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

Abstract

The purpose of the first invention is to make it possible to secure safety by simple area switching. This control device for controlling an articulated collaborative robot that conveys a workpiece to a conveyance object is configured to be capable of setting a detection area including at least one of a deceleration area and a stop area, and is caused to execute area switching control for switching at least a part of one of the deceleration area and the stop area to the other in accordance with the operation range of the articulated collaborative robot.　The purpose of the second invention is to save space while securing safety of a user. The present invention controls an articulated collaborative robot that conveys a workpiece to a conveyance object, and causes the control device, which is configured to be capable of setting a detection area for detecting an object around the articulated collaborative robot and a height-direction detection area that extends in a direction intersecting the detection area and is for detecting entry of an object into the detection area, to control the operation of the articulated collaborative robot in accordance with the detection results of the detection area and the height-direction detection area.

Description

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

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

[0002] Conventionally, it is attached to a self-propelled traveling device or a robot provided on a traveling device, a sensor for detecting an object existing within a predetermined detection area with its own position as a reference, and an area for changing the predetermined detection area according to the operating states of the traveling device and the robot. A safety device including a changing device is known (for example, Patent Document 1). Further, the safety device described in Patent Document 1 includes an operation suppressing device that suppresses the operations of the traveling device and the robot when the presence of an object is detected within a predetermined detection area by the sensor.

[0003] The sensor described in Patent Document 1 includes a light projector that radially projects laser light around itself within a predetermined detectable area including the 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 receiving state of the light receiver. It is a laser sensor.

[0004] The area changing device described in Patent Document 1 can switch between a first detection area as a predetermined detection area extending at least in the traveling direction of the traveling device from the traveling device when the robot is not operating and the traveling device is traveling, and a second detection area as a predetermined detection area extending from the robot at least toward a movable area where the robot can operate when the traveling device is not traveling and the robot is operating.

[0005] Japanese Patent No. 7421346

[0006] [Problem (first problem) according to the first aspect of the present invention] The second detection area is set to extend at least from the robot toward a movable area where the robot can operate. For example, when the robot arm of the robot extends rightward from the traveling device, the second detection area extends rightward from the traveling device so as to include the robot arm.

[0007] However, the area changing device described in Patent Document 1 has the problem that, in order to change the second detection area according to the operating state of the robot, it is necessary to appropriately set and change the shape of the second detection area according to the posture of the robot, etc., and this requires complex control of the second detection area.

[0008] A first aspect of the present invention is a control device, control system, control method, and control program that enable safety through simple area switching.

[0009] [Problems related to the second aspect of the present invention (second problem)] In the sensor described in Patent Document 1, the light emitter is configured to emit laser light radially from itself in a plan view. Also, 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. The safety device described in Patent Document 1 requires, for example, that the robot be stopped immediately after detecting an object, but the robot will coast due to a time delay in 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 from the robot's operating limit.

[0010] 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.

[0011] 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.

[0012] A second aspect of the present invention is a control system, control device, control method, and control program that can save space while ensuring user safety.

[0013] [Control device, control system, control method, and control program for solving the first problem] A control device according to a first aspect of the present invention controls an articulated 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 articulated robot, wherein the detection area includes at least one of a deceleration area in which the control unit reduces the operating speed of the articulated robot when an object is detected, and a stop area in which the control unit stops the operation of the articulated robot when an object is detected, and the control unit is configured to perform detection area switching control to switch at least a part of one of the deceleration area and the stop area to the other depending on the operating range of the articulated robot.

[0014] A control system according to a first aspect of the present invention comprises an articulated collaborative robot that transports a workpiece to a transport target, a detection sensor that detects objects around the articulated collaborative robot, and a control device that controls the articulated collaborative robot, wherein the control device includes a control unit configured to set a detection area in which the detection sensor detects the object, and the detection area includes at least one of a deceleration area in which the control unit reduces the operating speed of the articulated collaborative robot when it detects the object, and a stop area in which it stops the operation of the articulated collaborative robot when it detects the object, and the control unit is configured to perform detection area switching control to switch at least a part of one of the deceleration area and the stop area to the other depending on the operating range of the articulated collaborative robot.

[0015] A control method according to a first aspect of the present invention controls a multi-joint collaborative robot that transports a workpiece to a transport target, and a control device configured to set a detection area that includes at least one of a deceleration area that reduces the operating speed of the multi-joint collaborative robot when an object is detected around the multi-joint collaborative robot, and a stop area that stops the operation of the multi-joint collaborative robot when an object is detected, and performs detection area switching control that switches at least a part of one of the deceleration area and the stop area to the other according to the operating range of the multi-joint collaborative robot.

[0016] A control program according to a first 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 be able to set a detection area that includes at least one of a deceleration area that reduces the operating speed of the multi-joint collaborative robot when an object is detected around the multi-joint collaborative robot, and a stop area in which the control unit stops the operation of the multi-joint collaborative robot when an object is detected, to execute detection area switching control that switches at least a part of one of the deceleration area and the stop area to the other, according to the operating range of the multi-joint collaborative robot.

[0017] According to the control device, control system, control method, and control program of the first aspect of the present invention, safety can be ensured by simply switching areas, as at least a portion of one of the deceleration area and the stopping area is switched to the other depending on the operating range of the articulated collaborative robot.

[0018] [Control system, control device, control method, and control program for solving the second problem] The control system according to the second 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.

[0019] A control device according to a second aspect of the present invention controls an articulated 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 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, wherein the control unit is configured to control the operation of the articulated collaborative robot according to the detection results of the detection area and the height-direction detection area.

[0020] A control method according to a second 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.

[0021] A control program according to a second aspect of the present invention controls an articulated collaborative robot that transports a workpiece to a transport target, and causes 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, to control the operation of the articulated collaborative robot according to the detection results of the detection area and the height-direction detection area.

[0022] According to a second aspect of the present invention, a control system, control device, control method, and control program is provided with an intrusion detection sensor that detects the entry of an object into the detection area of ​​the surrounding detection sensor, in addition to the surrounding detection 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.

[0023] According to the control device, control system, control method, and control program of the first aspect of the present invention, safety can be ensured by simple area switching. Furthermore, according to the control system, control device, control method, and control program of the second aspect of the present invention, space can be saved while ensuring user safety.

[0024] Figure 1 is a schematic diagram showing a control system according to the first embodiment of the present invention. Figure 2 is a schematic diagram showing a control system according to the first embodiment. Figure 3 is a schematic diagram showing a multi-joint collaborative robot according to the first embodiment. Figure 4 is a plan view showing the movable range of the TCP and the detection area of ​​the surrounding detection sensor according to the first embodiment. Figure 5 is a side view showing the movable range of the TCP and the detection area of ​​the surrounding detection sensor according to the first embodiment. Figure 6 is a functional block diagram showing a control device according to the first embodiment. Figure 7 is a flowchart showing an example of processing performed by the control device according to the first embodiment. Figure 8 is a diagram showing a provisional program according to the first embodiment. Figure 9 is a diagram showing the operation of a loading job according to the provisional program according to the first embodiment. Figure 10 is a diagram showing area switching when the TCP moves out of the set operating range in the loading job of the first embodiment. Figure 11 is a diagram showing area switching when the TCP moves out of the set operating range in the loading job of the first embodiment. Figure 12 is a diagram showing the operation of an approach job according to the provisional program according to the first embodiment. Figure 13 is a diagram showing area switching when the TCP moves outside the set operating range in the approach job of the first embodiment. Figure 14 is a diagram showing area switching when the TCP moves outside the set operating range in the approach job of the first embodiment. Figure 15 is a diagram showing the operation of the unloading job according to the provisional program of the first embodiment. Figure 16 is a diagram showing area switching when the TCP moves outside the set operating range in the unloading job of the first embodiment. Figure 17 is a flowchart showing an example of processing performed by the control system of the first embodiment. Figure 18 is a flowchart showing an example of processing performed by the control system of the first embodiment. Figure 19 is a plan view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor of the second embodiment. Figure 20 is a side view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor of the second embodiment. Figure 21 is a diagram showing the operation of the loading job according to the provisional program of the second embodiment. Figure 22 is a diagram showing area switching when the TCP moves outside the set operating range in the loading job of the second embodiment.Figure 23 is a diagram showing area switching when the TCP moves outside the set operating range in the loading job of the second embodiment. Figure 24 is a diagram showing the operation of the approach job according to the provisional program of the second embodiment. Figure 25 is a diagram showing area switching when the TCP moves outside the set operating range in the approach job of the second embodiment. Figure 26 is a diagram showing area switching when the TCP moves outside the set operating range in the approach job of the second embodiment. Figure 27 is a diagram showing the operation of the unloading job according to the provisional program of the second embodiment. Figure 28 is a diagram showing area switching when the TCP moves outside the set operating range in the unloading job of the second embodiment. Figure 29 is a flowchart showing an example of processing executed by the control system of the second embodiment. Figure 30 is a plan view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor of the third embodiment. Figure 31 is a side view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor of the third embodiment. Figure 32 is a diagram showing the operation of the loading job according to the provisional program of the third embodiment. Figure 33 is a diagram showing area switching when a TCP is outside the set operating range in a loading job of the third embodiment. Figure 34 is a diagram showing area switching when a TCP is outside the set operating range in a loading job of the third embodiment. Figure 35 is a diagram showing the operation of an approach job according to the provisional program of the third embodiment. Figure 36 is a diagram showing area switching when a TCP is outside the set operating range in an approach job of the third embodiment. Figure 37 is a diagram showing area switching when a TCP is outside the set operating range in an approach job of the third embodiment. Figure 38 is a diagram showing the operation of an unloading job according to the provisional program of the third embodiment. Figure 39 is a diagram showing area switching when a TCP is outside the set operating range in an unloading job of the third embodiment. Figure 40 is a flowchart showing an example of processing executed by the control system of the third embodiment. Figure 41 is a schematic diagram showing the control system according to the fourth embodiment. Figure 42 is a schematic diagram showing the control system according to the fourth embodiment.Figure 43 is a plan view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor in the fourth embodiment. Figure 44 is a side view showing the movable range of the TCP and the height-direction detection area of ​​the entry detection sensor in the fourth embodiment. Figure 45 is a perspective view showing the detection area of ​​the ambient detection sensor and the height-direction detection area of ​​the entry detection sensor in the fourth embodiment. Figure 46 is a diagram showing the operation of a loading job according to the provisional program in the fourth embodiment. Figure 47 is a diagram showing area switching when the TCP moves out of the set operating range in the loading job of the fourth embodiment. Figure 48 is a diagram showing area switching when the TCP moves out of the set operating range in the loading job of the fourth embodiment. Figure 49 is a flowchart showing an example of processing performed by the control system of the fourth embodiment. Figure 50 is a diagram showing a first modified example of the control system of the fourth embodiment. Figure 51 is a diagram showing a second modified example of the control system of the fourth embodiment. Figure 52 is a diagram showing a third modified example of the control system of the fourth embodiment.

[0025] The best embodiment for carrying out the present invention will be described below with reference to the drawings. Note that the following embodiments are not intended to limit the invention as described in each claim, and not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0026] [Configuration of the control system according to the first embodiment] Figures 1 and 2 are schematic diagrams showing a control system according to the first embodiment of the present invention. First, the control system 1 according to the first embodiment of the present invention will be outlined with reference to Figures 1 and 2. The control system 1 according to the first embodiment generally comprises, as shown in Figures 1 and 2, a multi-joint collaborative robot 100 that transports a workpiece to a transport target, an ambient detection sensor 360 that functions as a detection sensor for detecting objects around the multi-joint collaborative robot 100, and a control device 200 that controls the multi-joint collaborative robot 100.

[0027] 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 the first 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.

[0028] In the first 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.

[0029] In the first embodiment, the object to be transported is mainly the press brake 10. However, it is not limited to this, and the object to be transported may also include the loading trolley 400 and the unloading box 500. Furthermore, the object to be transported may also include a double-pickup prevention device and a suction device, which will be described later.

[0030] 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, a robot transporter 300 or a loading trolley 400.

[0031] 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.

[0032] [Configuration of the press brake] As shown in Figures 1 and 2, the press brake 10 comprises an upper table 11 and a lower table 12 arranged 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) arranged on the left and right sides to support the upper table 11 and the lower table 12.

[0033] 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) that detects the movement position when the upper table 11 moves by the drive mechanism 16, and a back gauge (not shown) that positions the workpiece in the depth direction inserted between the upper die U and the lower die L. In addition, the press brake 10 may be equipped with an angle detection sensor (not shown) capable of detecting the bending angle of the workpiece during bending.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Since the press brake 10 can employ various known configurations, a detailed explanation thereof will be omitted.

[0038] [Configuration of the Articulated 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 the first 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.

[0039] 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).

[0040] Specifically, as shown in FIG. 1, the articulated collaborative robot 100 includes a robotic hand 120 capable of holding a workpiece as a workpiece holding part, and a robotic arm 140 for approaching or separating the robotic hand 120 from the workpiece.

[0041] FIG. 3 is a schematic diagram showing the articulated collaborative robot of the first embodiment. In the first embodiment, the articulated collaborative robot 100 is attached to a robot carrier 300 having wheels. However, it is not limited thereto. The articulated collaborative robot 100 may include a moving mechanism having a rail part laid on the floor surface. In the first embodiment, as shown in FIG. 3, the articulated collaborative robot 100 includes a carrier connection part 160 connecting the robotic arm 140 and the robot carrier 300.

[0042] The robotic hand 120 is detachably attached to the tip of the robotic arm 140. The robotic hand 120 may have a hand body for gripping the workpiece, or may have a hand body detachably attached to the tip of the robotic arm 140 and a plurality of suction parts attached to the hand body and configured to hold the workpiece.

[0043] Note that since the robotic hand 120 can adopt various known configurations, detailed description thereof is omitted.

[0044] As shown in FIG. 3, the robotic arm 140 is an articulated arm having a plurality of arm parts 142 and joint parts 144. The robotic arm 140 also has a hand connection part 150 connecting the robotic hand 120, with one end connected to the robotic hand 120 and the other end connected to the robot carrier 300 via the carrier connection part 160.

[0045] The robot arm 140 is configured to move the robot hand 120 closer to or away from the workpiece based on a control signal from a control unit 230 of the control device 200, which will be described later. The robot arm 140 is configured not only to convey the workpiece from the loading cart 400, but also to carry (insert) the workpiece into the press brake 10, assist in the processing (bending) of the workpiece, and carry (unload) the product (bent product) from the press brake 10, etc.

[0046] Specifically, the robot arm 140 has a hand connection portion 150 provided at one end, a first arm portion 142a connected to the robot hand 120, a first joint portion 144a connected to the other end of the first arm portion 142a, and a second arm portion 142b whose one end is connected to the first arm portion 142a via the first joint portion 144a. The hand connection portion 150 is configured to be rotatable, and when the hand connection portion 150 rotates, the robot hand 120 rotates relative to the first arm portion 142a.

[0047] The robot arm 140 also has a second joint portion 144b connected to the other end of the second arm portion 142b, a third arm portion 142c whose one end is connected to the second arm portion 142b via the second joint portion 144b, and a third joint portion 144c connected between the other end of the third arm portion 142c and the carrier connection portion 160.

[0048] Note that since the robot arm 140 can adopt various known configurations, a detailed description thereof is omitted. Also, the robot arm 140 is not limited to the configuration of a multi-joint arm having the six-axis control axes described above, and various known configurations can be arbitrarily adopted.

[0049] In the first 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 can position the robot transporter 300 relative to the press brake 10, and the wheels of the robot transporter 300 are fixed by a stopper such as a pedal lock. 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.

[0050] However, the loading trolley 400 and the unloading box 500 do not necessarily have to be attached to the side of the positioning mechanism.

[0051] Figure 4 is a plan view showing the movable range of the TCP (Tool Center Point) and the detection area of ​​the surrounding detection sensor in the first embodiment. Figure 5 is a side view showing the movable range of the TCP and the detection area of ​​the surrounding detection sensor in the first embodiment. In the articulated collaborative robot 100 having the above configuration, the TCP is set at the tip of the robot hand 120. In the articulated collaborative robot 100 according to the first embodiment, as shown in Figure 4, the movable range A of the TCP is set. The articulated collaborative robot 100 is configured to operate within a range in which the TCP does not deviate from the movable range A of the TCP. Furthermore, as shown in Figure 5, the movable range A of the TCP also extends in the height direction. In the first embodiment, the movable range A of the TCP is set in coordinate space.

[0052] The movable range A of the 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.

[0053] As shown in Figures 4 and 5, 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 the first embodiment, the surrounding detection sensor 360 is a two-dimensional scanning range sensor (safety laser scanner). Also in the first embodiment, as shown in Figures 1 and 2, the surrounding detection sensor 360 is attached to the robot transport body 300.

[0054] Specifically, the control system 1 according to the first embodiment is equipped with two ambient detection sensors 360, one of which is mounted on the loading side and the other on the unloading side (left and right in the first 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 portion 160 of the articulated collaborative robot 100.

[0055] For the sake of explanation, in the first embodiment, 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.

[0056] 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 movement direction can be easily changed, and safety can be ensured with simple area switching.

[0057] However, this is not limited to the above. The number and arrangement of the surrounding detection 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 detection sensor 360 on each side in front of the robot transporter 300. In addition, the control system 1 may have surrounding detection sensors 360 in front of the robot transporter 300, in addition to the surrounding detection sensors 360 mounted on the rear of the robot transporter 300. Furthermore, the surrounding detection sensors 360 may be placed on the floor surface surrounding the articulated collaborative robot 100. When the surrounding detection sensors 360 are placed on the floor surface, all of the surrounding detection sensors 360 may be placed on the floor surface, or some of the surrounding detection sensors 360 may be attached to the robot transporter 300 and the remaining surrounding detection sensors 360 may be placed on the floor surface. In other words, the arrangement of the surrounding detection sensors 360 does not have to be symmetrical.

[0058] A surrounding detection sensor 360 with this configuration can, for example, detect when a user enters the detection area 362, and detect that the user has approached the articulated collaborative robot 100.

[0059] In the first 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.

[0060] The range and type of the detection area 362 are configured to be configurable via the control device 200. In the first 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 the first embodiment, the detection area 362 is set in coordinate space.

[0061] 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 plus about 2000 mm, and the deceleration area 364 may be set to a wider range.

[0062] In the first 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 the first 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.

[0063] 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 calculation formulas based on safety standards.

[0064] 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 of an ambient detection sensor 360, both the deceleration area 364 and the stop area 366 can be set for a single ambient detection sensor 360.

[0065] In the first embodiment, as shown in Figure 4, the two ambient detection sensors 360, in their basic settings, have each detection area 362 that includes both a deceleration area 364 and a stopping area 366. Specifically, the stopping area 366 is set near the articulated collaborative robot 100, and the deceleration area 364 is set in a wide area outside the stopping area 366.

[0066] For the sake of explanation, in the first 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.

[0067] Similarly, the range of the detection area 362 of the first ambient detection sensor 360a where the deceleration area 364 is set in the basic settings is designated as the third detection area 362C. In addition, the range of the detection area 362 of the second ambient detection sensor 360b where the deceleration area 364 is set in the basic settings is designated as the fourth detection area 362D.

[0068] [Configuration of the control device according to the first embodiment] Figure 6 is a functional block diagram showing the control device according to the first 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 the first 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 and the ambient detection sensor 360.

[0069] 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.

[0070] 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 detection area 362 setting screen (not shown), and the like.

[0071] Furthermore, the display unit 220 may be configured as a touch screen having the same functions as the input unit 210. If the display unit 220 is configured as a touch screen, the user can, for example, perform various operations on the control device 200, such as setting the detection area 362, by operating the display unit 220.

[0072] 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.

[0073] 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.

[0074] Figure 7 is a flowchart showing an example of the processing performed by the control device of the first embodiment. The provisional program creation unit 232 is configured to create a provisional program 244 that controls the press brake 10 and the articulated collaborative robot 100. Specifically, as shown in Figure 7, the provisional program creation unit 232 is configured to perform a question processing (S10 in Figure 7) that asks the user a question and an answer receiving processing (S11 in Figure 7) that receives the user's answer to the question.

[0075] In the first 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.

[0076] The provisional program creation unit 232 is configured to perform a selection process (S12 in Figure 7) that automatically selects a selection job 246 from a plurality of candidate selection jobs 246 for each provisional program 244 based on the answer, and a provisional program creation process (S13 in Figure 7) that creates a provisional program 244 that includes a fixed job 245 and the selected selection job 246.

[0077] 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 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.

[0078] Multiple jobs include a selection job 246 related to the transport of a workpiece to the press brake 10. In the first embodiment, the selection job 246 related to the transport of a workpiece to the press brake 10 is an approach selection job 246a (shown in Figure 8) that causes the articulated collaborative robot 100 to insert the workpiece into the press brake 10 in a predetermined approach posture.

[0079] Furthermore, the multiple jobs include a selection job 246 related to holding the workpiece after bending by the press brake 10. In the first embodiment, the selection job 246 related to holding the workpiece after bending by the press brake 10 is a workpiece retrieval selection job 246b (shown in Figure 8) which causes the robot hand 120 to hold the workpiece in a predetermined orientation after the bending process is completed.

[0080] Figure 8 shows a provisional program of the first embodiment. In the first embodiment, the provisional program 244 includes a loading job 244a, an approach job 244b, a workpiece retrieval job 244c, and an unloading job 244d, as shown in Figure 8.

[0081] As shown in Figure 8, the loading job 244a has a loading fixing job 245a. The loading fixing job 245a is the fixing job 245 of the articulated collaborative robot 100. In the loading fixing job 245a, the articulated collaborative robot 100 holds (suctions) the workpiece loaded on the loading trolley 400, etc., and moves to an approach preparation position.

[0082] The approach job 244b includes an approach fixing job 245b, an approach selection job 246a, a gauging job 245c, and a first press job 245d. The approach fixing job 245b is the fixing job 245 of the articulated collaborative robot 100. In the approach fixing job 245b, the articulated collaborative robot 100 changes the angle of the suction part of the robot hand 120 while maintaining the approach preparation posture.

[0083] In approach selection job 246a, the articulated collaborative robot 100 inserts the workpiece between the upper die U and lower die L of the press brake 10, and then positions the workpiece in the height direction.

[0084] Gauging job 245c is a fixed job 245 for the press brake 10 and the articulated collaborative robot 100. In gauging job 245c, the articulated collaborative robot 100 abuts the workpiece against the back gauge of the press brake 10 to position the workpiece in the depth direction. After positioning is complete, the press brake 10 lowers the upper table 11 to a position where the workpiece is clamped between the upper die U and the lower die L. Then, the press brake 10 retracts the back gauge, the articulated collaborative robot 100 releases its hold (suction) of the workpiece, moves away from the press brake 10, and waits in a predetermined position.

[0085] The first press job 245d is a fixed job 245 for the press brake 10. In the first press job 245d, the press brake 10 lowers the upper table 11 to its lower end to perform bending of the workpiece.

[0086] The workpiece retrieval job 244c includes a workpiece retrieval and fixing job 245e, a workpiece retrieval and selection job 246b, and a second press job 245f. The workpiece retrieval and fixing job 245e is the fixing job 245 of the articulated collaborative robot 100. In the workpiece retrieval and fixing job 245e, the articulated collaborative robot 100 changes the angle of the suction part of the robot hand 120 while remaining in a predetermined position.

[0087] In the workpiece retrieval selection job 246b, the articulated collaborative robot 100 holds (applies) the workpiece after bending is complete and retrieves it.

[0088] The second press job 245f is the fixed job 245 of the press brake 10. In the second press job 245f, the press brake 10 raises the upper table 11 to its upper end.

[0089] The unloading job 244d includes an unloading fixation job 245g. The unloading fixation job 245g is a fixation job 245 for the articulated collaborative robot 100. In the unloading fixation job 245g, the articulated collaborative robot 100 transports the held workpiece to a predetermined location such as an unloading box 500, and then releases the hold (suction) of the workpiece.

[0090] The teaching reflection unit 234 is configured to perform a teaching reception process (S14 in Figure 7) that accepts the user's teaching of actions, and a teaching reflection process (S15 in Figure 7) 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.

[0091] 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 the first 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.

[0092] 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, according to the operating range of the articulated collaborative robot 100. In the first embodiment, the operating range is the range in which the TCP set at the tip of the robot hand 120 moves in each job when the robot control program 248 is executed.

[0093] Furthermore, in the first 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.

[0094] In the first 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 the first embodiment, the predetermined set operating range R is a rectangular area in plan view that includes the operating range of each job included in the provisional program 244.

[0095] 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.

[0096] 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.

[0097] In the first 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.

[0098] 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 the first embodiment, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement includes a deceleration area 364 located in the vector direction when the robot hand 120 is moving.

[0099] 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 the deceleration area 364 in the basic settings. Also, if the first detection area 362A is the deceleration area 364, the deceleration area 364 set on the side of the robot hand 120's movement direction also includes the first detection area 362A.

[0100] In the first embodiment, the area control unit 236 performs detection area switching control when the articulated collaborative robot 100 transports a workpiece to the transport target. In the first embodiment, "transporting a workpiece to the transport target" means performing a loading operation, which will be described later. Loading operations include, for example, the approach selection job 246a of the approach job 244b, and the unloading fixing job 245g of the unloading job 244d. 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 and jobs in which the robot hand 120 transports the workpiece to the suction device.

[0101] Furthermore, in the first 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 the first embodiment, "transporting a workpiece from the transport target" means performing an unloading operation, which will be described later. Unloading operations include, for example, the loading fixation job 245a of the loading job 244a and the workpiece retrieval selection job 246b of the workpiece retrieval job 244c.

[0102] In other words, in the first embodiment, the area control unit 236 executes 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 executed if the robot hand 120 is not holding a workpiece. Specifically, if the movable range A of TCP is within the preferred range described above, detection area switching control does not need to be executed because, 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 an object around the articulated collaborative robot 100 when the robot hand 120 is not holding a workpiece, or if the articulated collaborative robot 100 comes into contact with an object around the articulated collaborative robot 100, the articulated collaborative robot 100 will stop immediately and safely.

[0103] Furthermore, in the first 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 which includes those operations.

[0104] In the first 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 whether it is holding a workpiece, the area control unit 236 may determine whether the robot hand 120 is holding a workpiece based on the detection result of the sensor.

[0105] Furthermore, after the teaching reflection process, the area control unit 236 executes a job determination process (S16 in Figure 7) to determine whether or not 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 or not 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, the area control unit 236 executes an area setting change process (S17 in Figure 7) 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.

[0106] 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.

[0107] Figure 9 shows the operation of a loading job according to the provisional program of the first embodiment. Here, a specific example of detection area switching control will be explained. First, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in loading job 244a will be explained. If teaching of loading job 244a has not been performed, that is, if the operation of loading job 244a remains as in provisional program 244, in loading job 244a, the robot hand 120 (TCP) moves within the set operating range R after holding the workpiece, as shown in Figure 9 (arrow in Figure 9). In such a case, the area control unit 236 does not switch the detection area 362.

[0108] Furthermore, even if teaching of the loading job 244a is performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the loading job 244a after the teaching reflection process, the area control unit 236 does not switch the detection area 362.

[0109] Figure 10 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the first embodiment. On the other hand, as a result of teaching the loading job 244a, if the robot hand 120 (TCP) holding the workpiece moves beyond the set operating range R in the operation of the loading job 244a after the teaching reflection process, the area control unit 236 switches the detection area 362. For example, as shown in Figure 10, if the loading job 244a includes an operation in which the robot hand 120 (TCP) moves beyond the set operating range R toward the right side of the robot transport body 300 (arrow in Figure 10), 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.

[0110] In the first embodiment, the area control unit 236 switches the third detection area 362C when it starts executing the loading job 244a. 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 the first 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 244a is being executed.

[0111] Figure 11 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the first embodiment. Also, as shown in Figure 11, if the loading job 244a includes a movement (arrow in Figure 11) in which 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 the fourth detection area 362D of the second surrounding detection sensor 360b from the deceleration area 364 to the stop area 366.

[0112] In the first embodiment, the area control unit 236 switches the fourth detection area 362D when it starts executing the loading job 244a. 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 the first 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 244a is being executed.

[0113] Furthermore, if the loading job 244a includes an action in which the robot hand 120 (TCP) moves beyond the set operating range R toward the right side of the robot transporter 300, and an action in which 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 it starts executing the loading job 244a.

[0114] 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.

[0115] Figure 12 shows the operation of an approach job according to the provisional program of the first embodiment. Next, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in approach job 244b (specifically, approach selection job 246a) will be explained. If teaching of approach job 244b has not been performed, that is, if the operation of approach job 244b remains as in provisional program 244, in approach job 244b, the robot hand 120 (TCP) moves within the set operating range R as shown in Figure 12 (arrow in Figure 12). In such cases, the area control unit 236 does not switch the detection area 362.

[0116] Furthermore, even if teaching of approach job 244b is performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of approach job 244b after the teaching reflection process, the area control unit 236 does not switch the detection area 362.

[0117] Figure 13 shows the area switching that occurs when TCP moves outside the set operating range in the approach job of the first embodiment. On the other hand, if, as a result of teaching the approach job 244b, the robot hand 120 (TCP) moves beyond the set operating range R in the operation of the approach job 244b after the teaching reflection process, the area control unit 236 switches the detection area 362. For example, as shown in Figure 13, if the robot hand 120 (TCP) moves to the right beyond the set operating range R (arrow in Figure 13) is included in the operation of the approach job 244b, the area control unit 236 switches the third detection area 362C from the deceleration area 364 to the stop area 366.

[0118] In the first embodiment, the area control unit 236 switches the third detection area 362C when it starts executing the approach job 244b. 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 of the approach. Also, in the first 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 executing the approach job 244b.

[0119] Figure 14 shows the area switching that occurs when TCP moves outside the set operating range in the approach job of the first embodiment. Also, as shown in Figure 14, if the robot hand 120 (TCP) moves to the left beyond the set operating range R (arrow in Figure 14) as part of the approach job 244b, the area control unit 236 switches the fourth detection area 362D from the deceleration area 364 to the stop area 366.

[0120] In the first embodiment, the area control unit 236 switches the fourth detection area 362D when it starts executing the approach job 244b. 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 of the approach selection job 246a. Also in the first 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 244a is being executed.

[0121] Figure 15 shows the operation of the unloading job according to the provisional program of the first embodiment. Next, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in the unloading job 244d will be explained. If teaching of the unloading job 244d has not been performed, that is, if the operation of the unloading job 244d remains as in the provisional program 244, the robot hand 120 (TCP) moves within the set operating range R as shown in Figure 15 (arrow in Figure 15). In such a case, the area control unit 236 does not switch the detection area 362.

[0122] Furthermore, even if teaching of the unloading job 244d is performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the unloading job 244d after the teaching reflection process, the area control unit 236 does not switch the detection area 362.

[0123] Figure 16 shows the area switching that occurs when TCP moves outside the set operating range in the unloading job of the first embodiment. On the other hand, if, as a result of teaching the unloading job 244d, the robot hand 120 (TCP) moves beyond the set operating range R in the operation of the unloading job 244d after the teaching reflection process, the area control unit 236 switches the detection area 362. For example, as shown in Figure 16, if the unloading job 244d includes an operation in which the robot hand 120 (TCP) moves beyond the set operating range R and towards the side below the unloading box 500 (arrow in Figure 16), the area control unit 236 switches the third detection area 362C from the deceleration area 364 to the stop area 366.

[0124] In the first embodiment, the area control unit 236 switches the fourth detection area 362D when it starts executing the unloading job 244d. 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 the first 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 unloading job 244d is being executed.

[0125] Furthermore, in the first embodiment, the area control unit 236 is configured to perform detection area switching control when the amount of vertical movement of the robot hand 120 of the articulated collaborative robot 100 exceeds a predetermined set height H (see Figure 5). 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 amount of vertical movement of the TCP set at the tip of the robot hand 120 deviates from the set height H.

[0126] In the first 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.

[0127] In the first 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 the first 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.

[0128] 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 the first 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.

[0129] More specifically, in the first embodiment, the robot control unit 238 reads the robot control program 248 and causes the articulated collaborative robot 100 to execute the loading job 244a, the approach job 244b, the workpiece retrieval job 244c, and the unloading job 244d.

[0130] Furthermore, the robot control unit 238 is configured to acquire the proximity status of objects such as users to the articulated collaborative robot 100. Specifically, the robot control unit 238 acquires the proximity status based on the object detection results of the surrounding detection sensor 360 and determines whether or not the object has entered the deceleration area 364 and the stopping area 366. The robot control unit 238 is also configured to control the operation of the articulated collaborative robot 100 according to the detection results of the surrounding detection sensor 360.

[0131] In the first 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 in operation. 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 in operation.

[0132] 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.

[0133] 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.

[0134] 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 a finalized provisional program 244, or a program created and stored by another device.

[0135] 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 perform detection area switching control, which switches at least a part 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.

[0136] Furthermore, a press control program (not shown) different from the robot control program 248 may 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 cause the control device 200 to perform detection area switching control.

[0137] [Control Method According to the First Embodiment] Figures 17 and 18 are flowcharts illustrating an example of processing performed by the control system according to the first embodiment. Next, the control method of the control system 1 according to the first embodiment will be described with reference to Figures 17 and 18. The control method according to the first embodiment generally involves a control device 200 that controls a multi-joint collaborative robot 100 that transports a workpiece to a transport target, and a control device 200 configured to set a detection area 362 that includes at least one of a deceleration area 364 that reduces the operating speed of the multi-joint collaborative robot 100 when an object is detected around the multi-joint collaborative robot 100, and a stop area 366 in which the control unit 230 stops the operation of the multi-joint collaborative robot 100 when an object is detected. The control device 200 then performs 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 according to the operating range of the multi-joint collaborative robot 100.

[0138] The series of steps involved in creating Provisional Program 244 will be omitted from this explanation.

[0139] 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 (S50 in Figure 17: 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 (S60 in Figure 17: teaching process). Alternatively, the articulated collaborative robot 100 may be taught by direct teaching.

[0140] Teaching is performed for each job included in the provisional program 244. Teaching may be performed for all jobs included in the provisional program 244, or for some of the jobs included in the provisional program 244.

[0141] 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 step). The teaching reflection unit 234 then reflects the received teaching information in each job of the provisional program 244 (S51 in Figure 7: teaching reflection step). After the teaching reflection step, 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 (S52 in Figure 17: job determination step).

[0142] Specifically, in the first 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, it performs a change in the setting of the detection area 362 of the ambient detection sensor 360 to the provisional program 244 (S53 in Figure 17: detection area setting change step). Specifically, information for executing detection area switching control is added to the provisional program 244 before the execution of a job that requires switching the detection area 362 from the basic setting.

[0143] For example, if the area control unit 236 of the control unit 230 identifies a loading job 244a as a job that includes operations exceeding the set operating range R, it adds information to the provisional program 244 for executing detection area switching control to switch the deceleration area 364 set on the side of the movement direction of the robot hand 120 of the articulated collaborative robot 100 to a stop area 366 before the execution of the loading job 244a.

[0144] 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 S52 of Figure 17), the control unit 230 confirms the provisional program 244 as the robot control program 248 (S54 of Figure 17: program confirmation step). Subsequently, the control unit 230 executes the robot control program 248 (S55 of Figure 17: 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.

[0145] 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, the loading job 244a and approach job 244b of the provisional program 244, which reflects the teaching information, will be described as jobs that include operations exceeding the set operating range R. Specifically, the loading job 244a and approach job 244b will be described as including operations 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, the amount of vertical movement of the robot hand 120 of the articulated collaborative robot 100 will be described as not exceeding a predetermined set height H.

[0146] Although the press brake 10 also operates while the robot control program 248 is running, the explanation will be omitted.

[0147] After the robot control program 248 is executed, and before the loading job 244a 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 18: 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 18: area switching process).

[0148] Subsequently, the articulated collaborative robot 100 executes the loading job 244a (S110 in Figure 18: Loading job execution process). After the loading job 244a is executed, 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 18: Area switching process).

[0149] The first ambient detection sensor 360a may automatically switch the third detection area 362C after the execution of the loading job 244a, or it may switch the third detection area 362C during the detection area switching control performed before the execution of the approach job 244b, which will be described later.

[0150] Furthermore, the area control unit 236 of the control unit 230 performs detection area switching control before the execution of the approach job 244b (S101 in Figure 18: 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 switches the third detection area 362C from the deceleration area 364 to the stop area 366 (S122 in Figure 18: area switching process).

[0151] Next, the articulated collaborative robot 100 executes the approach job 244b (S111 in Figure 18: Approach job execution process). After the execution of the approach job 244b, the first ambient detection sensor 360a switches the third detection area 362C from the stop area 366 to the default deceleration area 364 (S123 in Figure 18: Area switching process).

[0152] Subsequently, the articulated collaborative robot 100 executes the workpiece retrieval job 244c (S112 in Figure 18: Workpiece retrieval job execution step). Next, the articulated collaborative robot 100 executes the unloading job 244d (S113 in Figure 18: Unloading job execution step). Through these steps, a series of control methods by the control system 1 according to the first embodiment are executed.

[0153] Furthermore, in the case of consecutive jobs, if the range of the detection area 362 to be switched before the execution of those jobs is the same, the detection area switching control to return to the detection area 362 of the basic setting may be omitted. Also, in the case of consecutive jobs, if the type of detection area 362 to be switched before the execution of those jobs is the same, the redundant detection area switching control may be omitted.

[0154] In other words, in the first embodiment, the detection area switching control performed before the execution of the loading job 244a and the approach job 244b both switch the third detection area 362C from the deceleration area 364 to the stop area 366. Therefore, steps S101, S121, and S122 in Figure 18 may be omitted while maintaining the state of the detection area 362 after the detection area switching control process (after the area switching process) performed before the execution of the loading job 244a.

[0155] [Advantages of the control device, control system, control method, and control program according to the first embodiment] As described above, the control device 200 according to the first embodiment controls a multi-joint collaborative robot 100 that transports a workpiece to a transport target, and includes a control unit 230 configured to set a detection area 362 for detecting objects around the multi-joint collaborative robot 100. The detection area 362 includes at least one of a deceleration area 364 in which the control unit 230 reduces the operating speed of the multi-joint collaborative robot 100 when an object is detected, and a stop area 366 in which the control unit 230 stops the operation of the multi-joint collaborative robot 100 when an object is detected. The control unit 230 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 multi-joint collaborative robot 100.

[0156] Furthermore, the control device 200 according to the first embodiment has the advantage that, by having such a configuration, the ranges of the deceleration area 364 and the stopping area 366 can be changed by simply switching at least a part of one of the deceleration area 364 and the stopping area 366 to the other within the detection area 362 which includes either the deceleration area 364 or the stopping area 366, according to 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 movement of the articulated collaborative robot 100, and ensures safety with simple area switching.

[0157] Furthermore, while the area changing device described in Patent Document 1 cannot change the ratio of the deceleration area 364 to the stopping area 366, the control device 200 according to the first embodiment has the further advantage of being able to perform special safety controls, such as expanding the stopping area 366 only in areas where safety assurance is particularly necessary.

[0158] Furthermore, in the control device 200 according to the first embodiment, the control unit 230 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. With this configuration, detection area switching control is not executed when the robot hand 120 moves within the set operating range R in which sufficient safety can be ensured, and detection area switching control is executed only when the amount of movement of the robot hand 120 exceeds the set operating range R. This simplifies the control of the detection area 362 and has the advantage of ensuring safety with simpler area switching.

[0159] Furthermore, in the control device 200 according to the first embodiment, the control unit 230 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 during detection area switching control. With this 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 set on the side of the robot hand 120 in the direction of movement to a stop area 366, thus having the advantage of ensuring safety with simple area switching.

[0160] Furthermore, in the control system 1 according to the first embodiment, the articulated collaborative robot 100 is positioned so that it cannot move relative to the object being transported. With this configuration, the positional relationship between the articulated collaborative robot 100 and the object being transported does not change, so there is no need to change the detection area 362 in response to changes in the position of the object being transported, and safety can be ensured by simply switching between preset detection areas 362.

[0161] [Configuration of the control system according to the second embodiment] Figure 19 is a plan view showing the movable range of the TCP and the detection area of ​​the surrounding detection sensor in the second embodiment. The configuration of the control system 1 according to the second embodiment will now be described. Descriptions of configurations that overlap with the first embodiment will be omitted as appropriate. In the second embodiment, as shown in Figure 19, the two surrounding detection sensors 360, in their basic settings, each have a detection area 362 that includes only the deceleration area 364. Specifically, a first deceleration area 364A is set near the articulated collaborative robot 100, and a second deceleration area 364B is set in a wide area outside the first deceleration area 364A.

[0162] For the sake of explanation, in the second embodiment, the range of the detection area 362 of the first ambient detection sensor 360a in which the first deceleration area 364A 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 first deceleration area 364A is set in the basic settings is referred to as the second detection area 362B'.

[0163] Figure 20 is a side view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor in the second embodiment. Similarly, the range of the detection area 362 of the first ambient detection sensor 360a in which the second deceleration area 364B is set in the basic settings is defined as the third detection area 362C'. Also, the range of the detection area 362 of the second ambient detection sensor 360b in which the second deceleration area 364B is set in the basic settings is defined as the fourth detection area 362D'. As shown in Figure 20, the detection area 362 of the ambient detection sensor 360 in the second embodiment also extends in the height direction.

[0164] In the second embodiment, the area control unit 236 is configured to perform detection area switching control, which switches at least a portion of the deceleration area 364 to a stop area 366 according to the operating range of the articulated collaborative robot 100. Specifically, in the second 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 according to the operating range of the articulated collaborative robot 100.

[0165] More specifically, in the detection area switching control, the area control unit 236 switches at least one of the first detection area 362A' to the fourth detection area 362D' from the deceleration area 364 to the stop area 366.

[0166] Furthermore, in the detection area switching control, the area control unit 236 switches at least a portion of 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 the stop area 366. In the second embodiment, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement includes at least a first deceleration area 364A set on the side of the robot hand 120 in the direction of movement. Specifically, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement includes at least a first detection area 362A' when the robot hand 120 moves toward the right of the set operating range R with respect to the set operating range R. Also, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement includes at least a second detection area 362B' when the robot hand 120 moves toward the left of the set operating range R.

[0167] Furthermore, when the robot hand 120 moves in a direction toward or toward the press brake 10 within the set operating range R, it includes at least a first detection area 362A' and a second detection area 362B'.

[0168] Furthermore, in the second embodiment, if the amount of horizontal movement of the robot hand 120 (TCP) of the articulated collaborative robot 100 exceeds the set operating range R, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement includes a second deceleration area 364B set on the side of the robot hand 120 in the direction of movement. Specifically, if the amount of horizontal movement of the robot hand 120 (TCP) of the articulated collaborative robot 100 exceeds the set operating range R, the deceleration area 364 set on the side of the robot hand 120 in the direction of movement also includes at least one of the third detection area 362C' and the fourth detection area 362D'.

[0169] Figure 21 shows the operation of a loading job according to the provisional program of the second embodiment. Here, a specific example of detection area switching control will be explained. First, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in loading job 244a will be explained. If teaching of loading job 244a has not been performed, the robot hand 120 moves to the right of the set operating range R within the set operating range R after holding the workpiece, as shown in Figure 21 (arrow in Figure 21). Therefore, the area control unit 236 switches the first detection area 362A' (first deceleration area 364A) of the first ambient detection sensor 360a, which is a deceleration area 364 set on the side of the robot hand 120's direction of movement, from deceleration area 364 to stop area 366.

[0170] Furthermore, even if teaching of the loading job 244a has been performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the loading job 244a after the teaching reflection process, the area control unit 236 switches the first detection area 362A' from the deceleration area 364 to the stop area 366.

[0171] Figure 22 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the second embodiment. On the other hand, as a result of teaching the loading job 244a, if the robot hand 120 (TCP) holding the workpiece moves beyond the set operating range R in the operation of the loading job 244a after the teaching reflection process, the area control unit 236 switches the first deceleration area 364A and the second deceleration area 364B which are set on the side of the direction of movement of the robot hand 120. For example, as shown in Figure 22, if the loading job 244a includes the movement of the robot hand 120 (TCP) beyond the set operating range R toward the right side of the robot transport body 300 (arrow in Figure 22), the area control unit 236 switches the first detection area 362A' (first deceleration area 364A) and the third detection area 362C' (second deceleration area 364B) of the first ambient detection sensor 360a from deceleration area 364 to stop area 366.

[0172] Figure 23 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the second embodiment. Also, as shown in Figure 23, if the loading job 244a includes the movement of the robot hand 120 (TCP) beyond the set operating range R toward the left rear of the robot transporter 300 (arrow in Figure 23), the area control unit 236 switches the second detection area 362B' and the fourth detection area 362D' of the second surrounding detection sensor 360b from the deceleration area 364 to the stop area 366.

[0173] Figure 24 shows the operation of the approach job according to the provisional program of the second embodiment. Next, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in the approach job 244b (specifically, the approach selection job 246a) will be explained. If teaching of the approach job 244b has not been performed, the robot hand 120 moves in the direction approaching the press brake 10, as shown in Figure 24 (arrow in Figure 24). Therefore, the area control unit 236 switches the first detection area 362A' of the first ambient detection sensor 360a and the second detection area 362B' of the second ambient detection sensor 360b (both first deceleration area 364A), which are set on the side of the robot hand 120's direction of movement, from deceleration area 364 to stop area 366.

[0174] Furthermore, even if teaching of approach job 244b has been performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of approach job 244b after the teaching reflection process, the area control unit 236 switches the first detection area 362A' and the second detection area 362B' from the deceleration area 364 to the stop area 366.

[0175] On the other hand, if, as a result of teaching approach job 244b, the robot hand 120 (TCP) moves beyond the set operating range R during the operation of approach job 244b after the teaching reflection process, the area control unit 236 switches the first deceleration area 364A and the second deceleration area 364B, which are set on the side of the robot hand 120's direction of movement.

[0176] Figure 25 shows the area switching that occurs when TCP moves outside the set operating range in an approach job according to the second embodiment. For example, as shown in Figure 25, if the robot hand 120 (TCP) moves to the right beyond the set operating range R (arrow in Figure 25) as part of the approach job 244b, the area control unit 236 switches the first detection area 362A' (first deceleration area 364A) and the third detection area 362C' (second deceleration area 364B) from deceleration area 364 to stop area 366.

[0177] Figure 26 shows the area switching that occurs when TCP moves outside the set operating range in the approach job of the second embodiment. Also, as shown in Figure 26, if the robot hand 120 (TCP) moves to the left beyond the set operating range R (arrow in Figure 26) as part of the approach job 244b, the area control unit 236 switches the second detection area 362B' and the fourth detection area 362D' from the deceleration area 364 to the stop area 366.

[0178] Figure 27 shows the operation of the unloading job according to the provisional program of the second embodiment. Next, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in the unloading job 244d will be explained. If teaching of the unloading job 244d has not been performed, the robot hand 120 (TCP) moves to the right side of the set operating range R, specifically toward the unloading box 500, within the set operating range R, as shown in Figure 27 (arrow in Figure 27). Therefore, the area control unit 236 switches the first detection area 362A' (first deceleration area 364A) of the first ambient detection sensor 360a, which is a deceleration area 364 set on the side of the robot hand 120's direction of movement, from deceleration area 364 to stop area 366.

[0179] Furthermore, even if teaching has been performed for the unloading job 244d, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the unloading job 244d after the teaching reflection process, the area control unit 236 switches the first detection area 362A' from the deceleration area 364 to the stop area 366.

[0180] Figure 28 shows the area switching that occurs when TCP moves outside the set operating range in the unloading job of the second embodiment. On the other hand, if, as a result of teaching the unloading job 244d, the robot hand 120 (TCP) moves beyond the set operating range R in the operation of the unloading job 244d after the teaching reflection process, the area control unit 236 switches the first deceleration area 364A and the second deceleration area 364B which are set on the side of the direction of movement of the robot hand 120. For example, as shown in Figure 28, if the unloading job 244d includes an operation in which the robot hand 120 (TCP) moves below the unloading box 500 beyond the set operating range R (arrow in Figure 28), the area control unit 236 switches the first detection area 362A' (first deceleration area 364A) and the third detection area 362C' (second deceleration area 364B) from deceleration area 364 to stop area 366.

[0181] In the second 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 when the amount of vertical movement of the TCP set at the tip of the robot hand 120 deviates from the set height H. That is, in the second embodiment, the area control unit 236 switches both the first deceleration area 364A and the second deceleration area 364B to the stop area 366 when the amount of vertical movement of the TCP deviates from the set height H.

[0182] By having this configuration, similar to the first embodiment, if the robot hand 120 is taught to operate at a high height, the deceleration area 364 can be switched to the stopping 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.

[0183] [Control Method According to the Second Embodiment] Next, the control method of the control system 1 according to the second embodiment will be described with reference to Figure 29. Note that descriptions of steps that overlap with the first embodiment will be omitted as appropriate. In the following example, the approach job 244b of the provisional program 244, which reflects the teaching information, will be described as a job that includes an operation exceeding the set operating range R. Specifically, the approach job 244b will be described 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.

[0184] After the robot control program 248 is executed, and before the loading job 244a is executed, the area control unit 236 of the control unit 230 of the control device 200 performs detection area switching control (S200 in Figure 29: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the first detection area 362A' 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 first detection area 362A' from the deceleration area 364 to the stop area 366 (S220 in Figure 29: area switching process).

[0185] Subsequently, the articulated collaborative robot 100 executes the loading job 244a (S210 in Figure 29: Loading job execution process). After the loading job 244a is executed, the first ambient detection sensor 360a switches the first detection area 362A' from the stop area 366 to the deceleration area 364 with the default settings (S221 in Figure 29: Area switching process).

[0186] The first ambient detection sensor 360a may automatically switch the first detection area 362A' after the execution of the loading job 244a, or it may switch the first detection area 362A' during the detection area switching control performed before the execution of the approach job 244b, which will be described later.

[0187] Furthermore, the area control unit 236 of the control unit 230 performs detection area switching control before the execution of the approach job 244b (S201 in Figure 29: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the first detection area 362A' and the third detection area 362C' of the detection area 362 from the deceleration area 364 to the stop area 366. Then, the first ambient detection sensor 360a switches the first detection area 362A' and the third detection area 362C' from the deceleration area 364 to the stop area 366 (S222 in Figure 29: area switching process).

[0188] Next, the articulated collaborative robot 100 executes the approach job 244b (S211 in Figure 29: Approach job execution process). After the execution of the approach job 244b, the first ambient detection sensor 360a switches the first detection area 362A' and the third detection area 362C' from the stop area 366 to the deceleration area 364 (S223 in Figure 29: Area switching process).

[0189] After the execution of the workpiece retrieval job 244c and before the execution of the unloading job 244d, the area control unit 236 of the control unit 230 performs detection area switching control (S202 in Figure 29: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the first detection area 362A' of the detection area 362 from the deceleration area 364 in the basic setting to the stop area 366. Then, the first ambient detection sensor 360a switches the first detection area 362A' from the deceleration area 364 to the stop area 366 (S224 in Figure 29: area switching process).

[0190] Next, the articulated collaborative robot 100 executes the unloading job 244d (S213 in Figure 29: unloading job execution step). After the execution of the unloading job 244d, the first ambient detection sensor 360a switches the first detection area 362A' from the stop area 366 to the deceleration area 364 of the basic setting (S225 in Figure 29: area switching step). Through these steps, a series of control methods by the control system 1 according to the second embodiment are executed.

[0191] In addition, as with the first embodiment, the control method according to the second embodiment may omit detection area switching control to return to the detection area 362 of the basic setting, and duplicate detection area switching control. That is, in the second embodiment, the detection area switching control performed before the execution of the loading job 244a, approach job 244b, and unloading job 244d includes area switching to switch the first detection area 362A' from the deceleration area 364 to the stop area 366. Therefore, S221 to S224 in Figure 29 may be omitted while maintaining the state of the first detection area 362A' after the detection area switching control process (after the area switching process) performed before the execution of the loading job 244a. However, S222 and S223 in Figure 29, which switch the first detection area 362A' and the third detection area 362C', can be omitted only for the switching of the first detection area 362A'.

[0192] [Advantages of the control device, control system, control method, and control program according to the second embodiment] As described above, the control device 200 according to the second embodiment, similar to the control device 200 according to the first embodiment, includes a control unit 230 configured to control the articulated collaborative robot 100 and to set a detection area 362 for detecting objects around the articulated collaborative robot 100. The detection area 362 includes at least one of a deceleration area 364 and a stop area 366. The control unit 230 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 according to the operating range of the articulated collaborative robot 100.

[0193] Furthermore, the control device 200 according to the second embodiment has the advantage that, by having such a configuration, the ranges of the deceleration area 364 and the stopping area 366 can be changed within the detection area 362, which includes either the deceleration area 364 or the stopping area 366, according to the operating range of the articulated collaborative robot 100, simply by switching at least a portion of one of the deceleration area 364 or the stopping area 366 to the other. This eliminates the need for complex control to change the detection area 362 according to the operation of the articulated collaborative robot 100, and ensures safety with simple area switching. In addition, the control device 200 according to the second embodiment has the further advantage that, similar to the first embodiment, it is possible to perform special safety control, such as expanding the stopping area 366 only in areas where safety is particularly required.

[0194] Furthermore, in the control device 200 according to the second embodiment, the control unit 230, similar to the first embodiment, switches the deceleration area 364 set on the side of the robot hand 120's movement direction to a stop area 366 in the 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 set on the side of the robot hand 120's movement direction to a stop area 366, thus having the advantage of ensuring safety with simple area switching.

[0195] Furthermore, in the control system 1 according to the second embodiment, the articulated collaborative robot 100 is positioned so as to be unable to move relative to the object being transported, similar to the first embodiment. This configuration has the advantage that, since the positional relationship between the articulated collaborative robot 100 and the object being transported does not change, there is no need to change the detection area 362 in response to changes in the position of the object being transported, and safety can be ensured by simply switching between preset detection areas 362.

[0196] [Configuration of the control system according to the third embodiment] Figure 30 is a plan view showing the movable range of the TCP and the detection area of ​​the surrounding detection sensor in the third embodiment. The configuration of the control system 1 according to the third embodiment will now be described. Descriptions of configurations that overlap with the first and second embodiments will be omitted as appropriate. In the third embodiment, as shown in Figure 30, the two surrounding detection sensors 360, in their basic settings, each have a detection area 362 that includes only the stop area 366. Specifically, a first stop area 366A is set near the articulated robot 100, and a second stop area 366B is set in a wide area outside the first stop area 366A.

[0197] For the sake of explanation, in the third embodiment, the range of the detection area 362 of the first ambient detection sensor 360a in which the first stop area 366A 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 first stop area 366A is set in the basic settings is referred to as the second detection area 362B''.

[0198] Figure 31 is a side view showing the movable range of the TCP and the detection area of ​​the ambient detection sensor in the third embodiment. Similarly, the range of the detection area 362 of the first ambient detection sensor 360a in which the second stop area 366B is set in the basic settings is defined as the third detection area 362C''. Also, the range of the detection area 362 of the second ambient detection sensor 360b in which the second stop area 366B is set in the basic settings is defined as the fourth detection area 362D''. As shown in Figure 31, the detection area 362 of the ambient detection sensor 360 in the third embodiment also extends in the height direction.

[0199] In the third embodiment, the area control unit 236 is configured to perform detection area switching control, which switches at least a portion of the stopping area 366 to a deceleration area 364 according to the operating range of the articulated collaborative robot 100. Specifically, in the third embodiment, the area control unit 236 switches at least one of the stopping area 366 included in the detection area 362 of the first ambient detection sensor 360a and the stopping area 366 included in the detection area 362 of the second ambient detection sensor 360b to a deceleration area 364 according to the operating range of the articulated collaborative robot 100.

[0200] More specifically, in the detection area switching control, the area control unit 236 switches at least one of the first detection area 362A'' to the fourth detection area 362D'' from the deceleration area 364 to the stop area 366.

[0201] Furthermore, in the detection area switching control, the area control unit 236 switches 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 of the articulated collaborative robot 100, to a deceleration area 364. In the third embodiment, the stop area 366, which is set on a side other than the direction of movement of the robot hand 120, includes at least a first stop area 366A, which is set on the opposite side of the direction of movement of the robot hand 120. Specifically, the stop area 366, which is set on a side other than the direction of movement of the robot hand 120, includes at least a second detection area 362B′′ when the robot hand 120 moves toward the right of the set operating range R with respect to the set operating range R. Also, the stop area 366, which is set on a side other than the direction of movement of the robot hand 120, includes at least a first detection area 362A′′ when the robot hand 120 moves toward the left of the set operating range R.

[0202] Furthermore, the stop area 366 set on a side other than the direction of movement of the robot hand 120 may include at least a second stop area 366B set on the opposite side of the direction of movement of the robot hand 120. Specifically, the stop area 366 set on a side other than the direction of movement of the robot hand 120 may include a fourth detection area 362D′′ when the robot hand 120 moves toward the right of the set operating range R with respect to the set operating range R. Also, the stop area 366 set on a side other than the direction of movement of the robot hand 120 may include a third detection area 362C′′ when the robot hand 120 moves toward the left of the set operating range R.

[0203] Furthermore, when the robot hand 120 moves in a direction approaching the press brake 10 within the set operating range R, the stop area 366, which is set on a side other than the direction of movement of the robot hand 120, includes the third detection area 362C′′ and the fourth detection area 362D′′.

[0204] Figure 32 shows the operation of a loading job according to the provisional program of the third embodiment. Here, a specific example of detection area switching control will be explained. First, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in loading job 244a will be explained. If teaching of loading job 244a has not been performed, that is, if the operation of loading job 244a remains as in provisional program 244, in loading job 244a, the robot hand 120 (TCP) moves to the right of the set operating range R within the set operating range R after holding the workpiece, as shown in Figure 32 (arrow in Figure 32).

[0205] Therefore, the area control unit 236 switches the second detection area 362B'' (first stop area 366A) and the fourth detection area 362D'' (second stop area 366B) of the second ambient detection sensor 360b, which are stop areas 366 set on sides other than the direction of movement of the robot hand 120, from stop area 366 to deceleration area 364.

[0206] Furthermore, even if teaching of the loading job 244a has been performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the loading job 244a after the teaching reflection process, the area control unit 236 switches the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364.

[0207] Figure 33 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the third embodiment. Furthermore, as shown in Figure 33, if the loading job 244a includes an action (arrow in Figure 33) in which the robot hand 120 (TCP) holding the workpiece moves beyond the set operating range R toward the right side of the robot transport body 300, the area control unit 236 similarly switches the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364.

[0208] Figure 34 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the third embodiment. On the other hand, as shown in Figure 34, if the loading job 244a includes the movement of the robot hand 120 (TCP) beyond the set operating range R toward the left rear of the robot transport body 300 (arrow in Figure 34), the area control unit 236 switches the first detection area 362A'' (first stop area 366A) and the third detection area 362C'' (second stop area 366B) of the first ambient detection sensor 360a, which are set as stop areas 366 other than the direction of movement of the robot hand 120, from stop area 366 to deceleration area 364.

[0209] Figure 35 shows the operation of the approach job according to the provisional program of the third embodiment. Next, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in the approach job 244b (specifically, the approach selection job 246a) will be explained. If teaching of the approach job 244b has not been performed, that is, if the operation of the approach job 244b remains as in the provisional program 244, in the approach job 244b, the robot hand 120 (TCP) moves in the direction toward approaching the press brake 10 within the set operating range R, as shown in Figure 35 (arrow in Figure 35).

[0210] Therefore, the area control unit 236 switches the third detection area 362C′′ of the first ambient detection sensor 360a and the fourth detection area 362D′′ of the second ambient detection sensor 360b (both second stop area 366B), which are stop areas 366 set on sides other than the direction of movement of the robot hand 120, from stop area 366 to deceleration area 364.

[0211] Furthermore, even if teaching of approach job 244b has been performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of approach job 244b after the teaching reflection process, the area control unit 236 switches the third detection area 362C'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364.

[0212] Figure 36 shows the area switching that occurs when TCP moves outside the set operating range in the approach job of the third embodiment. On the other hand, as a result of teaching the approach job 244b, if the robot hand 120 (TCP) moves beyond the set operating range R in the operation of the approach job 244b after the teaching reflection process, the area control unit 236 switches the detection area 362 which is set to a side other than the direction of that movement. For example, as shown in Figure 36, if the robot hand 120 (TCP) moves to the right beyond the set operating range R (arrow in Figure 36) in the approach job 244b, the area control unit 236 switches the second detection area 362B'' (first stop area 366A) and the fourth detection area 362D'' (second stop area 366B) from stop area 366 to deceleration area 364.

[0213] Figure 37 shows the area switching that occurs when TCP moves outside the set operating range in the approach job of the third embodiment. Also, as shown in Figure 37, if the robot hand 120 (TCP) moves to the left beyond the set operating range R (arrow in Figure 37) as part of the approach job 244b, the area control unit 236 switches the first detection area 362A'' and the third detection area 362C'' from the stop area 366 to the deceleration area 364.

[0214] Figure 38 shows the operation of the unloading job according to the provisional program of the third embodiment. Next, the switching of the detection area 362 according to the operating range of the articulated collaborative robot 100 in the unloading job 244d will be explained. If teaching of the unloading job 244d has not been performed, the robot hand 120 (TCP) moves to the right side of the set operating range R, specifically toward the unloading box 500, as shown in Figure 38 (arrow in Figure 38). Therefore, the area control unit 236 switches the second detection area 362B'' (first stop area 366A) and the fourth detection area 362D'' (second stop area 366B) of the second ambient detection sensor 360b, which are stop areas 366 set on sides other than the direction of movement of the robot hand 120, from stop area 366 to deceleration area 364.

[0215] Furthermore, even if teaching has been performed for the unloading job 244d, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the unloading job 244d after the teaching reflection process, the area control unit 236 switches the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364.

[0216] Figure 39 shows the area switching that occurs when TCP moves outside the set operating range in the unloading job of the third embodiment. Furthermore, as shown in Figure 39, if the unloading job 244d includes an action (arrow in Figure 39) in which the robot hand 120 (TCP) moves beyond the set operating range R and downwards from the unloading box 500, the area control unit 236 similarly switches the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364.

[0217] Furthermore, in the third embodiment, the area control unit 236 is configured not 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. Specifically, the area control unit 236 is configured not to switch the stop area 366 to the deceleration area 364 when the vertical movement amount of the TCP set at the tip of the robot hand 120 deviates from the set height H.

[0218] By having this configuration, similar to the first and second embodiments, when the robot hand 120 is taught to operate at a high height, the deceleration area 364 can be switched to the stopping 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.

[0219] [Control Method According to the Third Embodiment] Next, the control method of the control system 1 according to the third embodiment will be described with reference to Figure 40. Note that descriptions of steps that overlap with the first and second embodiments will be omitted as appropriate. In the following example, the approach job 244b of the provisional program 244, which reflects the teaching information, will be described as a job that includes an operation exceeding the set operating range R. Specifically, the approach job 244b will be described as including an operation in which the robot hand 120 (TCP) of the articulated collaborative robot 100 moves to the left beyond the set operating range R.

[0220] After the robot control program 248 is executed and before the loading job 244a is executed, the area control unit 236 of the control unit 230 of the control device 200 performs detection area switching control (S300 in Figure 40: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 in the basic setting to the deceleration area 364. Then, the second ambient detection sensor 360b of the ambient detection sensor 360 switches the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364 (S320 in Figure 40: area switching process).

[0221] Subsequently, the articulated collaborative robot 100 executes the loading job 244a (S310 in Figure 40: Loading job execution process). After the loading job 244a is executed, the second ambient detection sensor 360b switches the second detection area 362B'' and the fourth detection area 362D'' from the deceleration area 364 to the default stop area 366 (S321 in Figure 40: Area switching process).

[0222] The second ambient detection sensor 360b may automatically switch between the second detection area 362B'' and the fourth detection area 362D'' after the execution of the loading job 244a, or it may switch between the second detection area 362B'' and the fourth detection area 362D'' during the detection area switching control performed before the execution of the approach job 244b, which will be described later.

[0223] Furthermore, the area control unit 236 of the control unit 230 performs detection area switching control before the execution of the approach job 244b (S301 in Figure 40: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the first detection area 362A'' and the third detection area 362C'' of the detection area 362 from the stop area 366 of the basic setting to the deceleration area 364. Then, the first ambient detection sensor 360a of the ambient detection sensors 360 switches the first detection area 362A'' and the third detection area 362C'' from the stop area 366 to the deceleration area 364 (S322 in Figure 40: area switching process).

[0224] Next, the articulated collaborative robot 100 executes the approach job 244b (S311 in Figure 40: Approach job execution process). After the execution of the approach job 244b, the first ambient detection sensor 360a switches the first detection area 362A'' and the third detection area 362C'' from the deceleration area 364 to the basic setting stop area 366 (S323 in Figure 40: Area switching process).

[0225] The first ambient detection sensor 360a may automatically switch between the first detection area 362A′′ and the third detection area 362C′′ after the execution of the approach job 244b, or it may switch between the first detection area 362A′′ and the third detection area 362C′′ during the detection area switching control performed before the execution of the unloading job 244d, which will be described later.

[0226] After the execution of the workpiece retrieval job 244c and before the execution of the unloading job 244d, the area control unit 236 of the control unit 230 performs detection area switching control (S302 in Figure 40: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 in the basic setting to the deceleration area 364. Then, the second ambient detection sensor 360b switches the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364 (S324 in Figure 40: area switching process).

[0227] Next, the articulated collaborative robot 100 executes the unloading job 244d (S313 in Figure 40: unloading job execution step). After the execution of the unloading job 244d, the second ambient detection sensor 360b switches the second detection area 362B'' and the fourth detection area 362D'' from the deceleration area 364 to the basic setting stop area 366 (S325 in Figure 40: area switching step). Through these steps, a series of control methods by the control system 1 according to the third embodiment are executed.

[0228] [Advantages of the control device, control system, control method, and control program according to the third embodiment] As described above, the control device 200 according to the third embodiment, like the control device 200 according to the first and second embodiments, includes a control unit 230 that controls the articulated collaborative robot 100 and is configured to set a detection area 362 for detecting objects around the articulated collaborative robot 100. The detection area 362 includes at least one of a deceleration area 364 and a stop area 366, and the control unit 230 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 according to the operating range of the articulated collaborative robot 100.

[0229] Furthermore, the control device 200 according to the third embodiment has the advantage that, by having such a configuration, the ranges of the deceleration area 364 and the stopping area 366 can be changed within the detection area 362 which includes either the deceleration area 364 or the stopping area 366, according to the operating range of the articulated collaborative robot 100, simply by switching at least a part of one of the deceleration area 364 or the stopping area 366 to the other. Therefore, it does not require complex control to change the detection area 362 according to the operation of the articulated collaborative robot 100, and safety can be ensured with simple area switching.

[0230] Furthermore, while the area changing device described in Patent Document 1 cannot change the ratio of the deceleration area 364 to the stopping area 366, the control device 200 according to the third embodiment has the further advantage of being able to perform special safety controls, such as reducing the stopping area 366 only to the extent that safety is ensured and it is not necessary to set a stopping area 366.

[0231] Furthermore, in the control device 200 according to the third embodiment, the control unit 230 switches 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 of the articulated collaborative robot 100, to a deceleration area 364 during detection area switching control. By having such a configuration, only the range of the detection area 362 where there is no danger from the movement of the robot hand 120 and where safety can be ensured is switched to the deceleration area 364, which has the advantage of ensuring safety with simple area switching.

[0232] Furthermore, in the control system 1 according to the third embodiment, the articulated collaborative robot 100 is positioned so as to be unable to move relative to the object being transported, similar to the first and second embodiments. This configuration has the advantage that, since the positional relationship between the articulated collaborative robot 100 and the object being transported does not change, there is no need to change the detection area 362 in response to changes in the position of the object being transported, and safety can be ensured by simply switching between preset detection areas 362.

[0233] [Configuration of the control system according to the fourth embodiment] Figures 41 and 42 are schematic diagrams showing the control system according to the fourth embodiment. The configuration of the control system 1' according to the fourth embodiment will now be described. Note that the description of configurations that overlap with the first to third embodiments will be omitted as appropriate. As shown in Figures 41 and 42, the control system 1' according to the fourth embodiment includes an entry detection sensor 380 that detects the entry of an object into the detection area 362 of the surrounding detection sensor 360.

[0234] [Configuration of the entry detection sensor] Figure 44 is a side view showing the movable range of the TCP in the fourth embodiment and the height direction detection area of ​​the entry detection sensor. As shown in Figure 44, 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 the fourth embodiment, the entry detection sensor 380 is a two-dimensional scanning range sensor (safety laser scanner). In the fourth embodiment, the entry detection sensor 380 is positioned on the floor surface on the press brake 10 side, as shown in Figures 1 and 2. In the fourth embodiment, "positioned on the press brake side" means that it is positioned closer to the press brake 10 than the robot transport body 300, and more specifically, it means that it is positioned adjacent to the front of the press brake 10.

[0235] Figure 43 is a plan view showing the movable range of the TCP and the detection area of ​​the surrounding detection sensor in the fourth embodiment. Specifically, the control system 1' according to the fourth embodiment is equipped with two entry detection sensors 380, as shown in Figures 41 to 43. 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 the fourth embodiment). In other words, the control system 1' according to the fourth embodiment is provided with height direction detection areas 382 on the left and right sides of the articulated collaborative robot 100.

[0236] For the sake of explanation, in the fourth 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] Figure 50 shows a first modified example of the control system of the fourth 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 an unloading box 500 will be described. As shown in Figure 50, 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 positioned adjacent to the front of the belt conveyor 600.

[0241] Figure 51 shows a second modified example of the control system of the fourth embodiment. As shown in Figure 51, 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, at a distance equal to the light-shielding stop distance from the right end of the expanded movable range A of the TCP.

[0242] 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.

[0243] Figure 45 is a perspective view showing the detection area of ​​the ambient detection sensor and the height direction detection area of ​​the entry detection sensor in the fourth embodiment. The height direction detection area 382 is set in a direction that intersects with the detection area 362 of the ambient detection sensor 360. In the fourth embodiment, the height direction 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 43 and 45. In addition, the height direction 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.

[0244] Specifically, the height detection area 382 of the first entry detection sensor 380a extends to the right end of the detection area 362, specifically, on 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, on 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.

[0245] 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 various arbitrary directions, as long as it is possible to save space while ensuring the safety of the user.

[0246] The height range of the height detection area 382 may be set to include at least the height range of the TCP's movable range A. The depth range of the height detection area 382 may also be set to include at least the depth range of the TCP's movable range A. 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.

[0247] In the fourth embodiment, the depth direction of the height detection area 382 and the depth direction of the movable range A of the TCP are in the opposing directions of the articulated collaborative robot 100 and the press brake 10. 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.

[0248] For the sake of explanation, in the fourth 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.

[0249] 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.

[0250] [Configuration of the control device according to the fourth embodiment] In the fourth embodiment, the control device 200 is configured to also control the entry detection sensor 380. 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.

[0251] In the fourth 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 the fourth 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.

[0252] Specifically, the robot control unit 238 executes deceleration control if the amount of horizontal movement of the TCP does not deviate from the set operating range R. Also, the robot control unit 238 executes stop control if the amount of horizontal movement of the TCP deviates from the set operating range R. In the fourth embodiment, the robot control unit 238 switches the control of the articulated collaborative robot 100 from deceleration control to stop control when the entry of an object is detected by the first entry detection sensor 380a and the second entry detection sensor 380b, depending on the operating range of the articulated collaborative robot 100.

[0253] 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.

[0254] 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.

[0255] 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).

[0256] A robot control unit 238 with this configuration is configured to perform deceleration control when an object is detected approaching by an approach detection sensor 380 located on the side of the robot hand 120's movement direction, while the horizontal movement amount of the robot hand 120 does not exceed a predetermined set movement range R. Furthermore, the robot control unit 238 is configured to perform stop control when an object is detected approaching by an approach detection sensor 380 located on the side of the movement direction, while the horizontal movement amount of the robot hand 120 exceeds a predetermined set movement range R.

[0257] Figure 46 shows the operation of a loading job according to the provisional program of the fourth embodiment. For example, as shown in Figure 46, 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.

[0258] Figure 47 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the fourth embodiment. On the other hand, for example, as shown in Figure 47, if the loading job 244a includes an action (arrow in Figure 47) in which the robot hand 120 (TCP) moves beyond the set operating range R toward the right side of the robot transporter 300, 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.

[0259] Specifically, during the operation shown in Figure 47, 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 47, the robot control unit 238 executes a deceleration control when it detects the entry of an object using the second entry detection sensor 380b.

[0260] In the fourth 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 the fourth 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 244a 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 244a is being executed.

[0261] Figure 48 shows the area switching that occurs when TCP moves outside the set operating range in the loading job of the fourth embodiment. Also, as shown in Figure 48, if the loading job 244a includes a movement (arrow in Figure 48) in which the robot hand 120 (TCP) moves beyond the set operating range R toward the left rear of the robot transporter 300, the robot control unit 238 detects the entry of an object by the second entry detection sensor 380b and switches the control of the articulated collaborative robot 100 from deceleration control to stop control.

[0262] Specifically, during the operation shown in Figure 48, 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 48, the robot control unit 238 executes stop control when it detects the entry of an object using the second entry detection sensor 380b.

[0263] 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) moves beyond the set operating range R, regardless of which entry detection sensor 380 detects the entry of an object.

[0264] 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.

[0265] Furthermore, in the fourth 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 the TCP does not deviate from the set height H. The robot control unit 238 also performs stop control if the vertical movement amount of the TCP deviates from the set height H.

[0266] 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.

[0267] 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.

[0268] 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.

[0269] Alternatively, 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.

[0270] [Control Method According to the Fourth Embodiment] Figure 49 is a flowchart showing an example of a process performed by the control system according to the fourth embodiment. Here, the control method of the control system 1' according to the fourth embodiment will be described with reference to Figure 49. Note that the series of steps related to the creation of the provisional program 244 will be omitted from the description. In general terms, the control method according to the fourth 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.

[0271] An example of the processing performed by the control system 1' when the robot control program 248 is executed will be described. Note that the series of steps from the provisional program creation step to the robot control program execution step are the same as in the first to third embodiments, so the explanation will be omitted. In the example shown below, it will be explained that the loading job 244a 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 244a 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.

[0272] Furthermore, in the following examples, it will be explained that during the execution of loading job 244a and workpiece retrieval job 244c, the user enters the detection area 362 from the first height direction 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.

[0273] After the robot control program 248 is executed, and before the loading job 244a is executed, the area control unit 236 of the control unit 230 of the control device 200 performs detection area switching control (S400 in Figure 49: detection area switching control process). Specifically, the area control unit 236 performs detection area switching control to switch the third detection area 362C'''' from the deceleration area 364 of the detection area 362 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 (S420 in Figure 49: area switching process).

[0274] Subsequently, the articulated collaborative robot 100 executes the loading job 244a (S410 in Figure 49: Loading job execution process). During the execution of an operation that exceeds the set operating range R included in the loading job 244a, 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 (S430 in Figure 49: Object detection process).

[0275] 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 (S401 in Figure 49: 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 (S411 in Figure 49: Operation stop step).

[0276] 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 blocked. 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 within the third detection area 362C''.

[0277] As described above, the third detection area 362C'''' is switched to the stop area 366 before the loading job 244a 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 other detection area 362, the surrounding detection sensor 360 and the entry detection sensor 380 cease to detect objects.

[0278] Therefore, the robot control unit 238 instructs the articulated collaborative robot 100 to resume the operation of the loading job 244a. 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 operation of the loading job 244a. The articulated collaborative robot 100 then resumes the loading job 244a (S412 in Figure 49: Job resumption process).

[0279] Furthermore, if, while performing an operation that exceeds the set operating range R included in the loading job 244a, 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.

[0280] 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, when 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, if the first entry detection sensor 380a detects an object while performing an operation other than an operation exceeding the set operating range R in the loading job 244a, the robot control unit 238 also performs deceleration control.

[0281] After the loading job 244a is executed, the first ambient detection sensor 360a switches the third detection area 362C'''' from the stop area 366 to the default deceleration area 364 (S421 in Figure 49: Area switching process).

[0282] Next, the articulated collaborative robot 100 executes the approach job 244b (S413 in Figure 49: approach job execution process). After that, the articulated collaborative robot 100 executes the workpiece retrieval job 244c (S414 in Figure 49: workpiece retrieval job execution process). During the execution of the workpiece retrieval job 244c, 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.

[0283] 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 (S431 in Figure 49: object detection step). 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 (S402 in Figure 49: deceleration control execution step). By executing deceleration control by the robot control unit 238, the articulated collaborative robot 100 slows down the operating speed of the loading job 244a (S415 in Figure 49: deceleration step).

[0284] 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.

[0285] 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.

[0286] 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 operating speed of the loading job 244a to its normal speed. The articulated collaborative robot 100 then restores the operating speed of the loading job 244a (S416 in Figure 49: Speed ​​recovery process).

[0287] Next, the articulated collaborative robot 100 executes the unloading job 244d (S417 in Figure 49: unloading job execution step). Through the above steps, a series of control methods by the control system 1' according to the fourth embodiment are executed.

[0288] [Advantages of the control system, control device, control method, and control program according to the fourth embodiment] As described above, the control system 1' according to the fourth embodiment includes 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.

[0289] Furthermore, the control system 1' according to the fourth embodiment, by having this configuration, includes an entry detection sensor 380 in addition to the surrounding detection sensor 360 that detects the entry of an object into the detection area 362 of 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 no longer 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.

[0290] Furthermore, in the control system 1' according to the fourth 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.

[0291] Furthermore, in the control system 1' according to the fourth 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 in the 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.

[0292] Furthermore, in the control system 1' according to the fourth 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.

[0293] Furthermore, in the control system 1' according to the fourth 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, the system can perform stop control to further enhance user safety, or if the risk is low, it can remain in deceleration control to ensure safety while minimizing any loss of work efficiency.

[0294] Furthermore, in the control system 1' according to the fourth 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'.

[0295] [Modifications] 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.

[0296] For example, in the first embodiment described above, the control unit 230 was described as being configured to perform 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, but it is not limited to this. The control unit 230 does not have to perform detection area switching control when the amount of horizontal movement of the robot hand 120 exceeds a predetermined set operating range R. Also, the control unit 230 may perform detection area switching control regardless of the amount of horizontal movement of the robot hand 120 of the articulated collaborative robot 100.

[0297] In the first and second embodiments described above, the control unit 230 was described as switching the deceleration area 364, 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 in the detection area switching control, but it is not limited to this. The control unit 230 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 in the detection area switching control.

[0298] In the third embodiment described above, the control unit 230 was described as switching 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 of the articulated collaborative robot 100, to the deceleration area 364 in the detection area switching control, but it is not limited to this. The control unit 230 does not have 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.

[0299] In the first to fourth embodiments described above, the articulated collaborative robot 100 was described as being positioned so as not to be able to move relative to the object being transported, but it is not limited to this. The articulated collaborative robot 100 may be positioned so as to be able to move relative to the object being transported.

[0300] In the first to fourth embodiments described above, the switching of the detection area 362 was described as being performed for jobs in which the robot hand 120 of the articulated collaborative robot 100 moves while holding a workpiece, but it is not limited to this. The switching of the detection area 362 may also be performed for jobs in which the robot hand 120 moves while not holding a workpiece, such as the workpiece retrieval job 244c (specifically, the workpiece retrieval selection job 246b).

[0301] In the first to fourth embodiments described above, the detection area 362 was described as including four ranges: first detection area 362A, 362A', 362A'', 362A'''', second detection area 362B, 362B', 362B'', 362B'''', third detection area 362C, 362C', 362C'', 362C'''', and fourth detection area 362D, 362D', 362D'''', 362D''''. However, it is not limited to this, and the detection area 362 may include five or more ranges, or three or fewer ranges.

[0302] In the first, second, and fourth 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. Also, in the third embodiment described above, the area control unit 236 was described as being configured not to perform detection area switching control when the vertical movement amount of the robot hand 120 exceeds a predetermined set height H, but it is not limited to this. The area control unit 236 may perform detection area switching control even when the vertical movement amount of the robot hand 120 exceeds a predetermined set height H.

[0303] In the first to fourth embodiments described above, the area control unit 236 was 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 adding information to the provisional program 244 in advance for executing detection area switching control if an operation exceeding the predetermined set operating range R is found, but it is not limited to this. The area control unit 236 may also 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.

[0304] In the first and fourth embodiments described above, the first detection areas 362A, 262A'' and the second detection areas 362B, 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 areas 362A, 362A'' and the second detection areas 362B, 362B'' do not need to be switchable from the stopping area 366 to the deceleration area 364.

[0305] In the second embodiment described above, the area control unit 236 was described as switching the first deceleration area 364A, which is set on the side of the movement direction of the robot hand 120 of the articulated collaborative robot 100, to the stop area 366 in the detection area switching control, but it is not limited to this. The area control unit 236 may switch the entire first deceleration area 364A (in the second embodiment, the first detection area 362A' and the second detection area 362B') to the stop area 366 when the robot hand 120 moves while holding a workpiece. Alternatively, the area control unit 236 may switch the entire first deceleration area 364A to the stop area 366 when the robot hand 120 moves, regardless of whether the robot hand 120 is holding a workpiece or not.

[0306] In the third embodiment described above, if teaching of the loading job 244a is not performed, or even if teaching of the loading job 244a is performed, the area control unit 236 is described as switching the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364 when the robot hand 120 (TCP) moves within the set operating range R during the operation of the loading job 244a after the teaching reflection process, but it is not limited to this. The area control unit 236 may also switch the third detection area 362C'' from the stop area 366 to the deceleration area 364 in addition to the second detection area 362B'' and the fourth detection area 362D''.

[0307] Similarly, if teaching of the unloading job 244d has not been performed, or even if teaching of the unloading job 244d has been performed, if the robot hand 120 (TCP) moves within the set operating range R during the operation of the unloading job 244d after the teaching reflection process, the area control unit 236 may switch the third detection area 362C'' in addition to the second detection area 362B'' and the fourth detection area 362D'' from the stop area 366 to the deceleration area 364.

[0308] In the third embodiment described above, the area control unit 236 was described as switching at least the first stop area 366A, which is set on the opposite side of the movement direction of the robot hand 120 of the articulated collaborative robot 100, to the deceleration area 364 in the detection area switching control, but it is not limited to this. The area control unit 236 may not switch the first stop area 366A to the deceleration area 364, but may switch only the second stop area 366B to the deceleration area 364. That is, the first stop area 366A may be configured so that it cannot be switched to the deceleration area 364, and the area control unit 236 may be configured to perform detection area switching control that switches at least a part of the second stop area 366B to the deceleration area 364 according to the operating range of the articulated collaborative robot 100.

[0309] In the first to fourth embodiments described above, the control systems 1 and 1' were described as including a robot transporter 300, but the system is not limited to this, and the control systems 1 and 1' do not need to include a robot transporter 300. Also, although the robot transporter 300 was described as having wheels, the system is not limited to this, and does not need to have wheels.

[0310] In the first to fourth 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 does not need to be able to perform question processing and answer reception processing. Also, although the control unit 230 of the control device 200 was described as including the provisional program creation unit 232, it is not limited to this, and the control unit 230 does not need to 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.

[0311] In the first to fourth 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.

[0312] In the first to fourth 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 do not have to 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 does not have to 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.

[0313] In the first to fourth embodiments described above, the loading job 244a of the provisional program 244 was described as not including the selection job 246 for the articulated collaborative robot 100. However, it is not limited to this, and the loading job 244a may include the selection job 246 for the articulated collaborative robot 100. Similarly, the unloading job 244d of the provisional program 244 was described as not including the selection job 246 for the articulated collaborative robot 100. However, it is not limited to this, and the unloading job 244d may include the selection job 246 for the articulated collaborative robot 100.

[0314] In the first to fourth 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. Also, the control device 200 does not have to be able to control the press brake 10. Furthermore, the control systems 1, 1' may include a press control device for controlling the press brake 10 separately from the control device 200.

[0315] In the first to fourth embodiments described above, the provisional program 244 was described as including a loading job 244a, an approach job 244b, a workpiece retrieval job 244c, and an unloading job 244d. However, it is not limited to this, and the provisional program 244 may include various arbitrary jobs. For example, the provisional program 244 was described as not including a press brake selection job 246. However, it is not limited to this, and the provisional program 244 may include a press brake selection job 246.

[0316] In the fourth 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 detection area 362 was described in the fourth embodiment above as including 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.

[0317] In the fourth embodiment 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 in the detection area switching control, but 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 in the detection area switching control. For example, in the basic settings, the detection area 362 includes only the stop area 366, and in the 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.

[0318] In the fourth embodiment 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 an action to avoid the robot hand 120 and the workpiece coming into contact with the entered object.

[0319] In the fourth embodiment 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.

[0320] In the first to fourth embodiments described above, the ambient detection sensor 360 was described as a two-dimensional scanning range sensor, but it is not limited to this. The ambient detection sensor 360 may be a three-dimensional scanning range sensor or the like. Also, in the fourth embodiment, the entry detection sensor 380 was described as a two-dimensional scanning range sensor, but it is not limited to this. The entry detection sensor 380 may be a three-dimensional scanning range sensor or the like.

[0321] Figure 52 shows a third modified example of the control system of the fourth embodiment. In the fourth embodiment 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 52, 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 include the first entry detection sensor 380a.

[0322] In the fourth embodiment 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.

[0323] 1,1' Control System 10 Press Brake 11 Upper Table 12 Lower Table 14 Upper Die Holder 15 Lower Die Holder 16 Drive Mechanism 100 Articulated Collaborative Robot 120 Robot Hand 140 Robot Arm 142 Arm Section 142a First Arm Section 142b Second Arm Section 142c Third Arm Section 144 Joint Section 144a First Joint Section 144b Second Joint Section 144c Third Joint Section 150 Hand Connection Section 160 Transporter Connection Section 200 Control Device 210 Input Section 220 Display Section 230 Control Unit 232 Provisional Program Creation Section 234 Teaching and Reflection Section 236 Area Control Section 238 Robot Control Unit 240 Storage Section 244 Provisional Program244a Loading job 244b Approach job 244c Workpiece retrieval job 244d Unloading job 245 Fixed job 245a Loading fixed job 245b Approach fixed job 245c Gauging job 245d First press job 245e Workpiece retrieval fixed job 245f Second press job 245g Unloading fixed job 246 Selection job 246a Approach selection job 246b Workpiece retrieval selection job 248 Robot control program 300 Robot transport body 360 Ambient detection sensor 360a First ambient detection sensor 360b Second ambient detection sensor 362 Detection area 362A, 362A', 362A'', 362A''' First detection area 362B, 362B', 362B'', 362B''' Second detection area 362C, 362C', 362C'', 362C'' Third detection area 362D, 362D', 362D'', 362D'' Fourth detection area 364 Deceleration area 364A First deceleration area 364B Second deceleration area366 Stopping Area 366A First Stopping Area 366B Second Stopping Area 380 Entry 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 Box 600 Belt Conveyor A TCP Movable Range H Set Height L Lower Type R Set Operating Range U Upper Type

Claims

1. A control device comprising a control unit that controls a multi-joint collaborative robot for transporting a workpiece to a transport target, and is configured to set a detection area for detecting objects around the multi-joint collaborative robot, wherein the detection area includes at least one of a deceleration area in which the control unit reduces the operating speed of the multi-joint collaborative robot when an object is detected, and a stop area in which the control unit stops the operation of the multi-joint collaborative robot when an object is detected, and the control unit is configured to perform detection area switching control, which switches at least a part of one of the deceleration area and the stop area to the other depending on the operating range of the multi-joint collaborative robot.

2. The control device according to claim 1, wherein the control unit is configured to execute the detection area switching control when the amount of horizontal movement of the robot hand of the articulated collaborative robot exceeds a predetermined set operating range.

3. The control device according to claim 1 or 2, wherein, in the detection area switching control, the control unit switches the deceleration area set on the side of the movement direction of the robot hand of the articulated collaborative robot to the stop area.

4. The control device according to claim 1 or 2, wherein, in the detection area switching control, the control unit switches at least a portion of the stop area, which is set on a side other than the direction of movement of the robot hand of the articulated collaborative robot, to the deceleration area.

5. A control system comprising: an articulated collaborative robot for transporting a workpiece to a transport target; a detection sensor for detecting objects around the articulated collaborative robot; and a control device for controlling the articulated collaborative robot, wherein the control device includes a control unit configured to set a detection area in which the detection sensor detects the object, the detection area includes at least one of a deceleration area in which the control unit reduces the operating speed of the articulated collaborative robot when an object is detected, and a stop area in which the control unit stops the operation of the articulated collaborative robot when an object is detected, and the control unit is configured to perform detection area switching control to switch at least a part of one of the deceleration area and the stop area to the other depending on the operating range of the articulated collaborative robot.

6. The control system according to claim 5, wherein the articulated collaborative robot is positioned so as not to be able to move relative to the object to be transported.

7. A control method for controlling an articulated collaborative robot that transports a workpiece to a transport target, and for setting a detection area that includes at least one of a deceleration area that reduces the operating speed of the articulated collaborative robot when it detects an object around the articulated collaborative robot, and a stop area that stops the operation of the articulated collaborative robot when it detects the object, wherein the control device performs detection area switching control, which switches at least a part of one of the deceleration area and the stop area to the other according to the operating range of the articulated collaborative robot.

8. A control program that controls an articulated collaborative robot that transports a workpiece to a transport target, and causes a control device configured to set a detection area that includes at least one of a deceleration area that reduces the operating speed of the articulated collaborative robot when an object is detected around the articulated collaborative robot, and a stop area that stops the operation of the articulated collaborative robot when an object is detected, to execute detection area switching control that switches at least a part of one of the deceleration area and the stop area to the other, according to the operating range of the articulated collaborative robot.

9. A control system comprising: an articulated collaborative robot for transporting a workpiece to a transport target; an ambient detection sensor for detecting objects around the articulated collaborative robot; an entry detection sensor for detecting the entry of an object into the detection area of ​​the ambient detection sensor; and a control device for controlling the articulated collaborative robot, wherein the entry detection sensor has a height-direction 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.

10. The control system according to claim 9, wherein the detection area of ​​the surrounding detection sensor has at least one of a deceleration area in which the control device reduces the operating speed of the articulated robot when an object is detected, and a stop area in which the control device stops the operation of the articulated robot when an object is detected, and the control device is configured to perform detection area switching control to switch at least a part of one of the deceleration area and the stop area to the other depending on the operating range of the articulated robot.

11. The control system according to claim 10, wherein, in the detection area switching control, the control device switches the deceleration area of ​​the detection area set on the side of the movement direction of the robot hand of the articulated collaborative robot to the stop area.

12. The control system according to claim 9 or 10, wherein 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.

13. The control system according to claim 12, wherein the control device is configured to switch between the deceleration control and the stop control according to the operating range of the articulated collaborative robot.

14. The control system according to any one of claims 9 to 11, wherein the surrounding detection sensor and the entry detection sensor are two-dimensional scanning range sensors.

15. A control device that controls an articulated collaborative robot that transports a workpiece to a transport target, and is 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, wherein the control device is configured to control the operation of the articulated collaborative robot according to the detection results of the detection area and the height-direction detection area.

16. A control method for controlling an articulated collaborative robot that transports a workpiece to a transport target, and for controlling the operation of the articulated collaborative robot according to the detection results of the detection area and the height-direction detection area, which is 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 for detecting the entry of the object into the detection area.

17. A control program that controls an articulated collaborative robot that transports a workpiece to a transport target, and that causes a control device configured to set a detection area for detecting objects around the articulated collaborative robot and a height-direction detection area extending in a direction intersecting the detection area and detecting the entry of the object into the detection area, to control the operation of the articulated collaborative robot according to the detection results of the detection area and the height-direction detection area.

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