control.

[0067] In this embodiment, the robot control unit 238 is configured to limit the maximum operating speed of the articulated collaborative robot 100 to a predetermined speed (for example, 250 mm / second) if the entry determination unit 236 determines from the detection results of the safety laser scanner 360 that a user has entered a warning area while the articulated collaborative robot 100 is operating. However, it is not limited to this, and the robot control unit 238 does not have to limit the maximum operating speed of the articulated collaborative robot 100 if it determines that a user has entered a warning area.

[0068] Furthermore, the robot control unit 238 is configured to stop the operation of the articulated collaborative robot 100 if it determines that a predetermined external force (for example, 10 kg) has been applied to the articulated collaborative robot 100. In other words, the robot control unit 238 stops the operation of the articulated collaborative robot 100 if it determines that a user has come into contact with the articulated collaborative robot 100.

[0069] Furthermore, the robot control unit 238 is configured to stop the articulated collaborative robot 100 from operating if the entry determination unit 236 determines from the detection results of the safety laser scanner 360 that a user has entered the protected area while the articulated collaborative robot 100 is operating. However, it is not limited to this, and the robot control unit 238 does not have to stop the articulated collaborative robot 100 from operating if it determines that a user has entered the protected area. Also, the robot control unit 238 may limit the maximum operating speed of the articulated collaborative robot 100 to a speed slower than a predetermined speed when entering the warning area.

[0070] Furthermore, the robot control unit 238 may be configured to, when the approach determination unit 236 determines that a user has approached the articulated collaborative robot 100 while the articulated collaborative robot 100 is in operation, to cause at least a portion of the articulated collaborative robot 100 holding the workpiece W to move ahead of the workpiece W.

[0071] Specifically, if the approach determination unit 236 determines from the detection results of the safety laser scanner 360 that a user has approached the articulated collaborative robot 100 while the articulated collaborative robot 100 is in operation, the robot control unit 238 is configured to operate at least a portion of the articulated collaborative robot 100 holding the workpiece W ahead of the workpiece W.

[0072] The storage unit 240 has a storage medium such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various data in a read-write manner. As shown in Figure 4, the storage unit 240 stores a provisional program 244 and a robot control program 248. Furthermore, the storage unit 240 stores programs necessary for controlling each part of the control device 200.

[0073] The provisional program 244 includes multiple jobs corresponding to the various operations of the press brake 10 and the articulated collaborative robot 100. These jobs include fixed jobs 245 and selectable jobs 246. Fixed jobs 245 are set in common across multiple provisional programs 244. Selectable jobs 246 are automatically selected for each provisional program 244 from a pool of candidate selectable jobs 246 based on the user's answers to questions.

[0074] Multiple jobs include a selection job 246 related to the transport of the workpiece W to the press brake 10. In this embodiment, the selection job 246 related to the transport of the workpiece W to the press brake 10 is an approach selection job 246a that causes the articulated collaborative robot 100 to insert the workpiece W into the press brake 10 in a predetermined approach posture.

[0075] Furthermore, the multiple jobs include a selection job 246 related to holding the workpiece W after bending by the press brake 10. In this embodiment, the selection job 246 related to holding the workpiece W after bending by the press brake 10 is a workpiece retrieval selection job 246b that causes the robot hand 120 to hold the workpiece W in a predetermined orientation after the bending process is completed.

[0076] In other words, the provisional program 244 in this embodiment includes at least one approach selection job 246a and at least one workpiece retrieval selection job 246b.

[0077] Figure 6 shows a provisional program for this embodiment. In this embodiment, the provisional program 244 includes a loading job 244a, an approach job 244b, a workpiece retrieval job 244c, and an unloading job 244d, as shown in Figure 6.

[0078] As shown in Figure 6, the loading job 244a has a loading fixation job 245a. The loading fixation job 245a is the fixation job 245 of the articulated collaborative robot 100. In the loading fixation job 245a, the articulated collaborative robot 100 holds (suctions) the workpiece W loaded on the loading trolley 400, etc., and moves to an approach preparation position.

[0079] Approach job 244b includes approach fixing job 245b, approach selection job 246a, gauging job 245c, and first press job 245d. Approach fixing job 245b is fixing job 245 of the articulated collaborative robot 100. In approach fixing job 245b, the articulated collaborative robot 100 changes the angle of the suction part of the robot hand 120 while maintaining the approach preparation posture.

[0080] In approach selection job 246a, the articulated collaborative robot 100 inserts the workpiece W between the upper die U and lower die L of the press brake 10, and then positions the workpiece W in the height direction.

[0081] Gauging job 245c is a fixed job 245 for the press brake 10 and the articulated collaborative robot 100. In gauging job 245c, the articulated collaborative robot 100 abuts the workpiece W against the back gauge of the press brake 10 to position the workpiece W in the depth direction. After positioning is complete, the press brake 10 lowers the upper table 11 to a position where the workpiece W is clamped between the upper die U and the lower die L. Then, the press brake 10 retracts the back gauge, the articulated collaborative robot 100 releases its hold (suction) of the workpiece W, moves away from the press brake 10, and waits in a predetermined position.

[0082] The first press job 245d is a fixed job 245 for the press brake 10. In the first press job 245d, the press brake 10 lowers the upper table 11 to its lower end to perform bending of the workpiece W.

[0083] The workpiece retrieval job 244c includes a workpiece retrieval and fixing job 245e, a workpiece retrieval and selection job 246b, and a second press job 245f. The workpiece retrieval and fixing job 245e is the fixing job 245 of the articulated collaborative robot 100. In the workpiece retrieval and fixing job 245e, the articulated collaborative robot 100 changes the angle of the suction part of the robot hand 120 while remaining in a predetermined position.

[0084] In the workpiece retrieval selection job 246b, the articulated collaborative robot 100 holds (applies) the workpiece W after the bending process is completed and retrieves it.

[0085] The second press job 245f is the fixed job 245 of the press brake 10. In the second press job 245f, the press brake 10 raises the upper table 11 to its upper end.

[0086] The unloading job 244d includes the unloading and fixing job 245g. The unloading and fixing job 245g is the fixing job 245 of the articulated collaborative robot 100. In the unloading and fixing job 245g, the articulated collaborative robot 100 transports the held workpiece W to a predetermined location such as the unloading box 500, and then releases the holding (suction) of the workpiece W.

[0087] The robot control program 248 causes the control device 200, which includes a control unit 230 capable of controlling the articulated collaborative robot 100, to control the articulated collaborative robot 100. The robot control program 248 also causes the control device 200, which includes a control unit 230 capable of controlling the press brake 10, to control the press brake 10. The robot control program 248 may be a finalized provisional program 244, or a program created and stored by another device.

[0088] Furthermore, the robot control program 248 instructs the articulated collaborative robot 100, which transports the workpiece W to the transport target, via the control device 200, to perform an unloading operation to unload the workpiece W from the transport target, an loading operation to load the workpiece W into the transport target, and a safety assurance operation that includes moving the articulated collaborative robot 100 ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement. This safety assurance operation is performed in at least one of the unloading operation and the loading operation.

[0089] Alternatively, a press control program (not shown) different from the robot control program 248 may be used to cause the control device 200 to control the press brake 10.

[0090] [Robot control method according to this embodiment] Figure 9 is a flowchart showing an example of the process performed by the bending system of this embodiment. Next, the robot control method according to this embodiment will be described with reference to Figure 9. The robot control method according to this embodiment is, in general terms, a method in which a multi-joint collaborative robot 100 that transports a workpiece W to a transport target is controlled to perform an unloading operation to unload the workpiece W from the transport target, an loading operation to load the workpiece W into the transport target, and a safety-ensuring operation that includes moving the multi-joint collaborative robot 100 ahead of the workpiece W so that at least a part of the multi-joint collaborative robot 100 is positioned in front of the workpiece W in the direction of travel. Such control of the multi-joint collaborative robot 100 is performed by a control device 200. The safety-ensuring operation is performed in at least one of the unloading operation and the loading operation.

[0091] In this embodiment, the control device 200 is described as performing a safety assurance operation (an operation to move the articulated collaborative robot 100 ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement) during the workpiece unloading process, but it is not limited to this. As will be described later, the control device 200 may also perform safety assurance operations in processes other than the workpiece unloading process.

[0092] First, the control unit 230 of the control device 200 reads the robot control program 248 stored in the memory unit 240 (S1 in Figure 9: Control program reading process). Then, the control unit 230 controls the operation of the articulated collaborative robot 100 (S2 in Figure 9: Robot control process). The control unit 230 also controls the operation of the press brake 10 (S3 in Figure 9: Press control process).

[0093] Specifically, the control unit 230 of the control device 200 first causes the articulated collaborative robot 100 to perform a loading operation (S10 in Figure 9: Loading process). The articulated collaborative robot 100 holds (suctions) the workpiece W loaded on the loading trolley 400 with its robot hand 120 and moves to an approach preparation position. Next, the control unit 230 causes the articulated collaborative robot 100 to perform a workpiece loading operation (S11 in Figure 9: Workpiece loading process). The articulated collaborative robot 100 inserts the workpiece W between the upper die U and lower die L of the press brake 10, and then positions the workpiece W in the height direction.

[0094] Subsequently, the control unit 230 of the control device 200 causes the articulated collaborative robot 100 to perform a gauging operation (S12 in Figure 9: Gauging process). The control unit 230 also causes the press brake 10 to perform gauging (S20 in Figure 9: Gauging process). The articulated collaborative robot 100 abuts the workpiece W against the back gauge of the press brake 10 to position the workpiece W in the depth direction. After positioning is complete, the press brake 10 lowers the upper table 11 to a position where the workpiece W is clamped between the upper die U and the lower die L. Then, the press brake 10 retracts the back gauge, the articulated collaborative robot 100 releases its hold (suction) of the workpiece W, moves away from the press brake 10, and waits in a predetermined position.

[0095] Then, the control unit 230 of the control device 200 lowers the upper table 11 using the press brake 10 (S21 in Figure 9: Table lowering process). The press brake 10 lowers the upper table 11 to its lower end and performs bending of the workpiece W. After lowering the upper table 11, the control unit 230 causes the articulated collaborative robot 100 to perform a workpiece retrieval operation (S13 in Figure 9: Workpiece retrieval process). The articulated collaborative robot 100 holds (suctions) the bent workpiece W with the robot hand 120.

[0096] Subsequently, the control unit 230 of the control device 200 causes the press brake 10 to raise the upper table 11 (S22 in Figure 9: Table raising process). The press brake 10 raises the lowered upper table 11 to its upper end. Then, the control unit 230 causes the articulated collaborative robot 100 to start the workpiece unloading operation (S14-S16 in Figure 9: Workpiece unloading process). In the workpiece unloading process, the control unit 230 causes the articulated collaborative robot 100 to move ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 holding the workpiece W is positioned in front of the direction of movement of the workpiece W. The articulated collaborative robot 100 starts unloading the held workpiece W (S14 in Figure 9) and transports the workpiece W to the unloading box 500 in a safety operation (S15 in Figure 9).

[0097] After unloading the workpiece W to the unloading box 500, the articulated collaborative robot 100 releases its grip (suction) on the workpiece W and terminates the workpiece unloading operation (S16 in Figure 9). Through the above steps, a series of robot control methods by the control device 200 according to this embodiment are executed.

[0098] [First modified example of robot control method] Figure 10 is a flowchart showing an example of the process performed by the bending system of this embodiment. A first modified example of the robot control method according to this embodiment will be described with reference to Figure 10. Note that steps similar to those described above will be omitted as appropriate. First, the control unit 230 of the control device 200 causes the articulated collaborative robot 100 to perform a loading operation (S110 in Figure 10: Loading process). The articulated collaborative robot 100 holds (applies) the workpiece W loaded on the loading trolley 400 with its robot hand 120 and moves to a ready position for approach.

[0099] Next, the control unit 230 of the control device 200 causes the articulated collaborative robot 100 to start the workpiece loading operation (S111-S113 in Figure 10: workpiece loading process). In the workpiece unloading process, the control unit 230 causes the articulated collaborative robot 100 to move ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 holding the workpiece W is positioned in front of the direction of movement of the workpiece W. The articulated collaborative robot 100 starts loading the held workpiece W (S111 in Figure 10) and transports the workpiece W from the approach preparation position to in front of the press brake 10 with safety securing operations (S112 in Figure 10).

[0100] After moving the workpiece W to the front of the press brake 10, the articulated collaborative robot 100 inserts the workpiece W between the upper die U and lower die L of the press brake 10, then positions the workpiece W in the height direction, and finishes the workpiece loading operation (S113 in Figure 10). Subsequently, the control unit 230 instructs the articulated collaborative robot 100 to start the workpiece unloading operation (S116 in Figure 10: workpiece unloading process). The articulated collaborative robot 100 unloads the held workpiece W and moves it to the unloading box 500 to release the hold (suction) of the workpiece W.

[0101] [Second variation of the robot control method] Figure 11 is a flowchart showing an example of the process performed by the bending system of this embodiment. A second modified example of the robot control method according to this embodiment will be described with reference to Figure 11. In the second modified example, the bending system 1 is described as being equipped with a double-sheet prevention device. As with the first modified example, the same steps as described above for the robot control method will be omitted as appropriate.

[0102] The control unit 230 of the control device 200 first causes the articulated collaborative robot 100 to start a loading operation (S210-S212 in Figure 11: Loading process). During the loading process, the control unit 230 causes the articulated collaborative robot 100 to move ahead of the workpiece W so that at least a part of the articulated collaborative robot 100 holding the workpiece W is positioned in front of the direction of movement of the workpiece W.

[0103] The articulated collaborative robot 100 begins loading the workpiece W by holding (suction) the workpiece W loaded on the loading trolley 400 with its robot hand 120 (S210 in Figure 12). After holding the workpiece W, the articulated collaborative robot 100 transports the workpiece W to the double-piece detection device in a safety operation (S211 in Figure 12). After the double-piece detection device operates, the articulated collaborative robot 100 moves to an approach preparation position while still holding the workpiece W, and ends the loading operation (S212 in Figure 12).

[0104] Figure 12 is a flowchart showing an example of the process performed by the bending system of this embodiment. Furthermore, in the embodiments and modifications described above, the control device 200 was described as operating the articulated collaborative robot 100 ahead of the workpiece W so that at least a portion of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W in any one of the processes, but it is not limited to this. The control device 200 may operate the articulated collaborative robot 100 ahead of the workpiece W so that at least a portion of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W in multiple processes. For example, as shown in Figure 12, the control device 200 may operate the articulated collaborative robot 100 ahead of the workpiece W so that at least a portion of the articulated collaborative robot 100 is positioned in front of the workpiece W in the loading process, the workpiece loading process, and the workpiece unloading process.

[0105] [Advantages of the control device, bending system, robot control method, and robot control program according to this embodiment] As described above, the control device 200 according to this embodiment includes a control unit 230 capable of controlling a multi-joint collaborative robot 100 that transports a workpiece W to a transport target (in this embodiment, a press brake 10, etc.). The control unit 230 is configured to cause the multi-joint collaborative robot 100 to perform a safety assurance operation in at least one of the unloading operation, which unloads the workpiece W from the transport target (in this embodiment, a press brake 10, etc.), and the loading operation, which loads the workpiece W towards the transport target (in this embodiment, a press brake 10, etc.). The safety assurance operation includes an operation to move the multi-joint collaborative robot 100 ahead of the workpiece W so that at least a part of the multi-joint collaborative robot 100 is positioned in front of the workpiece W in the direction of travel.

[0106] Furthermore, the control device 200 according to this embodiment has the advantage of enabling the use of the articulated collaborative robot 100 in a space-saving manner while ensuring user safety. This is achieved by operating the articulated collaborative robot 100 ahead of the workpiece W so that at least a portion of the articulated collaborative robot 100 that transports the workpiece W is positioned in front of the workpiece W in the direction of movement. As a result, even if a user approaches the articulated collaborative robot 100 while it is in operation, they will come into contact with the articulated collaborative robot 100 without coming into contact with the workpiece W, thus reducing the risk of injury to the user.

[0107] Furthermore, in the control device 200 according to this embodiment, the control unit 230 is configured to operate the articulated collaborative robot 100 ahead of the workpiece W in safety assurance operations, such that the joint portion 144 of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W.

[0108] By having this configuration, the articulated collaborative robot 100 is operated ahead of the workpiece W so that the joint 144 is positioned in front of the workpiece W in the direction of movement. As a result, even if a user approaches the articulated collaborative robot 100 while it is in operation, they will not come into contact with the workpiece W but rather with the joint 144 or the arm 142 connected to the joint 144. This reduces the risk of injury to the user, thus providing the advantage of using the articulated collaborative robot 100 in a space-saving manner while ensuring user safety.

[0109] Furthermore, in the control device 200 according to this embodiment, the control unit 230 is configured to operate the articulated collaborative robot 100 ahead of the workpiece W in safety assurance operations, such that the joint 144 (first joint 144a in this embodiment) located closest to the robot hand 120 of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement.

[0110] By having this configuration, the articulated collaborative robot 100 is operated ahead of the workpiece W so that the joint 144 (first joint 144a in this embodiment) located closest to the robot hand 120 is positioned in front of the workpiece W in the direction of movement. As a result, even if a user approaches the vicinity of the robot hand 120 of the articulated collaborative robot 100 while it is in operation, they will not come into contact with the workpiece W but will instead come into contact with the first joint 144a or the first arm 142a and second arm 142b connected to the first joint 144a. This reduces the risk of injury to the user, thus providing the advantage of being able to use the articulated collaborative robot 100 in a space-saving manner while ensuring user safety.

[0111] Furthermore, in the control device 200 according to this embodiment, the control unit 230 is configured to determine the status of a user approaching the articulated collaborative robot 100, and when it determines that a user has approached the articulated collaborative robot 100, it is configured to cause the articulated collaborative robot 100, which is holding the workpiece W, to perform a safety assurance operation.

[0112] By having such a configuration, at least a portion of the articulated collaborative robot 100 holding the workpiece W will move ahead of the workpiece W only when the user enters an area where there is a risk of contact with the articulated collaborative robot 100 or the workpiece W. If there is no risk, the articulated collaborative robot 100 will perform normal operation, i.e., more efficient operation. This has the further advantage of allowing the articulated collaborative robot 100 to be used in a space-saving manner while ensuring the safety of the user, and also allowing for efficient transport of the workpiece W.

[0113] Furthermore, in the control device 200 according to this embodiment, the control unit 230 includes at least a provisional program creation unit 232 configured to create a provisional program 244 for controlling the articulated collaborative robot 100, and a robot control unit 238 configured to control the articulated collaborative robot 100. The provisional program 244 includes a plurality of jobs corresponding to each operation of the articulated collaborative robot 100, and the robot control unit 238 is configured to determine whether or not to perform a safety assurance operation in at least one of the unloading operation and the loading operation, based on a job related to the transport of the workpiece W.

[0114] By having this configuration, for each provisional program 244, it is determined whether the articulated collaborative robot 100 that transports the workpiece W should be positioned ahead of the workpiece W in the direction of movement of the workpiece W. If there is no danger, the articulated collaborative robot 100 can be made to perform normal operation, i.e., more efficient operation. This has the further advantage of allowing the articulated collaborative robot 100 to be used in a space-saving manner while ensuring user safety and efficiently transporting the workpiece W.

[0115] Furthermore, in the control device 200 according to this embodiment, the multiple jobs include selection jobs 246, and the provisional program creation unit 232 is configured to execute a question processing that asks a question to the user, an answer receiving processing that receives the user's answer, a selection processing that automatically selects a selection job 246 from a plurality of candidate selection jobs 246 for each provisional program 244 based on the answer, and a provisional program creation processing that creates a provisional program 244 that includes the selected selection jobs 246, and the robot control unit 238 is configured to determine whether or not to perform a safety assurance operation in at least one of the unloading operation and the loading operation based on the selection job 246 related to the transport of the workpiece W (in this embodiment, an approach selection job 246a, etc.).

[0116] By having such a configuration, based on the selection job 246 related to the transport of the workpiece W (in this embodiment, the approach selection job 246a, etc.), it is determined for each provisional program 244 whether the articulated collaborative robot 100 that transports the workpiece W should be positioned in front of the workpiece W in the direction of travel. Therefore, if there is no danger in the selection job 246 related to the transport of the workpiece W (in this embodiment, the approach selection job 246a, etc.), the articulated collaborative robot 100 can be made to perform normal operation, i.e., more efficient operation. This has the further advantage of allowing the articulated collaborative robot 100 to be used in a space-saving manner while ensuring user safety and efficiently transporting the workpiece W.

[0117] Furthermore, it has the advantage that users can easily create a provisional program 244 simply by answering questions. In addition, the robot control unit 238 determines whether safety actions should be taken based on the selected jobs 246 included in the provisional program 244, and if necessary, has the articulated collaborative robot 100 perform the safety actions. As a result, the articulated collaborative robot 100 can be operated safely and in a space-saving manner even if the user is not familiar with controlling the articulated collaborative robot 100. In other words, it reduces the skill level required of the user. Moreover, since the necessity of safety actions is related to the user's safety, having the robot control unit 238 make this decision mechanically rather than relying on user judgment makes it possible to prevent accidents caused by human error.

[0118] Furthermore, in the control device 200 according to this embodiment, the safety assurance operation is configured to be manually changed to normal operation by the user. With this configuration, if the user determines that safety has been ensured and the safety assurance operation is unnecessary, the safety assurance operation can be changed to normal operation at a later date. This has the further advantage of allowing the multi-joint collaborative robot 100 to be used in a space-saving manner while ensuring the user's safety, and also allowing for efficient transport of the workpiece W.

[0119] [Differentiation] Although preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the embodiments described above. Various modifications or improvements can be made to the embodiments described above.

[0120] For example, in the embodiment described above, the control unit 230 was configured to operate the articulated collaborative robot 100 ahead of the workpiece W so that the joint portion 144 of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W, but it is not limited to this. The control unit 230 does not have to operate the articulated collaborative robot 100 ahead of the workpiece W so that the joint portion 144 of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W. For example, the control unit 230 may be configured to operate the articulated collaborative robot 100 ahead of the workpiece W so that the arm portion 142 of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of movement of the workpiece W.

[0121] In the embodiments described above, the control unit 230 was configured to operate the articulated collaborative robot 100 ahead of the workpiece W so that the joint 144 (first joint 144a in this embodiment) located closest to the robot hand 120 is positioned in front of the workpiece W in the direction of movement. However, the control unit 230 is not limited to this configuration. The control unit 230 does not have to operate the articulated collaborative robot 100 ahead of the workpiece W so that the joint 144 (first joint 144a in this embodiment) located closest to the robot hand 120 is positioned in front of the workpiece W in the direction of movement. For example, the control unit 230 may be configured to operate the articulated collaborative robot 100 ahead of the workpiece W so that the second joint 144b, first arm 142a, second arm 142b, etc., are positioned in front of the workpiece W in the direction of movement.

[0122] In the embodiments described above, the control unit 230 is configured to acquire the status of a user approaching the articulated robot 100, and when it determines that a user has approached the articulated robot 100, it is configured to operate at least a portion of the articulated robot 100 holding the workpiece W ahead of the workpiece W. However, the invention is not limited to this configuration. The control unit 230 does not need to be configured to acquire the status of a user approaching the articulated robot 100.

[0123] Furthermore, the control unit 230 does not necessarily have to include an approach determination unit 236, and is configured to acquire the status of the user's approach to the articulated collaborative robot 100. If it determines that the user has approached the articulated collaborative robot 100, it does not necessarily have to be configured to operate at least a part of the articulated collaborative robot 100 holding the workpiece W ahead of the workpiece W. Moreover, although the above-described embodiment explained that the robot transporter 300 is equipped with a safety laser scanner 360, it is not limited to this, and the robot transporter 300 does not necessarily have to be equipped with a safety laser scanner 360.

[0124] In the embodiment described above, the control unit 230 includes at least a provisional program creation unit 232 configured to create a provisional program 244 for controlling the articulated collaborative robot 100, and a robot control unit 238 configured to control the articulated collaborative robot 100. The provisional program 244 includes a plurality of jobs corresponding to each operation of the articulated collaborative robot 100, and the robot control unit 238 is configured to determine, based on a job related to the transport of the workpiece W, whether or not the articulated collaborative robot 100 should be operated ahead of the workpiece W in at least one of the unloading operation and the loading operation, such that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel. However, the embodiment is not limited to this.

[0125] The control unit 230 does not necessarily have to include the provisional program creation unit 232. Furthermore, the robot control unit 238 does not necessarily have to be configured to determine, based on a job related to the transport of the workpiece W, whether or not the articulated collaborative robot 100 should be operated ahead of the workpiece W in at least one of the unloading operation and loading operation, such that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel.

[0126] In the embodiment described above, the multiple jobs include selection jobs 246, and the provisional program creation unit 232 is configured to perform a question processing that asks the user a question, an answer receiving processing that receives the user's answer, a selection processing that automatically selects a selection job 246 from a plurality of candidate selection jobs 246 for each provisional program 244 based on the answer, and a provisional program creation processing that creates a provisional program 244 that includes the selected selection jobs 246. The robot control unit 238 has been described as being configured to determine whether or not to operate the articulated collaborative robot 100 ahead of the workpiece W in at least one of the unloading operation and the loading operation, based on the selection job 246 related to the transport of the workpiece W (in this embodiment, such as the approach selection job 246a), so that at least a part of the articulated collaborative robot 100 is positioned in front of the workpiece W in the direction of travel, but is not limited to this.

[0127] Multiple jobs do not necessarily have to include the selection job 246. Also, the provisional program creation unit 232 does not necessarily have to be able to perform question processing and answer reception processing. Furthermore, the robot control unit 238 does not necessarily have to be configured to determine, based on the selection job 246 related to the unloading of the workpiece W (in this embodiment, the approach selection job 246a, etc.), whether or not to operate the articulated collaborative robot 100 ahead of the workpiece W in at least one of the unloading operation and loading operation, such that at least a part of the articulated collaborative robot 100 is positioned in front of the direction of travel of the workpiece W.

[0128] In other words, the robot control unit 238 of the control unit 230 of the control device 200 may be configured to always cause the articulated collaborative robot 100 to perform safety assurance operations in at least one of the unloading operation and loading operation, regardless of the detection results of the safety laser scanner 360 or the job determination results included in the provisional program 244.

[0129] In the embodiments described above, the safety-enhancing operation was described as being configured to be manually changeable to the normal operation by the user, but this is not limited to this. The safety-enhancing operation does not necessarily have to be manually changeable to the normal operation by the user.

[0130] In the embodiments described above, the control device 200 was described as including a display unit 220 that functions as a question unit for presenting questions to the user and an input unit 210 that can answer the questions, but it is not limited to this. The control device 200 may also include, without the input unit 210 and the display unit 220, an audio output unit that functions as a question unit for presenting questions to the user and an audio input unit that can input answers to questions by voice.

[0131] In the embodiments described above, the provisional program 244 was described as including a fixed job 245 and a selection job 246, but it is not limited to this, and the provisional program 244 does not have to include a fixed job 245. Also, the provisional program creation unit 232 may be configured to create a provisional program 244 that includes only a plurality of selection jobs 246.

[0132] In the embodiments described above, the provisional program 244 was described as including a loading job 244a, an approach job 244b, a workpiece retrieval job 244c, and an unloading job 244d. However, it is not limited to this, and the provisional program 244 may include various arbitrary jobs. For example, the provisional program 244 was described as not including a press brake selection job 246. However, it is not limited to this, and the provisional program 244 may include a press brake selection job 246.

[0133] In the embodiments described above, the provisional program 244 was described as including multiple jobs corresponding to each operation of the press brake 10, but it is not limited to this, and the provisional program 244 does not have to include multiple jobs corresponding to each operation of the press brake 10.

[0134] In the embodiments described above, the loading job 244a of the provisional program 244 was described as not including the selection job 246 for the articulated collaborative robot 100. However, it is not limited to this, and the loading job 244a may include the selection job 246 for the articulated collaborative robot 100. Similarly, in the embodiments described above, the unloading job 244d of the provisional program 244 was described as not including the selection job 246 for the articulated collaborative robot 100. However, it is not limited to this, and the unloading job 244d may include the selection job 246 for the articulated collaborative robot 100.

[0135] In the embodiments described above, the bending system 1 was described as comprising a control device 200 that controls the press brake 10 and the articulated collaborative robot 100, but it is not limited to this. The control device 200 does not have to control the press brake 10. Furthermore, the bending system 1 may also include a press control device that controls the press brake 10 separately from the control device 200.

[0136] In the above-described configuration, the control device 200 was described as being capable of performing a teaching reception process to receive operation teaching from the user and a teaching reflection process to reflect the received teaching information in at least one of the fixed job 245 and the selected job 246, but it is not limited to this. The control device 200 does not need to be able to perform the teaching reception process and the teaching reflection process. Also, the control unit 230 was described as including a teaching reflection unit 234, but it is not limited to this, and the control unit 230 does not need to include a teaching reflection unit 234. [Explanation of Symbols]

[0137] 1. Bending System 10 Press brake 11 Upper Table 12 Lower Table 14 Upper holder 15 Lower mold holder 16 Drive mechanism 100 Articulated Collaborative Robots 120 Robot Hand 140 Robot Arms 142 Arm section 142a First Arm Section 142b Second Arm Section 142c Third Arm Section 144 Joints 144a First joint 144b Second joint 144c Third joint 150 Hand connection section 160 Conveyor connection section 200 Control device 210 Input section 220 Display section 230 Control Unit 232 Provisional Program Creation Department 234 Instruction Reflection Unit 236 Entry Judgment Section 238 Robot Control Unit 240 Storage section 244 Provisional Program 244a Loading job 244b Approach Job 244c Work Retrieval Job 244d Unloading Job 245 Fixed Jobs 245a Loading Fixed Job 245b Approach Fixed Job 245c Gauging Job 245d First press job 245e Workpiece retrieval fixed job 245f Second Press Job 245g Unloading Fixed Job 246 Selected Jobs 246a Approach Selection Job 246b Workpiece Retrieval Selection Job 248 Robot Control Program 300 robotic transporters 360 Safety Laser Scanner 400 Loading Cart 500 Unloading Boxes L lower mold U upper mold Double job

Claims

1. It is equipped with a control unit capable of controlling a multi-joint collaborative robot that transports a workpiece to a target object, The control unit, A provisional program creation unit configured to create at least a provisional program for controlling the multi-joint collaborative robot, A robot control unit configured to control the aforementioned articulated robot and Includes, The aforementioned provisional program includes a plurality of jobs corresponding to each movement of the articulated collaborative robot, The robot control unit is configured to determine whether or not to perform a safety action in at least one of the unloading operation (unloading the workpiece from the transport target) and the loading operation (unloading the workpiece towards the transport target) based on whether or not there is a risk of the workpiece and the user coming into contact if the user approaches the multi-joint collaborative robot during the execution of the job, if it is determined that the safety action should be performed, the robot control unit is configured to have the multi-joint collaborative robot perform the safety action, and if it is determined that the safety action should not be performed, the robot control unit is configured to have the multi-joint collaborative robot perform normal operation. The safety assurance operation includes an operation to move the articulated collaborative robot ahead of the workpiece such that at least a part of the articulated collaborative robot is positioned in front of the workpiece in the direction of movement of the workpiece. The robot control unit determines that it should perform the safety operation if it determines that there is a risk of the workpiece and the user coming into contact, and determines that it should not perform the safety operation if it determines that there is no risk of the workpiece and the user coming into contact. Control device.

2. The control unit is configured to operate the articulated collaborative robot ahead of the workpiece so that, in the safety-ensuring operation, the joints of the articulated collaborative robot are positioned in front of the workpiece in the direction of movement of the workpiece. The control device according to claim 1.

3. The control unit is configured to operate the articulated collaborative robot ahead of the workpiece in the safety operation such that the joint located closest to the robot hand is positioned in front of the workpiece in the direction of movement of the workpiece. The control device according to claim 2.

4. The control unit is configured to determine when a user is approaching the articulated robot, and when it determines that a user is approaching the articulated robot, it is configured to cause the articulated robot holding the workpiece to perform the safety assurance operation. The control device according to any one of claims 1 to 3.

5. The aforementioned multiple jobs include selected jobs, The aforementioned provisional program creation unit, Question processing, which involves asking questions to the user, A response reception process that accepts the user's response, Based on the above response, a selection process is performed to automatically select a selected job from a plurality of candidate selected jobs for each provisional program, A provisional program creation process that creates the provisional program including the selected jobs, It is configured to be executable, The robot control unit is configured to determine whether or not to perform the safety assurance operation in at least one of the unloading operation and the loading operation, based on the selected job relating to the transport of the workpiece. The control device according to any one of claims 1 to 3.

6. The aforementioned safety operation is configured to allow the user to manually change it back to normal operation. The control device according to any one of claims 1 to 3.

7. A multi-joint collaborative robot that transports a workpiece to a target object, A control device including a control unit capable of controlling the aforementioned articulated robot Equipped with, The control unit, A provisional program creation unit configured to create at least a provisional program for controlling the multi-joint collaborative robot, A robot control unit configured to control the aforementioned articulated robot and Includes, The aforementioned provisional program includes a plurality of jobs corresponding to each movement of the articulated collaborative robot, The robot control unit is configured to determine whether or not to perform a safety action in at least one of the unloading operation (unloading the workpiece from the transport target) and the loading operation (unloading the workpiece towards the transport target) based on whether or not there is a risk of the workpiece and the user coming into contact if the user approaches the multi-joint collaborative robot during the execution of the job, if it is determined that the safety action should be performed, the robot control unit is configured to have the multi-joint collaborative robot perform the safety action, and if it is determined that the safety action should not be performed, the robot control unit is configured to have the multi-joint collaborative robot perform normal operation. The safety assurance operation includes an operation to move the articulated collaborative robot ahead of the workpiece such that at least a part of the articulated collaborative robot is positioned in front of the workpiece in the direction of movement of the workpiece. The robot control unit determines that it should perform the safety operation if it determines that there is a risk of the workpiece and the user coming into contact, and determines that it should not perform the safety operation if it determines that there is no risk of the workpiece and the user coming into contact. Bending system.

8. A multi-joint collaborative robot that transports workpieces to a target object, A discharge operation for unloading the workpiece from the transported object, A loading operation for loading the workpiece towards the object to be transported, Safety measures include an action to move the articulated collaborative robot ahead of the workpiece so that at least a portion of the articulated collaborative robot is positioned in front of the workpiece in the direction of movement of the workpiece. Execute, The safety assurance operation is performed during at least one of the unloading operation and the loading operation. The provisional program for controlling the articulated robot includes at least one job related to transporting the workpiece, in which at least a portion of the workpiece moves outside the movement area of ​​the articulated robot, and includes a determination step of determining whether or not the safety operation should be performed based on whether or not there is a risk of the workpiece and the user coming into contact if the user approaches the articulated robot during the execution of the job, and if the determination step determines that the safety operation should be performed, the articulated robot is made to perform the safety operation, and if the determination step determines that the safety operation should not be performed, the articulated robot is made to perform normal operation. In the determination step, if it is determined that there is a risk of the workpiece and the user coming into contact, it is determined that the safety assurance operation should be performed; if it is determined that there is no risk of the workpiece and the user coming into contact, it is determined that the safety assurance operation should not be performed. Robot control methods.

9. A multi-joint collaborative robot that transports workpieces to a target object, A discharge operation for unloading the workpiece from the transported object, A loading operation for loading the workpiece towards the object to be transported, Safety measures include an action to move the articulated collaborative robot ahead of the workpiece so that at least a portion of the articulated collaborative robot is positioned in front of the workpiece in the direction of movement of the workpiece. Make it run, The safety assurance operation is performed during at least one of the unloading operation and the loading operation. The system is configured to perform a determination process to determine whether or not to perform the safety action based on whether or not there is a risk of the workpiece and the user coming into contact if the user approaches the robot while the job is being executed, if the determination process determines that the safety action should be performed, the system will perform the safety action, and if the determination process determines that the safety action should not be performed, the system will perform normal operation. In the determination process described above, if it is determined that there is a risk of the workpiece and the user coming into contact, it is determined that the safety assurance operation should be performed; if it is determined that there is no risk of the workpiece and the user coming into contact, it is determined that the safety assurance operation should not be performed. Robot control program.

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