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

Abstract

A control system, control device, control method, and control program that enable space saving while ensuring user safety. [Solution] The system comprises a multi-joint collaborative robot that transports a workpiece to a transport target, an ambient detection sensor that detects objects around the multi-joint collaborative robot, an entry detection sensor that detects the entry of an object into the detection area of ​​the ambient detection sensor, and a control device that controls the multi-joint collaborative robot. The entry detection sensor has a height detection area that extends in a direction intersecting the detection area of ​​the ambient detection sensor, and the control device is configured to control the operation of the multi-joint collaborative robot according to the detection results of the ambient detection sensor and the entry detection sensor.

Description

Technical Field

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

Background Art

[0002] Conventionally, a safety device has been known that includes a sensor attached to a self-propelled traveling device or a robot provided on the traveling device for detecting an object existing within a predetermined detection area, and an operation suppression device that suppresses the operations of the traveling device and the robot when the presence of an object is detected within the predetermined detection area by the sensor (for example, Patent Document 1).

[0003] The sensor described in Patent Document 1 is a laser sensor having a light projector that projects laser light radially around itself within a predetermined detectable area including a predetermined detection area, a light receiver that is disposed adjacent to the light projector and receives the laser light reflected by an object existing within the predetermined detectable area, and a detector that detects an object existing within the predetermined detectable area based on the light reception state of the light receiver.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the sensor described in Patent Document 1, the light emitter is configured to emit laser light radially from itself in a plan view. Furthermore, the detection area described in Patent Document 1 is set in a rectangular shape in a plan view with respect to the position of the sensor. In the safety device described in Patent Document 1, for example, it is necessary to stop the robot immediately after detecting an object, but the robot will coast due to a time delay in the control and a mechanical delay in the robot between the time the object is detected and the time until the robot comes to a complete stop. Therefore, in order to prevent the robot from coming into contact with an object even if it coasts, the boundary of the detection area is set at a certain distance away from the robot's operating limit.

[0006] However, in the safety device described in Patent Document 1, since the sensor is mounted on the lower part of the housing of the traveling device, if the user's feet or other body parts enter the detection area first, the sensor can detect the user's entry, but it cannot detect an object at the height where the user's hands are located. Therefore, if the user extends only their hands while their feet are outside the detection area, there is a problem that their hands can enter the detection area without being detected by the sensor.

[0007] Therefore, in the safety device described in Patent Document 1, which monitors only a flat surface, the boundary of the detection area must be set further away from the robot's operating limit by a distance that allows a user to reach out without causing problems, in addition to the aforementioned distance. This presents the challenge of requiring a large amount of space for the safety device.

[0008] One aspect of the present invention is a control system, control device, control method, and control program that can save space while ensuring user safety. [Means for solving the problem]

[0009] A control system according to one aspect of the present invention comprises an articulated collaborative robot that transports a workpiece to a transport target, an ambient detection sensor that detects objects around the articulated collaborative robot, an entry detection sensor that detects the entry of an object into the detection area of ​​the ambient detection sensor, and a control device that controls the articulated collaborative robot, wherein the entry detection sensor has a height detection area that extends in a direction intersecting the detection area of ​​the ambient detection sensor, and the control device is configured to control the operation of the articulated collaborative robot according to the detection results of the ambient detection sensor and the entry detection sensor.

[0010] A control device according to one aspect of the present invention controls a multi-joint collaborative robot that transports a workpiece to a transport target, and includes a control unit configured to set a detection area for detecting objects around the multi-joint collaborative robot and a height-direction detection area that extends in a direction intersecting the detection area and detects the entry of the object into the detection area, wherein the control unit is configured to control the operation of the multi-joint collaborative robot according to the detection results of the detection area and the height-direction detection area.

[0011] A control method according to one aspect of the present invention controls an articulated collaborative robot that transports a workpiece to a transport target, and a control device configured to set a detection area for detecting objects around the articulated collaborative robot and a height-direction detection area that extends in a direction intersecting the detection area and detects the entry of the object into the detection area, and controls the operation of the articulated collaborative robot according to the detection results of the detection area and the height-direction detection area.

[0012] A control program according to one aspect of the present invention controls a multi-joint collaborative robot that transports a workpiece to a transport target, and causes a control device, which is configured to set a detection area for detecting objects around the multi-joint collaborative robot and a height-direction detection area that extends in a direction intersecting the detection area and detects the entry of the object into the detection area, to control the operation of the multi-joint collaborative robot according to the detection results of the detection area and the height-direction detection area.

[0013] According to one aspect of the present invention, a control system, control device, control method, and control program are provided with an intrusion detection sensor that detects the entry of an object into the detection area of ​​the surrounding sensor, in addition to the surrounding sensor. This eliminates the need to consider the distance the user can reach when setting the detection area, thus enabling space saving while ensuring user safety. [Effects of the Invention]

[0014] According to one aspect of the present invention, a control system, control device, control method, and control program can be used to save space while ensuring user safety. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a schematic diagram showing a control system according to an embodiment of the present invention. [Figure 2] Figure 2 is a schematic diagram showing the control system of this embodiment. [Figure 3] Figure 3 is a plan view showing the movable range of the TCP in this embodiment and the detection area of ​​the ambient detection sensor. [Figure 4] Figure 4 is a side view showing the movable range of the TCP in this embodiment and the height detection area of ​​the intrusion detection sensor. [Figure 5] Figure 5 is a perspective view showing the detection area of ​​the ambient detection sensor and the height detection area of ​​the entry detection sensor in this embodiment. [Figure 6] Figure 6 is a functional block diagram showing the control device of this embodiment. [Figure 7] Figure 7 shows the operation of the loading job according to the provisional program of this embodiment. [Figure 8] Figure 8 shows the area switching that occurs when a TCP signal leaves the configured operating range in the loading job of this embodiment. [Figure 9]FIG. 9 is a diagram showing area switching when TCP goes out of the set operation range in the loading job of the present embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of the processing executed by the control system of the present embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of the processing executed by the control system of the present embodiment. [Figure 12] FIG. 12 is a diagram showing a first modification example of the control system of the present embodiment. [Figure 13] FIG. 13 is a diagram showing a second modification example of the control system of the present embodiment. [Figure 14] FIG. 14 is a diagram showing a third modification example of the control system of the present embodiment. [Mode for Carrying Out the Invention]

[0016] 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.

[0017] [Configuration of the Control System According to the Present Embodiment] FIGS. 1 and 2 are schematic diagrams showing a control system according to an embodiment of the present invention. First, referring to FIGS. 1 and 2, the control system 1 according to the embodiment of the present invention will be outlined. The control system 1 according to the present embodiment generally includes, as shown in FIGS. 1 and 2, an articulated collaborative robot 100 that conveys a workpiece to a conveyance target, a surrounding detection sensor 360 that detects an object around the articulated collaborative robot 100, an entry detection sensor 380 that detects the entry of an object into a detection area 362 described later of the surrounding detection sensor 360, and a control device 200 that controls the articulated collaborative robot 100.

[0018] Furthermore, the control system 1 includes a press brake 10 that functions as a bending machine. In other words, the control system 1 according to this embodiment functions as a bending system. In addition, the control system 1 includes a robot transport body 300 that can transport the articulated collaborative robot 100, a loading trolley 400 for loading workpieces to be processed, and an unloading box 500 for placing workpieces that have been bent by the press brake 10.

[0019] In this embodiment, the loading cart 400 is positioned to the left of the articulated collaborative robot 100 and the robot transporter 300, and the unloading box 500 is positioned to the right of the articulated collaborative robot 100 and the robot transporter 300. However, the configuration is not limited to this, and the positions of the loading cart 400 and the unloading box 500 may be reversed.

[0020] In this embodiment, the object to be transported is mainly the press brake 10. However, it is not limited to this, and the objects to be transported may also include the loading trolley 400 and the unloading box 500. Furthermore, the objects to be transported may also include the double-picking prevention device and the suction device, which will be described later.

[0021] In addition to the above-described configuration, the control system 1 may also include a double-grabbing prevention device (not shown), such as a magnetic floater or an air separator, and a suction device (not shown) capable of gripping and changing workpieces. The double-grabbing prevention device and the suction device may be independent devices, or they may be provided on, for example, the robot transporter 300 or the loading trolley 400.

[0022] The control system 1 may load workpieces onto a workpiece placement platform (not shown) instead of the loading trolley 400. The workpiece placement platform may have a double-piece detection function and a double-piece prevention device. The control system 1 may also be equipped with a pallet (loading platform) for placing workpieces, a belt conveyor 600 (described later), an AGV (Automatic Guided Vehicle), an AMR (Autonomous Mobile Robot), etc., instead of the loading trolley 400 or the unloading box 500.

[0023] [Press brake configuration] 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.

[0024] 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, a position detection sensor (not shown) for detecting the movement position when the upper table 11 moves by the drive mechanism 16, and a back gauge (not shown) for positioning the workpiece in the depth direction inserted between the upper die U and the lower die L. In addition, the press brake 10 may include an angle detection sensor (not shown) capable of detecting the bending angle of the workpiece during bending.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Since the press brake 10 can employ various known configurations, a detailed explanation thereof will be omitted.

[0029] [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 a workpiece 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 a workpiece 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.

[0030] The articulated collaborative robot 100 has six control axes and is configured to, for example, hold the uppermost workpiece among multiple workpieces loaded on a loading trolley 400, and supply (load) that workpiece to the press brake 10. The articulated collaborative robot 100 is also configured to transport (unload) the workpiece after bending to a predetermined location (for example, an unloading box 500).

[0031] Specifically, as shown in Figure 1, the articulated collaborative robot 100 includes a robotic hand 120 capable of holding a workpiece as a workpiece holding unit, and a robotic arm 140 that moves the robotic hand 120 closer to or further away from the workpiece.

[0032] In this embodiment, the articulated collaborative robot 100 is mounted on a robot transporter 300 having wheels. However, it is not limited to this. The articulated collaborative robot 100 may also include a moving mechanism having rails laid on the floor. In this embodiment, the articulated collaborative robot 100 includes a transporter connection part 160 that connects the robot arm 140 and the robot transporter 300.

[0033] 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 a workpiece, 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 a workpiece.

[0034] Since the robot hand 120 can employ various known configurations, a detailed explanation will be omitted.

[0035] The robot arm 140 is a multi-jointed arm having multiple arm sections and joint sections. The robot arm 140 also has a hand connection section (not shown) 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.

[0036] The robot arm 140 is configured to move the robot hand 120 closer to or further away from the workpiece 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 from the loading trolley 400, but also to load (insert) the workpiece into the press brake 10, assist in processing (bending) the workpiece, and transport (unload) the product (bent product) from the press brake 10.

[0037] 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 be arbitrarily adopted from various known configurations.

[0038] In this embodiment, the articulated collaborative robot 100 is positioned so as not to move relative to the press brake 10, which is the object to be transported. Specifically, the robot transporter 300 is positioned by a positioning mechanism (not shown) that allows for the positioning of the robot transporter 300 relative to the press brake 10, and the wheels of the robot transporter 300 are fixed by stoppers such as pedal locks. Furthermore, the articulated collaborative robot 100 is also positioned so as not to move relative to the loading trolley 400 and the unloading box 500, which are the objects to be transported. Specifically, the loading trolley 400 and the unloading box 500 are attached to the sides of the positioning mechanism, respectively.

[0039] However, it is not limited to this. The articulated collaborative robot 100 may be positioned to move relative to the press brake 10, which is the object to be transported. Also, the loading trolley 400 and the unloading box 500 do not have to be attached to the side of the positioning mechanism.

[0040] Figure 3 is a plan view showing the movable range of the TCP (Tool Center Point) and the detection area of ​​the surrounding detection sensor in this embodiment. Figure 4 is a side view showing the movable range of the TCP and the height-direction detection area of ​​the intrusion detection sensor in this embodiment. In the articulated collaborative robot 100 having the above configuration, a TCP is set at the tip of the robot hand 120. In this embodiment, the articulated collaborative robot 100 has a movable range A of the TCP, as shown in Figure 3. The articulated collaborative robot 100 is configured so that the TCP can operate within a range that does not deviate from the movable range A of the TCP. Furthermore, as shown in Figure 4, the movable range A of the TCP also extends in the height direction. In this embodiment, the movable range A of the TCP is set in coordinate space.

[0041] The movable range A of TCP is preferably a range in which there is no risk of the robot hand 120 coming into contact with objects around the articulated collaborative robot 100 when the robot hand 120 is not holding a workpiece.

[0042] [Configuration of ambient detection sensors] As shown in Figure 3, the surrounding detection sensor 360 has a detection area 362 for detecting objects and is configured to detect objects around the articulated collaborative robot 100, such as a user. In this embodiment, the surrounding detection sensor 360 is a two-dimensional scanning range sensor (safety laser scanner). In this embodiment, the surrounding detection sensor 360 is attached to the robot transport body 300, as shown in Figures 1 and 2.

[0043] Specifically, the control system 1 according to this embodiment is equipped with two ambient detection sensors 360. The two ambient detection sensors 360 are mounted one each on the loading side and unloading side (left and right in this embodiment) at the rear of the robot transporter 300. Furthermore, the two ambient detection sensors 360 are arranged symmetrically with respect to the robot transporter 300, or in other words, the transporter connection part 160 of the articulated collaborative robot 100.

[0044] For the sake of explanation, in this embodiment, as shown in Figure 3, the surrounding detection sensor 360 attached to the right side of the robot transporter 300 is referred to as the first surrounding detection sensor 360a, and the surrounding detection sensor 360 attached to the left side of the robot transporter 300 is referred to as the second surrounding detection sensor 360b. In this specification, "loading side" or "left side" refers to the area in front of the press brake 10 (detection area 362 of the articulated collaborative robot 100) that is on the loading trolley 400 side of a virtual boundary line that passes through the center of the transporter connection part 160 and extends in the opposing direction between the press brake 10 and the articulated collaborative robot 100. Also, "unloading side" or "right side" refers to the area in front of the press brake 10 (detection area 362 of the articulated collaborative robot 100) that is on the unloading box 500 side of the above virtual boundary line.

[0045] By having such a configuration, the detection area 362 can be divided and provided in the left and right directions of the articulated collaborative robot 100, and the detection area 362 can be switched to the left or right as described later. For example, when the robot hand 120 of the articulated collaborative robot 100 moves to the left side (loading side) of the transporter connection part 160, the detection area 362 of the second surrounding detection sensor 360b is switched, and when the robot hand 120 moves to the right side (unloading side) of the transporter connection part 160, the detection area 362 of the first surrounding detection sensor 360a is switched. With such simple control, the detection area 362 of the robot hand 120's direction of movement can be easily changed, and safety can be ensured with simple area switching.

[0046] However, this is not limited to the above. The number and arrangement of the surrounding sensors 360 can be any configuration as long as they can detect objects around the articulated collaborative robot 100. For example, the control system 1 may have one surrounding sensor 360 on each side in front of the robot transporter 300. In addition, the control system 1 may have surrounding sensors 360 in front of the robot transporter 300, in addition to the surrounding sensors 360 mounted on the rear of the robot transporter 300. Furthermore, the surrounding sensors 360 may be placed on the floor surface surrounding the articulated collaborative robot 100. When the surrounding sensors 360 are placed on the floor surface, all of the surrounding sensors 360 may be placed on the floor surface, or some of the surrounding sensors 360 may be attached to the robot transporter 300 and the remaining surrounding sensors 360 may be placed on the floor surface. In other words, the arrangement of the surrounding sensors 360 does not have to be symmetrical.

[0047] A surrounding detection sensor 360 with this configuration can, for example, detect when a user enters the detection area 362, thereby detecting that the user has approached the articulated collaborative robot 100.

[0048] In this embodiment, the detection area 362 extends along the floor surface (in the planar direction). However, it is not limited to this. The detection area 362 may extend at an inclination with respect to the floor surface.

[0049] The range and type of the detection area 362 are configured to be configurable via the control device 200. In this embodiment, the ambient detection sensor 360 is configured to have two types of detection areas 362 for detecting objects: a deceleration area 364 and a stop area 366. The deceleration area 364 is a detection area 362 in which the control unit 230 of the control device 200 (described later) reduces the operating speed of the articulated collaborative robot 100 when an object is detected. The stop area 366 is a detection area 362 in which the control unit 230 stops the operation of the articulated collaborative robot 100 when an object is detected. In this embodiment, the detection area 362 is set in coordinate space.

[0050] The range of the stopping area 366 preferably includes a distance at which an object may come into contact with at least one of the articulated collaborative robot 100 and the workpiece held by the articulated collaborative robot 100. The range of the stopping area 366 is generally set to the operating range of the articulated collaborative robot 100 and the workpiece + approximately 2000 mm, and the deceleration area 364 may be set to a wider range.

[0051] In this embodiment, the left and right ends (boundaries) of the deceleration area 364 are each located at a distance equal to the post-shading stopping distance from the left and right ends of the movable range A of the TCP. In this embodiment, the post-shading stopping distance is calculated by multiplying the user's approach speed by the sum of the response time of the entry detection sensor 380 and the response time of the control device 200 and the articulated collaborative robot 100 after object detection by the entry detection sensor 380.

[0052] Furthermore, the ranges of the deceleration area 364 and the stopping area 366 are not limited to these, as they can be set to various arbitrary ranges based on the performance of the ambient detection sensor 360 used and the calculation formula based on safety standards.

[0053] The range and type of the detection area 362 can be set for each ambient detection sensor 360. For example, the detection area 362 of the first ambient detection sensor 360a can be set to a stop area 366, and the detection area 362 of the second ambient detection sensor 360b can be set to a deceleration area 364. Furthermore, by dividing the range of the detection area 362, both the deceleration area 364 and the stop area 366 can be set for a single ambient detection sensor 360.

[0054] In this embodiment, as shown in Figure 3, the two ambient detection sensors 360, in their basic settings, have detection areas 362 that include both a deceleration area 364 and a stop area 366. Specifically, a stop area 366 is set near the articulated collaborative robot 100, and a deceleration area 364 is set in a wide area outside the stop area 366.

[0055] For the sake of explanation, in this embodiment, the range of the detection area 362 of the first ambient detection sensor 360a in which the stop area 366 is set in the basic settings is referred to as the first detection area 362A. Also, the range of the detection area 362 of the second ambient detection sensor 360b in which the stop area 366 is set in the basic settings is referred to as the second detection area 362B.

[0056] Similarly, the range of the detection area 362 of the first ambient detection sensor 360a that is set as the deceleration area 364 in the basic settings will be designated as the third detection area 362C. In addition, the range of the detection area 362 of the second ambient detection sensor 360b that is set as the deceleration area 364 in the basic settings will be designated as the fourth detection area 362D.

[0057] [Configuration of entry detection sensor] As shown in Figure 4, the entry detection sensor 380 has a height-direction detection area 382 for detecting objects and is configured to detect the entry of an object (such as a user) into the detection area 362 of the surrounding detection sensor 360. In this embodiment, the entry detection sensor 380 is a two-dimensional scanning range sensor (safety laser scanner). In this embodiment, as shown in Figures 1 and 2, the entry detection sensor 380 is positioned on the floor surface on the press brake 10 side. In this embodiment, "positioned on the press brake side" means that it is positioned closer to the press brake 10 than the robot transporter 300, and more specifically, it means that it is positioned adjacent to the front of the press brake 10.

[0058] Specifically, as shown in Figures 1 to 3, the control system 1 according to this embodiment is equipped with two entry detection sensors 380. The two entry detection sensors 380 are positioned in front of the robot transport body 300 (in front of the press brake 10) which is positioned relative to the press brake 10, with one on the loading side and one on the unloading side (left and right in this embodiment). In other words, the control system 1 according to this embodiment is equipped with height detection areas 382 on both the left and right sides of the articulated collaborative robot 100.

[0059] For the sake of explanation, in this embodiment, the entry detection sensor 380 located on the right front of the robot transporter 300 is referred to as the first entry detection sensor 380a, and the entry detection sensor 380 located on the left front of the robot transporter 300 is referred to as the second entry detection sensor 380b. Specifically, the first entry detection sensor 380a and the second entry detection sensor 380b are each positioned at a distance from the left and right ends of the movable range A of the TCP by a distance equal to the stopping distance after shading, in a plan view.

[0060] However, it is not limited to this. The number and arrangement of the entry detection sensors 380 can be any configuration as long as it is possible to detect the entry of an object into the detection area 362 of the surrounding detection sensor 360. For example, two entry detection sensors 380 may be mounted on the front of the press brake 10. Alternatively, two entry detection sensors 380 may be positioned behind the robot transporter 300 (articulated collaborative robot 100), that is, at a distance from the press brake 10.

[0061] Furthermore, the two entry detection sensors 380 may be positioned such that one of them is located in front of the robot transporter 300 and the other is located behind it. Alternatively, one entry detection sensor 380 may be attached to the front or rear of the robot transporter 300, one on each side. Furthermore, one of the two entry detection sensors 380 may be attached to the robot transporter 300 and the other on the floor.

[0062] Furthermore, in addition to the entry detection sensor 380 positioned in front of the robot transporter 300 positioned relative to the press brake 10, the control system 1 may also include an entry detection sensor 380 positioned behind the robot transporter 300. Specifically, a third entry detection sensor 380 may be positioned behind the robot transporter 300, on either the left or right side.

[0063] Figure 12 shows a first modified example of the control system of this embodiment. Here, the arrangement of the first entry detection sensor 380a when the control system 1 is equipped with a belt conveyor 600 instead of the unloading box 500 will be described. As shown in Figure 12, when the belt conveyor 600 is installed with its longitudinal direction aligned with the longitudinal direction of the press brake 10, the first entry detection sensor 380a is mounted on the front of the belt conveyor 600, at a distance from the right end of the movable range A of the TCP by the distance after shading in a plan view. Note that the first entry detection sensor 380a may not be mounted on the belt conveyor 600, but may be placed adjacent to the front of the belt conveyor 600.

[0064] Figure 13 shows a second modified example of the control system of this embodiment. As shown in Figure 13, when the belt conveyor 600 is installed with its longitudinal direction aligned with the direction in which the articulated collaborative robot 100 and the press brake 10 face each other, the movable range A of the TCP is expanded to the right in a plan view. Therefore, the first entry detection sensor 380a is positioned in front of the press brake 10, and in a plan view, is positioned at a distance equal to the light-shielding stop distance from the right end of the expanded movable range A of the TCP.

[0065] In this case, the placement of the first entry detection sensor 380a may be to the right of the end of the press brake 10. If the placement of the first entry detection sensor 380a is to the right of the end of the press brake 10, it is preferable for the control system 1 to provide a safety fence between the press brake 10 and the first entry detection sensor 380a to prevent a user from reaching through the gap between the press brake 10 and the first entry detection sensor 380a and entering the detection area 362. Alternatively, the control system 1 may further provide an entry detection sensor 380 in place of the safety fence, in which the height direction detection area 382 is set in the direction of extension of the gap.

[0066] Figure 5 is a perspective view showing the detection area of ​​the ambient detection sensor and the height detection area of ​​the entry detection sensor in this embodiment. The height detection area 382 is set in a direction that intersects with the detection area 362 of the surrounding detection sensor 360. In this embodiment, the height detection areas 382 of the first entry detection sensor 380a and the second entry detection sensor 380b extend in a direction perpendicular to the detection area 362, as shown in Figures 3 and 5. In addition, the height detection areas 382 of the first entry detection sensor 380a and the second entry detection sensor 380b extend parallel to each other along the opposing directions of the articulated collaborative robot 100 and the press brake 10.

[0067] Specifically, the height detection area 382 of the first entry detection sensor 380a extends to the right end of the detection area 362, specifically, onto the outer edge of the third detection area 362C of the first surrounding detection sensor 360a. Similarly, the height detection area 382 of the second entry detection sensor 380b extends to the left end of the detection area 362, specifically, onto the outer edge of the fourth detection area 362D of the second surrounding detection sensor 360b. In other words, the height detection areas 382 of the first entry detection sensor 380a and the second entry detection sensor 380b are set at positions separated by a distance equal to the light-shielding stop distance from the left and right ends of the movable range A of the TCP in a plan view.

[0068] However, it is not limited to this. The height detection areas 382 of the first entry detection sensor 380a and the second entry detection sensor 380b can be installed in any direction, as long as it is possible to save space while ensuring the safety of the user.

[0069] The height range of the height detection area 382 may be set to include at least the height range of the movable range A of the TCP. Similarly, the depth range of the height detection area 382 may be set to include at least the depth range of the movable range A of the TCP. Preferably, the depth range of the height detection area 382 may be set to include at least the area from the front of the press brake 10 to the rear end of the robot transporter 300 positioned relative to the press brake 10.

[0070] In this embodiment, the depth direction of the height detection area 382 and the depth direction of the movable range A of TCP are in the opposing directions of the articulated collaborative robot 100 and the press brake 10. However, the range of the height detection area 382 is not limited to this, as it can be set to various arbitrary ranges depending on the performance of the entry detection sensor 380 used and the calculation formula based on safety standards.

[0071] For the sake of explanation, in this embodiment, the height direction detection area 382 of the first entry detection sensor 380a is referred to as the first height direction detection area 382A. Also, the height direction detection area 382 of the second entry detection sensor 380b is referred to as the second height direction detection area 382B.

[0072] Furthermore, if a third entry detection sensor 380 is to be further arranged, the height direction detection area 382 of the third entry detection sensor 380 may extend in a direction that intersects with, for example, the detection area 362, the first height direction detection area 382A, and the second height direction detection area 382B. Preferably, the height direction detection area 382 of the third entry detection sensor 380 extends in a direction perpendicular to the detection area 362, the first height direction detection area 382A, and the second height direction detection area 382B. However, it is not limited to this. The height direction detection area 382 of the third entry detection sensor 380 can be provided in various arbitrary directions.

[0073] [Control device configuration] Figure 6 is a functional block diagram showing the control device of this embodiment. As shown in Figure 6, 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. The control device 200 is also configured to control the press brake 10, the surrounding detection sensor 360, and the entry detection sensor 380.

[0074] The input unit 210 is comprised 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), inputting teaching information (described later), and setting the detection area 362 can be performed.

[0075] 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), a setting screen for the detection area 362 (not shown), and the like.

[0076] 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 setting the detection area 362, by operating the display unit 220.

[0077] 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.

[0078] 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 6, the control unit 230 includes a provisional program creation unit 232, a teaching reflection unit 234, an area control unit 236, and a robot control unit 238.

[0079] 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, the provisional program creation unit 232 is configured to perform a question processing function that asks questions to the user and an answer receiving function that receives the user's answers to the questions.

[0080] 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.

[0081] The provisional program creation unit 232 is configured to perform a selection process that automatically selects a candidate job 246 from a plurality of candidate jobs 246 for each provisional program 244 based on the answer, and a provisional program creation process that creates a provisional program 244 that includes a fixed job 245 and the selected job 246.

[0082] The provisional program 244 includes multiple jobs corresponding to the various operations of the press brake 10 and the articulated collaborative robot 100. The provisional program 244 may also include settings for the detection area switching control, which will be described later. The multiple 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.

[0083] Multiple jobs include a selection job 246 related to the transport of a workpiece to the press brake 10. In this embodiment, the selection job 246 related to the transport of a workpiece to the press brake 10 is an approach selection job that causes the articulated collaborative robot 100 to insert the workpiece into the press brake 10 in a predetermined approach posture.

[0084] Furthermore, the multiple jobs include a selection job 246 related to holding the workpiece after bending by the press brake 10. In this embodiment, the selection job 246 related to holding the workpiece after bending by the press brake 10 is a workpiece retrieval selection job that causes the robot hand 120 to hold the workpiece in a predetermined orientation after the bending process is complete.

[0085] In this embodiment, the provisional program 244 includes a loading job, an approach job, a workpiece retrieval job, and an unloading job. In the loading job, the articulated collaborative robot 100, for example, holds (applies) a workpiece loaded on a loading trolley 400 with the suction part of the robot hand 120 and moves it. In the approach selection job, the articulated collaborative robot 100, for example, inserts a workpiece between the upper die U and lower die L of the press brake 10, and then positions the workpiece in the height direction.

[0086] In the workpiece retrieval selection job, the articulated collaborative robot 100, for example, holds (applies) a workpiece that has been bent and retrieves it. In the unloading job, the articulated collaborative robot 100, for example, transports the held workpiece to a predetermined location such as an unloading box 500, and then releases the hold (applies) of the workpiece.

[0087] The teaching reflection unit 234 is configured to perform a teaching reception process that accepts user-provided operation teaching, and a teaching reflection process that reflects the received teaching information in at least one of the fixed job 245 and the selected job 246 of 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, which will be described later.

[0088] The area control unit 236 is configured to be able to set a detection area 362 for detecting objects around the articulated collaborative robot 100. In this embodiment, as a basic setting for the detection area 362, the area control unit 236 sets a stop area 366 in the first detection area 362A and the second detection area 362B, and sets a deceleration area 364 in the third detection area 362C and the fourth detection area 362D, as described above.

[0089] The area control unit 236 is configured to perform detection area switching control, which switches at least a portion of one of the deceleration area 364 and the stop area 366 to the other, depending on the operating range of the articulated collaborative robot 100. In this embodiment, the operating range is the range over which the TCP set at the tip of the robot hand 120 moves in each job when the robot control program 248 is executed.

[0090] Furthermore, in this embodiment, the area control unit 236 is configured to execute detection area switching control when the amount of horizontal movement of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set operating range R. Specifically, the area control unit 236 is configured to execute detection area switching control when the amount of horizontal movement of the TCP set at the tip of the robot hand 120 deviates from the set operating range R.

[0091] In this embodiment, the amount of horizontal movement of the robot hand 120 is the amount of movement when the movement of the robot hand 120 is viewed from above. Also, in this embodiment, the predetermined set operating range R is a rectangular area in a plan view that includes the operating range of each job included in the provisional program 244.

[0092] In other words, the set operating range R is different for each job, and the area control unit 236 determines whether or not it is necessary to switch the detection area 362 from the basic setting for each job, or in other words, whether or not to execute detection area switching control.

[0093] Furthermore, it is preferable that the set operating range R is a range in which, even if an object enters the detection area 362, there is no risk of the object colliding with the robot hand 120 or the workpiece held by the robot hand 120.

[0094] In this embodiment, the area control unit 236 switches at least one of the deceleration area 364 included in the detection area 362 of the first ambient detection sensor 360a and the deceleration area 364 included in the detection area 362 of the second ambient detection sensor 360b to a stop area 366, depending on the operating range of the articulated collaborative robot 100. Specifically, the area control unit 236 switches at least one of the first detection area 362A and the second detection area 362B from a deceleration area 364 to a stop area 366.

[0095] Furthermore, in the detection area switching control, the area control unit 236 is configured to switch the deceleration area 364 set on the side of the robot hand 120 of the articulated collaborative robot 100 in the direction of movement (loading side or unloading side) to the stop area 366. In this embodiment, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement includes the deceleration area 364 located in the vector direction when the robot hand 120 is moving.

[0096] For example, when the robot hand 120 moves to the right of the transporter connection part 160 of the articulated collaborative robot 100 (in the direction where the unloading box 500 is located), the deceleration area 364 set on the side of the robot hand 120's movement direction (unloading side) is the third detection area 362C, which is set as deceleration area 364 in the basic settings. Also, if the first detection area 362A is deceleration area 364, then the deceleration area 364 set on the side of the robot hand 120's movement direction also includes the first detection area 362A.

[0097] In this embodiment, the area control unit 236 performs detection area switching control when the articulated collaborative robot 100 transports a workpiece to a transport target. In this embodiment, "transporting a workpiece to a transport target" means performing a loading operation, which will be described later. Loading operations include, for example, approach jobs and unloading jobs. Furthermore, if the control system 1 is equipped with a double-picking prevention device or a suction device, it also includes jobs in which the robot hand 120 transports the workpiece to the double-picking prevention device or to the suction device.

[0098] Furthermore, in this embodiment, the area control unit 236 performs detection area switching control when the articulated collaborative robot 100 transports a workpiece from the transport target. In this embodiment, "transporting a workpiece from the transport target" means performing an unloading operation, which will be described later. Unloading operations include, for example, loading jobs and workpiece retrieval jobs.

[0099] In other words, in this embodiment, the area control unit 236 performs detection area switching control when the robot hand 120 moves while holding a workpiece. Therefore, even if the amount of horizontal movement of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set operating range R, detection area switching control does not need to be performed if the robot hand 120 is not holding a workpiece.

[0100] Specifically, if the movable range A of TCP is within the preferred range described above, even if the amount of horizontal movement of the robot hand 120 exceeds a predetermined set operating range R, there is no risk of the robot hand 120 coming into contact with objects around the articulated collaborative robot 100 when the robot hand 120 is not holding a workpiece. Alternatively, if the articulated collaborative robot 100 comes into contact with objects around it, the articulated collaborative robot 100 will stop immediately and safely, so detection area switching control does not need to be performed.

[0101] Furthermore, in this embodiment, "when transporting" includes not only the stage of actually starting the loading and unloading operations within the job, but also the stage of starting the execution of the job that includes those operations.

[0102] In this embodiment, the area control unit 236 determines whether the robot hand 120 is holding a workpiece based on the operations included in each job of the provisional program 244 or the robot control program 248. However, it is not limited to this. If the robot hand 120 has a sensor capable of detecting workpiece holding, the area control unit 236 may determine whether the robot hand 120 is holding a workpiece based on the detection result of the sensor.

[0103] Furthermore, after the teaching reflection process, the area control unit 236 executes a job determination process to determine whether the provisional program 244 contains jobs that include movements in which the horizontal movement amount of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set operating range R. In other words, the area control unit 236 determines whether there are jobs in the provisional program 244 that require switching the detection area 362 from the basic setting. If it determines that there are jobs that require switching the detection area 362 from the basic setting, the area control unit 236 executes an area setting change process to reflect the detection area switching control setting in the provisional program 244 before finalizing the provisional program 244 as the robot control program 248.

[0104] However, the area control unit 236 may, when executing the robot control program 248, determine whether the amount of horizontal movement of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set operating range R, and if it determines that it exceeds the range, it may execute detection area switching control.

[0105] Figure 7 shows the operation of the loading job according to the provisional program of this embodiment. Here, we will explain a specific example of detection area switching control. First, we will explain the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in a loading job. If teaching has not been performed for the loading job, that is, if the operation of the loading job remains under the provisional program 244, in the loading job, the robot hand 120 (TCP) moves within the set operating range R after holding the workpiece, as shown in Figure 7 (arrow in Figure 7). In such a case, the area control unit 236 does not switch the detection area 362.

[0106] Furthermore, even if teaching of a loading job has been performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the loading job after the teaching reflection process, the area control unit 236 does not switch the detection area 362.

[0107] Figure 8 shows the area switching that occurs when a TCP signal leaves the configured operating range in the loading job of this embodiment. On the other hand, if, as a result of teaching the loading job, the robot hand 120 (TCP) holding the workpiece moves beyond the set operating range R during the operation of the loading job after the teaching reflection process, the area control unit 236 switches the detection area 362. For example, as shown in Figure 8, if the loading job includes an action where the robot hand 120 (TCP) moves beyond the set operating range R toward the right side of the robot transporter 300 (arrow in Figure 8), the area control unit 236 switches the third detection area 362C of the first surrounding detection sensor 360a from the deceleration area 364 to the stop area 366.

[0108] In this embodiment, the area control unit 236 switches the third detection area 362C when it starts executing a loading job. However, it is not limited to this, and the area control unit 236 may also switch when it starts an operation that exceeds the set operating range R. Also, in this embodiment, the area control unit 236 switches the third detection area 362C from the deceleration area 364 of the basic setting to the stop area 366 only while the loading job is being executed.

[0109] Figure 9 shows the area switching that occurs when a TCP connection leaves the configured operating range in the loading job of this embodiment. Furthermore, as shown in Figure 9, if the loading job includes a movement where the robot hand 120 (TCP) moves beyond the set operating range R toward the left rear of the robot transporter 300 (arrow in Figure 9), the area control unit 236 switches the fourth detection area 362D of the second surrounding detection sensor 360b from the deceleration area 364 to the stop area 366.

[0110] In this embodiment, the area control unit 236 switches the fourth detection area 362D when it starts executing a loading job. However, it is not limited to this, and the area control unit 236 may also switch when it starts an operation that exceeds the set operating range R. Also, in this embodiment, the area control unit 236 switches the fourth detection area 362D from the deceleration area 364 of the basic setting to the stop area 366 only while the loading job is being executed.

[0111] Furthermore, if the loading job includes a movement where the robot hand 120 (TCP) moves beyond the set operating range R toward the right side of the robot transporter 300, and a movement where the robot hand 120 (TCP) moves beyond the set operating range R toward the left rear of the robot transporter 300, the area control unit 236 switches both the third detection area 362C and the fourth detection area 362D when the loading job is started.

[0112] However, the area control unit 236 may switch the third detection area 362C when the robot hand 120 (TCP) starts moving toward the right side of the robot transporter 300 beyond the set operating range R, and switch the fourth detection area 362D when the robot hand 120 (TCP) starts moving toward the left rear of the robot transporter 300 beyond the set operating range R.

[0113] Furthermore, in this embodiment, the area control unit 236 is configured to perform detection area switching control when the vertical movement amount of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set height H (see Figure 4). Specifically, the area control unit 236 is configured to perform detection area switching control to switch the deceleration area 364 to the stop area 366 when the vertical movement amount of the TCP set at the tip of the robot hand 120 deviates from the set height H.

[0114] In this embodiment, the area control unit 236 is configured to perform detection area switching control, which switches the deceleration area 364 to the stop area 366, regardless of the horizontal movement amount of the robot hand 120, when the vertical movement amount of the TCP deviates from the set height H while the robot hand 120 is holding a workpiece. However, it is not limited to this, and the area control unit 236 may also perform detection area switching control when the horizontal movement amount exceeds a predetermined set operating range R and the vertical movement amount deviates from the set height H. Furthermore, the area control unit 236 may also perform detection area switching control when the vertical movement amount of the TCP deviates from the set height H while the robot hand 120 is not holding a workpiece.

[0115] In this embodiment, the set height H is, for example, 1.2 to 1.5 m, which is set to about the height of a person's shoulder. In this embodiment, the amount of vertical movement of the robot hand 120 is the amount of movement when the movement of the robot hand 120 is viewed from the side. By having such a configuration, when the robot hand 120 is taught to operate at a high height, the deceleration area 364 can be switched to the stop area 366, which has the advantage of reducing the risk of the workpiece held by the robot hand 120 coming into contact with the user's shoulders or above, for example, the neck, face, or head.

[0116] The robot control unit 238 is configured to control the articulated collaborative robot 100. Specifically, the robot control unit 238 causes the articulated collaborative robot 100 to perform operations such as unloading a workpiece from a transport target and loading a workpiece into the transport target. In this embodiment, the loading operation includes not only loading a workpiece into the transport target but also loading a workpiece into the transport target's placement area. Similarly, the unloading operation includes not only loading a workpiece out of the transport target but also loading a workpiece out of the transport target's placement area.

[0117] More specifically, in this embodiment, the robot control unit 238 reads the robot control program 248 and causes the articulated collaborative robot 100 to execute a loading job, an approach job, a workpiece retrieval job, and an unloading job.

[0118] In this embodiment, the robot control unit 238 is configured to acquire the proximity status of an object, such as a user, to the articulated collaborative robot 100. Specifically, the robot control unit 238 acquires the proximity status based on the object detection result of the surrounding detection sensor 360 and determines whether the object has entered the deceleration area 364 or the stopping area 366. Furthermore, the robot control unit 238 is configured to control the operation of the articulated collaborative robot 100 according to the detection result of the surrounding detection sensor 360.

[0119] In this embodiment, the robot control unit 238 is configured to limit the maximum speed of the articulated collaborative robot 100 to a predetermined speed (for example, 250 mm / second) if it determines that an object has entered the deceleration area 364 while the articulated collaborative robot 100 is operating. Furthermore, the robot control unit 238 is configured to stop the articulated collaborative robot 100 if it determines that an object has entered the stopping area 366 while the articulated collaborative robot 100 is operating.

[0120] 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 an object has come into contact with the articulated collaborative robot 100.

[0121] Furthermore, the robot control unit 238 is configured to control the operation of the articulated collaborative robot 100 according to the detection result of the entry detection sensor 380. Specifically, when the entry detection sensor 380 detects the entry of an object into the detection area 362 of the surrounding detection sensor 360, the robot control unit 238 is configured to perform deceleration control to reduce the operating speed of the articulated collaborative robot 100 or stop control to stop the operation of the articulated collaborative robot 100.

[0122] In this embodiment, the robot control unit 238 is configured to switch between deceleration control and stop control according to the operating range of the articulated collaborative robot 100. Furthermore, in this embodiment, the robot control unit 238 is configured to switch between deceleration control and stop control when the amount of horizontal movement of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set operating range R.

[0123] Specifically, the robot control unit 238 executes deceleration control if the horizontal movement of the TCP does not deviate from the set operating range R. Furthermore, the robot control unit 238 executes stop control if the horizontal movement of the TCP deviates from the set operating range R. In this embodiment, the robot control unit 238 switches the control of the articulated collaborative robot 100 from deceleration control to stop control when the first entry detection sensor 380a and the second entry detection sensor 380b detect the entry of an object, depending on the operating range of the articulated collaborative robot 100.

[0124] More specifically, the robot control unit 238 is configured to switch the control of the articulated collaborative robot 100 from deceleration control to stop control when an object is detected by an entry detection sensor 380 located on the side of the robot hand 120's movement direction (loading side or unloading side) of the articulated collaborative robot 100, if the amount of horizontal movement of the robot hand 120 exceeds a predetermined set operating range R.

[0125] Then, when the robot control unit 238 detects the entry of an object using the entry detection sensor 380 located on the movement direction side (loading side or unloading side) of the robot hand 120 of the articulated collaborative robot 100, it executes a stop control.

[0126] For example, in the operation where the robot hand 120 moves to the right of the transporter connection part 160 of the articulated collaborative robot 100 (in the direction where the unloading box 500 is located), if the amount of horizontal movement of the robot hand 120 exceeds a predetermined set operating range R, the robot control unit 238 switches the control of the articulated collaborative robot 100 from deceleration control to stop control when an object is detected by the first entry detection sensor 380a located on the side of the robot hand 120's movement direction (unloading side).

[0127] The robot control unit 238, having this configuration, is configured to perform deceleration control when the robot hand 120 does not exceed a predetermined set operating range R in its horizontal direction, and the entry detection sensor 380, located on the side of the robot hand 120's movement direction, detects the entry of an object. Furthermore, the robot control unit 238 is configured to perform stop control when the robot hand 120 exceeds a predetermined set operating range R in its horizontal direction, and the entry detection sensor 380, located on the side of the robot hand 120's movement direction, detects the entry of an object.

[0128] For example, as shown in Figure 7, when moving within the set operating range R after holding the workpiece, the robot control unit 238 does not switch the deceleration control to stop control. That is, deceleration control is executed regardless of whether the entry of an object is detected by the first entry detection sensor 380a or the second entry detection sensor 380b.

[0129] On the other hand, for example, as shown in Figure 8, if the loading job includes a movement where the robot hand 120 (TCP) moves beyond the set operating range R toward the right side of the robot transporter 300 (arrow in Figure 8), the robot control unit 238 switches the control of the articulated collaborative robot 100 from deceleration control to stop control when the first entry detection sensor 380a detects the entry of an object.

[0130] Specifically, during the operation shown in Figure 8, the robot control unit 238 executes a stop control when it detects the entry of an object using the first entry detection sensor 380a. Furthermore, during the operation shown in Figure 8, the robot control unit 238 executes a deceleration control when it detects the entry of an object using the second entry detection sensor 380b.

[0131] In this embodiment, when the robot control unit 238 starts an operation that exceeds the set operating range R, it switches the control executed when the first entry detection sensor 380a detects the entry of an object from deceleration control to stop control. Also in this embodiment, the robot control unit 238 executes stop control when the first entry detection sensor 380a detects the entry of an object only while the robot is performing an operation that exceeds the set operating range R. However, it is not limited to this, and the switch may also be made at the stage when the loading job is started. That is, the robot control unit 238 may execute stop control when the first entry detection sensor 380a detects the entry of an object while the loading job is being executed.

[0132] Furthermore, as shown in Figure 9, if the loading job includes a movement where the robot hand 120 (TCP) moves beyond the set operating range R toward the left rear of the robot transporter 300 (arrow in Figure 9), the robot control unit 238 switches the control of the articulated collaborative robot 100 from deceleration control to stop control when the second entry detection sensor 380b detects the entry of an object.

[0133] Specifically, during the operation shown in Figure 9, the robot control unit 238 executes deceleration control when it detects the entry of an object using the first entry detection sensor 380a. Furthermore, during the operation shown in Figure 9, the robot control unit 238 executes stop control when it detects the entry of an object using the second entry detection sensor 380b.

[0134] However, it is not limited to this. The robot control unit 238 may be configured to execute stop control when the robot hand 120 (TCP) operates beyond the set operating range R, regardless of which entry detection sensor 380 detects the entry of an object.

[0135] The robot control unit 238 may decide in real time whether to perform deceleration control or stop control when the robot control program 248 is executed, or it may be set in advance in the robot control program 248 along with the area setting change process described above.

[0136] Furthermore, in this embodiment, the robot control unit 238 is configured to switch between deceleration control and stop control when the vertical movement amount of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set height H. Specifically, the robot control unit 238 performs deceleration control if the vertical movement amount of TCP does not deviate from the set height H. The robot control unit 238 also performs stop control if the vertical movement amount of TCP deviates from the set height H.

[0137] 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 6, 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.

[0138] The robot control program 248 causes the robot control unit 238 of the control unit 230 to control the articulated collaborative robot 100. The robot control program 248 also causes the control unit 230 to control the press brake 10. The robot control program 248 may be the finalized provisional program 244, or it may be a program created and stored by another device.

[0139] Furthermore, the robot control program 248 causes the area control unit 236 of the control unit 230 to control the detection area 362 of the surrounding detection sensor 360. In addition, the robot control program 248 functions as a control program that causes the area control unit 236 to control the operation of the articulated collaborative robot 100 according to the detection results of the detection area 362 and the height direction detection area 382.

[0140] Specifically, the robot control program 248 causes the area control unit 236 to perform detection area switching control, which switches at least a portion of one of the deceleration area 364 and the stop area 366 of the detection area 362 of the surrounding detection sensor 360 to the other, according to the operating range of the articulated collaborative robot 100.

[0141] Furthermore, the robot control program 248 instructs the area control unit 236 to either perform deceleration control to reduce the operating speed of the articulated collaborative robot 100 or stop control to stop the operation of the articulated collaborative robot 100 when the entry detection sensor 380 detects the entry of an object. In addition, the robot control program 248 instructs the area control unit 236 to switch between deceleration control and stop control according to the operating range of the articulated collaborative robot 100.

[0142] Furthermore, 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. Also, a detection area control program different from the robot control program 248 may be used to cause the control device 200 to perform detection area switching control or switching between deceleration control and stop control.

[0143] [Control method according to this embodiment] Figures 10 and 11 are flowcharts showing an example of the process performed by the control system of this embodiment. Next, the control method of the control system 1 according to this embodiment will be described with reference to Figures 10 and 11. Note that the series of steps related to the creation of the provisional program 244 will be omitted from the explanation. In general terms, the control method according to this embodiment controls the articulated collaborative robot 100 that transports a workpiece to a transport target, and the control device 200 is configured to set a detection area 362 for detecting objects around the articulated collaborative robot 100 and a height-direction detection area 382 that extends in a direction intersecting the detection area 362 and detects the entry of an object into the detection area 362, and controls the operation of the articulated collaborative robot 100 according to the detection results of the detection area 362 and the height-direction detection area 382.

[0144] First, the provisional program creation unit 232 of the control unit 230 of the control device 200 creates a provisional program 244 that includes a fixed job 245 and a selected job 246 (S10 in Figure 10: Provisional program creation process). After the provisional program 244 is created, the user teaches the articulated collaborative robot 100 via the input unit 210 of the control device 200 (S20 in Figure 10: Teaching process). Alternatively, the user may teach the articulated collaborative robot 100 by direct teaching.

[0145] Teaching is performed for each job included in Provisional Program 244. Teaching may be performed for all jobs included in Provisional Program 244, or for some of the jobs included in Provisional Program 244.

[0146] The teaching reflection unit 234 of the control unit 230 of the control device 200 receives teaching for each job from the user (teaching reception process). The teaching reflection unit 234 then reflects the received teaching information in each job of the provisional program 244 (S11 in Figure 10: teaching reflection process). After the teaching reflection process, the area control unit 236 of the control unit 230 determines whether there are any jobs in the provisional program 244 that require switching the detection area 362 of the ambient detection sensor 360 from the basic setting (S12 in Figure 10: job determination process).

[0147] Specifically, in this embodiment, the area control unit 236 of the control unit 230 determines whether there is a job that includes an operation in which the horizontal movement amount of the robot hand 120 (TCP) of the articulated collaborative robot 100 exceeds a predetermined set operating range R. If the area control unit 236 determines that there is a job that requires switching the detection area 362 from the basic setting (YES in S12 of Figure 10), it changes the setting of the detection area 362 of the ambient detection sensor 360 in the provisional program 244 (S13 of Figure 10: detection area setting change process). Specifically, it adds information to the provisional program 244 for executing detection area switching control before the execution of a job that requires switching the detection area 362 from the basic setting.

[0148] For example, if the area control unit 236 of the control unit 230 identifies a loading job as a job that includes operations exceeding the set operating range R, it adds information to the provisional program 244 to perform detection area switching control, which switches the deceleration area 364 set on the side of the robot hand 120 of the articulated collaborative robot 100 in the direction of movement to a stop area 366 before the loading job is executed.

[0149] After the area control unit 236 has performed the detection area setting change step, or in the job determination step, if the area control unit 236 determines that there are no jobs that require switching the detection area 362 from the basic setting (NO in S12 of Figure 10), the control unit 230 confirms the provisional program 244 as the robot control program 248 (S14 of Figure 10: program confirmation step). Subsequently, the control unit 230 executes the robot control program 248 (S15 of Figure 10: robot control program execution step). Note that the execution of the robot control program 248 does not necessarily have to be performed immediately after the program confirmation step.

[0150] Next, an example of the processing performed by the control system 1 when the robot control program 248 is executed will be described. In the example below, it will be explained that the loading job of the provisional program 244, which reflects the teaching information, is a job that includes an operation that exceeds the set operating range R. Specifically, the loading job will be explained as including an operation in which the robot hand 120 (TCP) of the articulated collaborative robot 100 moves to the right beyond the set operating range R. Furthermore, in each job, it will be explained that the amount of vertical movement of the robot hand 120 of the articulated collaborative robot 100 does not exceed a predetermined set height H.

[0151] Furthermore, in the following examples, it will be explained that during the execution of the loading job and the workpiece retrieval job, the user enters the detection area 362 from the first height detection area 382A, and then exits the detection area 362. Note that the press brake 10 also operates during the execution of the robot control program 248, but this will not be explained.

[0152] After the robot control program 248 is executed, and before the loading job is executed, the area control unit 236 of the control unit 230 of the control device 200 performs detection area switching control (S100 in Figure 11: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the third detection area 362C of the detection area 362 from the deceleration area 364 of the basic setting to the stop area 366. Then, the first ambient detection sensor 360a of the ambient detection sensors 360 switches the third detection area 362C from the deceleration area 364 to the stop area 366 (S120 in Figure 11: area switching process).

[0153] Subsequently, the articulated collaborative robot 100 executes a loading job (S110 in Figure 11: Loading job execution process). During the execution of an operation that exceeds the set operating range R included in the loading job, for example, if a user standing outside the detection area 362 extends their hand into the detection area 362 from the right side of the robot transporter 300, the extended hand will pass through the first height direction detection area 382A of the first entry detection sensor 380a. At this time, the laser beam of the first entry detection sensor 380a is blocked by the user's hand, and the first entry detection sensor 380a detects the entry of an object (user's hand) into the detection area 362 of the surrounding detection sensor 360 (S130 in Figure 11: Object detection process).

[0154] Then, when the robot control unit 238 of the control unit 230 of the control device 200 detects the entry of an object using the first entry detection sensor 380a, it executes a stop control to stop the operation of the articulated collaborative robot 100 (S101 in Figure 11: Stop control execution step). As a result of the robot control unit 238 executing the stop control, the articulated collaborative robot 100 stops its operation (S111 in Figure 11: Operation stop step).

[0155] For example, if a user not only reaches into the detection area 362 but also fully enters the third detection area 362C, the laser beam of the first entry detection sensor 380a will no longer be obstructed. As a result, the first entry detection sensor 380a will no longer detect the entry of an object. However, the first surrounding detection sensor 360a will then take over detecting the object in the third detection area 362C.

[0156] As described above, the third detection area 362C is switched to the stop area 366 before the loading job is executed. Therefore, the robot control unit 238 continues to stop the operation of the articulated collaborative robot 100. When the user exits the detection area 362 from the third detection area 362C or any of the other detection areas 362, the surrounding detection sensor 360 and the entry detection sensor 380 cease to detect objects.

[0157] Therefore, the robot control unit 238 instructs the articulated collaborative robot 100 to resume the loading job. Also, if the user extends only their hand without entering the detection area 362, and then retracts the extended hand outside the detection area 362, the first entry detection sensor 380a will no longer detect an object, so the robot control unit 238 instructs the articulated collaborative robot 100 to resume the loading job. The articulated collaborative robot 100 then resumes the loading job (S112 in Figure 11: Job resumption process).

[0158] Furthermore, if, during the execution of an operation that exceeds the set operating range R included in the loading job, for example, a user standing outside the detection area 362 reaches their hand into the detection area 362 from the left side of the robot transporter 300, the outstretched hand will pass through the second height direction detection area 382B of the second entry detection sensor 380b. Therefore, the robot control unit 238 of the control unit 230 of the control device 200 detects the entry of the object using the second entry detection sensor 380b and performs deceleration control.

[0159] Subsequently, when the user enters the fourth detection area 362D, which is the deceleration area 364, the robot control unit 238 continues deceleration control. Furthermore, if the user enters the second detection area 362B, which is the stop area 366, the robot control unit 238 stops the operation of the articulated collaborative robot 100. In addition, during a loading job, if the first entry detection sensor 380a detects an object while performing an operation other than an operation exceeding the set operating range R, the robot control unit 238 also performs deceleration control.

[0160] After the loading job is completed, the first ambient detection sensor 360a switches the third detection area 362C from the stop area 366 to the default deceleration area 364 (S121 in Figure 11: Area switching process).

[0161] Next, the articulated collaborative robot 100 performs an approach job (S113 in Figure 11: Approach job execution process). After that, the articulated collaborative robot 100 performs a workpiece retrieval job (S114 in Figure 11: Workpiece retrieval job execution process). During the execution of the workpiece retrieval job, for example, if a user standing outside the detection area 362 reaches their hand into the detection area 362 from the right side of the robot transporter 300, the outstretched hand will pass through the first height direction detection area 382A of the first entry detection sensor 380a.

[0162] At this time, the first entry detection sensor 380a detects the entry of an object (the user's hand) into the detection area 362 of the surrounding detection sensor 360 (S131 in Figure 11: Object detection process). Then, when the robot control unit 238 of the control unit 230 of the control device 200 detects the entry of an object by the first entry detection sensor 380a, it executes deceleration control to slow down the movement of the articulated collaborative robot 100 (S102 in Figure 11: Stop control execution process). By executing deceleration control by the robot control unit 238, the articulated collaborative robot 100 slows down the operating speed of the loading job (S115 in Figure 11: Deceleration process).

[0163] For example, if the user not only reaches into the detection area 362 but also fully enters the third detection area 362C, the first surrounding detection sensor 360a will detect an object in the third detection area 362C instead of the first entry detection sensor 380a.

[0164] The third detection area 362C remains in the deceleration area 364 because detection area switching control has not been performed. Therefore, the robot control unit 238 continues to decelerate the movement of the articulated collaborative robot 100. Furthermore, if the user enters the first detection area 362A, which is the stop area 366, the robot control unit 238 stops the movement of the articulated collaborative robot 100.

[0165] When a user exits the detection area 362 from the third detection area 362C or another detection area 362, the surrounding detection sensor 360 and the entry detection sensor 380 cease to detect an object. Therefore, the robot control unit 238 instructs the articulated collaborative robot 100 to restore the loading job's operating speed to its normal speed. The articulated collaborative robot 100 then restores the loading job's operating speed (S116 in Figure 11: Speed ​​recovery process).

[0166] Next, the articulated collaborative robot 100 executes an unloading job (S117 in Figure 11: Unloading job execution process). Through the above steps, a series of control methods by the control system 1 according to this embodiment are executed.

[0167] [Advantages of the control system, control device, control method, and control program according to this embodiment] As described above, the control system 1 according to this embodiment comprises an articulated collaborative robot 100 that transports a workpiece to a transport target, an ambient detection sensor 360 that detects objects around the articulated collaborative robot 100, an entry detection sensor 380 that detects the entry of an object into the detection area 362 of the ambient detection sensor 360, and a control device 200 that controls the articulated collaborative robot 100. The entry detection sensor 380 has a height direction detection area 382 that extends in a direction intersecting the detection area 362 of the ambient detection sensor 360, and the control device 200 is configured to control the operation of the articulated collaborative robot 100 according to the detection results of the ambient detection sensor 360 and the entry detection sensor 380.

[0168] Furthermore, the control system 1 according to this embodiment, by having such a configuration, is equipped with an entry detection sensor 380 that detects the entry of an object into the detection area 362 of the surrounding detection sensor 360, in addition to the surrounding detection sensor 360. For example, even if a user only extends their hand into the detection area 362, the system can detect entry into the detection area 362 and control the operation of the articulated collaborative robot 100 according to the detection result. Therefore, it is not necessary to consider the distance the user extends their hand when setting the detection area 362, which has the advantage of saving space for the installation of the control system 1 while ensuring the safety of the user.

[0169] Furthermore, in the control system 1 according to this embodiment, the detection area 362 of the ambient detection sensor 360 has at least one of a deceleration area 364 in which the control device 200 reduces the operating speed of the articulated collaborative robot 100 when an object is detected, and a stop area 366 in which the control device 200 stops the operation of the articulated collaborative robot 100 when an object is detected. The control device 200 is configured to perform detection area switching control, which switches at least a portion of one of the deceleration area 364 and the stop area 366 to the other, depending on the operating range of the articulated collaborative robot 100. With this configuration, the ranges of the deceleration area 364 and the stop area 366 can be changed simply by switching at least a portion of one of the deceleration area 364 and the stop area 366 to the other within the detection area 362 which includes either the deceleration area 364 or the stop area 366, depending on the operating range of the articulated collaborative robot 100. This eliminates the need for complex control such as changing the detection area 362 in accordance with the operation of the articulated collaborative robot 100, and has the further advantage of ensuring user safety with simple area switching.

[0170] Furthermore, in the control system 1 according to this embodiment, the control device 200 switches the deceleration area 364 of the detection area 362, which is set on the side of the robot hand 120 of the articulated collaborative robot 100 in the direction of movement, to a stop area 366 during detection area switching control. By having such a configuration, the range of the stop area 366 in the direction of movement of the robot hand 120 can be expanded simply by switching the deceleration area 364, which is set on the side of the robot hand 120 in the direction of movement, to a stop area 366. This has the advantage that safety can be ensured with simple area switching, and the range of the detection area 362 can be set to the minimum necessary range.

[0171] Furthermore, in the control system 1 according to this embodiment, the control device 200 is configured to perform deceleration control to reduce the operating speed of the articulated collaborative robot 100 or stop control to stop the operation of the articulated collaborative robot 100 when the entry detection sensor 380 detects the entry of an object. With this configuration, deceleration control or stop control is performed when the entry detection sensor 380 detects the entry of an object, even before the surrounding detection sensor 360 detects an object. This has the advantage of saving installation space for the control system 1 while ensuring user safety.

[0172] Furthermore, in the control system 1 according to this embodiment, the control device 200 is configured to switch between deceleration control and stop control according to the operating range of the articulated collaborative robot 100. With such a configuration, for example, if there is a higher risk of a user coming into contact with the articulated collaborative robot 100 from its operating range, stop control can be performed to further enhance user safety, and if the risk is low, deceleration control can be used to ensure safety while minimizing any loss of work efficiency.

[0173] Furthermore, in the control system 1 according to this embodiment, the ambient detection sensor 360 and the entry detection sensor 380 are two-dimensional scanning range sensors. This configuration has the advantage of being able to detect objects over a wider range than a three-dimensional sensor, and improving the coverage of the detection area 362 and the height-direction detection area 382. In addition, compared to a three-dimensional sensor, there are fewer constraints on the installation location, and the detection area 362 and the height-direction detection area 382 can be flexibly set by changing the number and arrangement of the ambient detection sensors 360 and the entry detection sensors 380 according to the other configurations of the control system 1.

[0174] [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.

[0175] For example, in the embodiment described above, the detection area 362 of the ambient detection sensor 360 has at least one of a deceleration area 364 in which the control device 200 reduces the operating speed of the articulated collaborative robot 100 when an object is detected, and a stop area 366 in which the control device 200 stops the operation of the articulated collaborative robot 100 when an object is detected, and the control device 200 is configured to perform detection area switching control, which switches at least a part of one of the deceleration area 364 and the stop area 366 to the other depending on the operating range of the articulated collaborative robot 100, but is not limited to this. The control device 200 does not have to be able to perform detection area switching control. Also, the control device 200 may be configured to perform detection area switching control according to the angle of the robot hand 120 or robot arm 140 of the articulated collaborative robot 100. For example, the control device 200 may be configured to switch the deceleration area 364 to the stop area 366 when the angle of the robot hand 120 or robot arm 140 exceeds a predetermined set angle range. Furthermore, although the above-described embodiment explained that the detection area 362 includes both the deceleration area 364 and the stopping area 366 in the basic settings, it is not limited to this. The detection area 362 may include only one of the deceleration area 364 and the stopping area 366 in the basic settings.

[0176] In the embodiments described above, the control device 200 was described as switching the deceleration area 364 of the detection area 362, which is set on the side of the robot hand 120 of the articulated collaborative robot 100 in the direction of movement, to the stop area 366 during detection area switching control. However, it is not limited to this. The control device 200 does not have to switch the deceleration area 364, which is set on the side of the robot hand 120 in the direction of movement, to the stop area 366 during detection area switching control. For example, in the basic settings, the detection area 362 may include only the stop area 366, and in detection area switching control, the control device 200 may be configured to switch at least a portion of the stop area 366, which is set on a side other than the direction of movement of the robot hand 120, to the deceleration area 364.

[0177] In the embodiments described above, the control device 200 was described as being configured to perform deceleration control to reduce the operating speed of the articulated collaborative robot 100 or stop control to stop the operation of the articulated collaborative robot 100 when the entry detection sensor 380 detects the entry of an object, but it is not limited to this. The control device 200 does not have to perform deceleration control or stop control when the entry detection sensor 380 detects the entry of an object. For example, when the entry detection sensor 380 detects the entry of an object, the control device 200 may control the articulated collaborative robot 100 so that the robot hand 120 moves away from the height detection area 382 of the entry detection sensor 380 that detected the entry of the object. In other words, the control device 200 may cause the articulated collaborative robot 100 to perform actions to avoid the robot hand 120 and the workpiece coming into contact with the entered object.

[0178] In the embodiments described above, the control device 200 was described as being configured to switch between deceleration control and stop control according to the operating range of the articulated collaborative robot 100, but it is not limited to this. The control device 200 does not need to switch between deceleration control and stop control according to the operating range of the articulated collaborative robot 100. Furthermore, the control device 200 may always execute only one of deceleration control or stop control, regardless of whether the entry detection sensor 380 has detected the entry of an object. Moreover, the control device 200 may, for example, always execute one of deceleration control or stop control when the entry of an object is detected by the first entry detection sensor 380a, and always execute the other of deceleration control or stop control when the entry of an object is detected by the second entry detection sensor 380b.

[0179] In the embodiments described above, the ambient detection sensor 360 and the entry detection sensor 380 were described as two-dimensional scanning range sensors, but the system is not limited to these. The ambient detection sensor 360 and the entry detection sensor 380 may be three-dimensional scanning range sensors or the like.

[0180] Figure 14 shows a third modified example of the control system of this embodiment. In the embodiments described above, the control system 1 was described as having two entry detection sensors 380, but it is not limited to this. The control system 1 may have only one entry detection sensor 380, or it may have three or more, as described above. For example, as shown in Figure 14, if the right end of the press brake 10 is adjacent to a wall, there is no risk of an object entering the detection area 362 from the right side of the articulated collaborative robot 100. Therefore, the control system 1 may not have to have the first entry detection sensor 380a.

[0181] In the embodiments described above, the height detection areas 382 of the first entry detection sensor 380a and the second entry detection sensor 380b were described as being set at positions separated by the post-shading stop distance from the left and right ends of the movable range A of the TCP in a plan view, but the invention is not limited to this. If there is a mirrored material or the like near the entry detection sensor 380, the range sensor may make a false detection. For this reason, the height detection areas 382 of the first entry detection sensor 380a and the second entry detection sensor 380b may be set at positions that ensure a distance that takes into account the possibility of false detection in addition to the post-shading stop distance.

[0182] In the embodiments described above, the detection area 362 was described as including four ranges: the first detection area 362A, the second detection area 362B, the third detection area 362C, and the fourth detection area 362D. However, it is not limited to this, and the detection area 362 may include five or more ranges, or three or fewer ranges.

[0183] In the embodiments described above, the area control unit 236 was described as being configured to perform detection area switching control when the vertical movement amount of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set height H, but it is not limited to this. The area control unit 236 does not have to perform detection area switching control when the vertical movement amount of the robot hand 120 exceeds a predetermined set height H.

[0184] In the embodiment described above, the area control unit 236 is described as determining whether there is a job in the provisional program 244, which reflects the teaching information, that includes an operation in which the horizontal movement amount of the robot hand 120 (TCP) of the articulated collaborative robot 100 exceeds a predetermined set operating range R, and if such an operation is found, adding information to the provisional program 244 in advance for executing detection area switching control. However, the embodiment is not limited to this. The area control unit 236 may determine in real time whether the horizontal movement amount of the robot hand 120 (TCP) exceeds a predetermined set operating range R when executing each job of the robot control program 248, and if it exceeds the set operating range R, it may execute detection area switching control. Alternatively, the area control unit 236 may execute detection area switching control when the horizontal movement amount of the robot hand 120 (TCP) actually exceeds the predetermined set operating range R.

[0185] In the embodiments described above, the first detection area 362A and the second detection area 362B were described as being switchable from the stopping area 366 to the deceleration area 364, but the invention is not limited to this. The first detection area 362A and the second detection area 362B do not necessarily need to be switchable from the stopping area 366 to the deceleration area 364.

[0186] In the embodiments described above, the control system 1 was described as including a robot transporter 300, but it is not limited to this, and the control system 1 does not need to include a robot transporter 300. Also, although the robot transporter 300 was described as having wheels, it is not limited to this, and it does not need to have wheels.

[0187] In the embodiments described above, the provisional program creation unit 232 was described as being configured to perform question processing and answer reception processing, but it is not limited to this, and the provisional program creation unit 232 may not be able to perform question processing and answer reception processing. Also, the control unit 230 of the control device 200 was described as including the provisional program creation unit 232, but it is not limited to this, and the control unit 230 may not include the provisional program creation unit 232. For example, information necessary for performing teaching information and detection area switching control may be reflected in the provisional program 244 or robot control program 248 created by another device and used.

[0188] 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.

[0189] In the embodiments described above, the multiple jobs were described as including the selected job 246, but the invention is not limited to this, and the multiple jobs may not include the selected job 246. Also, the provisional program 244 was described as including the fixed job 245 and the selected job 246, but the invention is not limited to this, and the provisional program 244 may not include the fixed job 245. Furthermore, the provisional program creation unit 232 may be configured to create a provisional program 244 that includes only the multiple selected jobs 246.

[0190] In the embodiments described above, the loading job 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 may include the selection job 246 for the articulated collaborative robot 100. Similarly, the unloading job 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 may include the selection job 246 for the articulated collaborative robot 100.

[0191] 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. Furthermore, the control device 200 does not have to be able to control the press brake 10. Moreover, the control system 1 may include a press control device for controlling the press brake 10 separately from the control device 200.

[0192] In the embodiments described above, the provisional program 244 was described as including a loading job, an approach job, a workpiece retrieval job, and an unloading job, but is not limited thereto, and the provisional program 244 may include various arbitrary jobs. For example, the provisional program 244 was described as not including the press brake selection job 246, but is not limited thereto, and the provisional program 244 may include the press brake selection job 246. [Explanation of Symbols]

[0193] 1. Control 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 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 Area Control Unit 238 Robot Control Unit 240 Storage section 244 Provisional Program 245 Fixed Jobs 246 Selected Jobs 248 Robot Control Program 300 robotic transporters 360° surrounding detection sensor 360a First ambient detection sensor 360b Second ambient detection sensor 362 detection areas 362A First detection area 362B Second detection area 362C Third Detection Area 362D 4th Detection Area 364 Deceleration Area 366 Stopping Area 380 Intrusion Detection Sensor 380a First entry detection sensor 380b Second entry detection sensor 382 Height direction detection area 382A First height direction detection area 382B Second height direction detection area 400 Loading Cart 500 Unloading Boxes 600 Belt Conveyor A TCP's movable range H Setting height L lower mold R setting operating range U upper mold

Claims

1. A multi-joint collaborative robot that transports a workpiece to a target object, The aforementioned articulated robot has an ambient detection sensor that detects objects around it, An entry detection sensor that detects the entry of the object into the detection area of ​​the surrounding detection sensor, A control device for controlling the aforementioned articulated robot and Equipped with, The entry detection sensor has a height detection area that extends in a direction intersecting the detection area of ​​the surrounding detection sensor. The control device is configured to control the operation of the articulated robot according to the detection results of the surrounding detection sensor and the entry detection sensor. The control device is configured to perform deceleration control to reduce the operating speed of the articulated robot or stop control to stop the operation of the articulated robot when the entry detection sensor detects the entry of the object. The control device is configured to execute the deceleration control when the robot hand of the articulated collaborative robot does not exceed a predetermined set operating range in the horizontal direction, and to execute the stop control when the robot hand exceeds a predetermined set operating range in the horizontal direction. The aforementioned set operating range is a range in which, even if the object enters the detection area, the object will not collide with the robot hand or the workpiece held by the robot hand. Control system.

2. The control device is configured to be able to set a range within the detection area of ​​the ambient detection sensor that functions as a deceleration area and a range that functions as a stop area. The detection area includes a plurality of areas formed by dividing the detection area, The aforementioned deceleration area is an area in which the control device reduces the operating speed of the articulated robot when it detects the object. The aforementioned stopping area is an area in which the control device stops the operation of the articulated robot when it detects the object. The control device is configured to allow setting whether each of the plurality of areas functions as a deceleration area or as a stopping area. The control device is configured to perform detection area switching control, which changes one of the deceleration area and the stop area set in the plurality of areas to the other, according to the operating range of the articulated collaborative robot. The control system according to claim 1.

3. In the detection area switching control described above, the control device switches the deceleration area of ​​the detection area set on the side of the robot hand of the articulated collaborative robot that is moving in the direction of movement to the stop area. The control system according to claim 2.

4. The control device is configured to switch between the deceleration control and the stop control according to the operating range of the articulated robot. The control system according to any one of claims 1 to 3.

5. The aforementioned ambient detection sensor and entry detection sensor are two-dimensional scanning type range sensors. The control system according to any one of claims 1 to 3.

6. The system includes a control unit that controls a multi-joint collaborative robot that transports a workpiece to a transport target, and is configured to set a detection area for detecting objects around the multi-joint collaborative robot, and a height-direction detection area that extends in a direction intersecting the detection area and detects the entry of the object into the detection area. The control unit is configured to control the operation of the articulated robot according to the detection results of the detection area and the height direction detection area. The control unit is configured to perform deceleration control to reduce the operating speed of the articulated robot or stop control to stop the operation of the articulated robot when it detects the entry of the object into the detection area. The control unit is configured to execute the deceleration control when the robot hand of the articulated collaborative robot does not exceed a predetermined set operating range in the horizontal direction, and to execute the stop control when the robot hand exceeds a predetermined set operating range in the horizontal direction. The aforementioned set operating range is a range in which, even if the object enters the detection area, the object will not collide with the robot hand or the workpiece held by the robot hand. Control device.

7. A control device is configured to control a multi-joint collaborative robot that transports a workpiece to a transport target, and to set a detection area for detecting objects around the multi-joint collaborative robot, and a height-direction detection area that extends in a direction intersecting the detection area and detects the entry of the object into the detection area. The control device controls the operation of the multi-joint collaborative robot according to the detection results of the detection area and the height-direction detection area. When the control device detects the entry of the object into the detection area, it performs deceleration control to reduce the operating speed of the articulated robot or stop control to stop the operation of the articulated robot. The control device executes the deceleration control if the robot hand of the articulated collaborative robot does not exceed a predetermined set operating range in the horizontal direction, and executes the stop control if the robot hand exceeds a predetermined set operating range in the horizontal direction. The aforementioned set operating range is a range in which, even if the object enters the detection area, the object will not collide with the robot hand or the workpiece held by the robot hand. Control method.

8. A control device is configured to control a multi-joint collaborative robot that transports a workpiece to a transport target, and to set a detection area for detecting objects around the multi-joint collaborative robot, and a height-direction detection area that extends in a direction intersecting the detection area and detects the entry of the object into the detection area. The control device then controls the operation of the multi-joint collaborative robot according to the detection results of the detection area and the height-direction detection area. When the control device detects the entry of the object into the detection area, it is instructed to perform deceleration control to reduce the operating speed of the articulated robot or stop control to stop the operation of the articulated robot. The control device is instructed to execute the deceleration control if the robot hand of the articulated collaborative robot does not exceed a predetermined set operating range in the horizontal direction, and to execute the stop control if the robot hand exceeds a predetermined set operating range in the horizontal direction. The aforementioned set operating range is a range in which, even if the object enters the detection area, the object will not collide with the robot hand or the workpiece held by the robot hand. Control program.

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