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JP-7855049-B1 - Control device, control system, control method, and control program

JP7855049B1JP 7855049 B1JP7855049 B1JP 7855049B1JP-7855049-B1

Abstract

[Problem] A control device, control system, control method, and control program that can ensure safety through simple area switching. [Solution] The system includes a control unit that controls a multi-joint collaborative robot that transports a workpiece to a transport target, and is configured to set a detection area for detecting objects around the multi-joint collaborative robot, the detection area including 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 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 multi-joint collaborative robot. [Selection Diagram] Figure 18

Inventors

  • 岩永 洋志
  • 大須賀 翔

Assignees

  • 株式会社アマダ

Dates

Publication Date
20260507
Application Date
20241030

Claims (7)

  1. The system includes a control unit that controls a multi-joint collaborative robot that transports a workpiece to a transport target, and is configured to set a range that functions as a deceleration area and a stop area within the detection area where a detection sensor that detects objects around the multi-joint collaborative robot detects objects. The detection area includes a plurality of areas formed by dividing the detection area, The aforementioned deceleration area is an area in which the control unit reduces the operating speed of the articulated robot when it detects the object. The aforementioned stopping area is an area in which the control unit stops the operation of the articulated robot when it detects the object. The control unit is configured to be able to set whether each of the plurality of areas functions as a deceleration area or as a stopping area. The control unit is configured to perform area switching control, which changes one of the deceleration area and the stop area set in the plurality of areas to the other, according to the operating range of the articulated collaborative robot. The control unit is configured to execute the area switching control when the amount of horizontal movement of the robot hand of the articulated collaborative robot exceeds a predetermined set range of motion.
  2. The control device according to claim 1, wherein in the 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.
  3. The control device according to claim 1, wherein in the 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.
  4. A multi-joint collaborative robot that transports a workpiece to a target object, A detection sensor for detecting objects around the aforementioned articulated robot, The system includes a control device for controlling the aforementioned articulated robot, The control device includes a control unit configured to set a range that functions as a deceleration area and a range that functions as a stopping area within the detection area where the detection sensor detects the object, The detection area includes a plurality of areas formed by dividing the detection area, The aforementioned deceleration area is an area in which the control unit reduces the operating speed of the articulated robot when it detects the object. The aforementioned stopping area is an area in which the control unit stops the operation of the articulated robot when it detects the object. The control unit is configured to be able to set whether each of the plurality of areas functions as a deceleration area or as a stopping area. The control unit is configured to perform area switching control, which changes one of the deceleration area and the stop area set in the plurality of areas to the other, according to the operating range of the articulated collaborative robot. The control unit is configured to execute the area switching control when the amount of horizontal movement of the robot hand of the articulated collaborative robot exceeds a predetermined set range.
  5. The control system according to claim 4, wherein the articulated collaborative robot is positioned so as not to be able to move relative to the object to be transported.
  6. A control device that controls a multi-joint collaborative robot that transports a workpiece to a transport target, and that is configured to set a range that functions as a deceleration area and a stop area within the detection area that detects objects around the multi-joint collaborative robot, performs area switching control according to the operating range of the multi-joint collaborative robot. The detection area includes a plurality of areas formed by dividing the detection area, The aforementioned deceleration area is an area in which the control device reduces the operating speed of the articulated robot when it detects the object. The aforementioned stopping area is an area in which the control device stops the operation of the articulated robot when it detects the object. The control device is configured to allow setting whether each of the plurality of areas functions as a deceleration area or as a stopping area. The control device executes the area switching control when the amount of horizontal movement of the robot hand of the articulated collaborative robot exceeds a predetermined set operating range . The area switching control is a control that changes one of the deceleration area and the stop area set in the plurality of areas to the other. Control method.
  7. A control device is configured to control a multi-joint collaborative robot that transports a workpiece to a target object, and to enable setting of areas that function as a deceleration area and a stopping area within the detection area that detects objects around the multi-joint collaborative robot. The control device is configured to perform area switching control according to the operating range of the multi-joint collaborative robot. The detection area includes a plurality of areas formed by dividing the detection area, The aforementioned deceleration area is an area in which the control device reduces the operating speed of the articulated robot when it detects the object. The aforementioned stopping area is an area in which the control device stops the operation of the articulated robot when it detects the object. The control device is configured to allow setting whether each of the plurality of areas functions as a deceleration area or as a stopping area. When the amount of horizontal movement of the robot hand of the articulated collaborative robot exceeds a predetermined set operating range, the control device is instructed to execute the area switching control . The area switching control is a control that changes one of the deceleration area and the stop area set in the plurality of areas to the other. Control program.

Description

This invention relates to a control device, a control system, a control method, and a control program. Conventionally, there are safety devices that are attached to self-propelled mobile devices or robots mounted on mobile devices, and that include a sensor for detecting objects within a predetermined detection area set relative to its own position, and an area changing device for changing the predetermined detection area according to the operating state of the mobile device and robot (for example, Patent Document 1). The area changing device described in Patent Document 1 can switch between a first detection area, which is a predetermined detection area extending at least in the direction of travel of the traveling device when the robot is not operating and the traveling device is moving, and a second detection area, which is a predetermined detection area extending at least toward the movable area in which the robot can operate, when the traveling device is not moving and the robot is operating. Patent No. 7421346 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 the control system of 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 in the first embodiment and the detection area of the safety laser scanner.Figure 5 is a side view showing the movable range of the TCP in the first embodiment and the detection area of the safety laser scanner.Figure 6 is a functional block diagram showing the control device of the first embodiment.Figure 7 is a flowchart showing an example of a process performed by the control device of the first embodiment.Figure 8 shows a provisional program for the first embodiment.Figure 9 shows the operation of the loading job according to the provisional program of the first embodiment.Figure 10 shows the area switching that occurs when the TCP goes outside the set operating range in the loading job of the first embodiment.Figure 11 shows the area switching that occurs when the TCP goes outside the set operating range in the loading job of the first embodiment.Figure 12 shows the operation of the approach job according to the provisional program of the first embodiment.Figure 13 shows the area switching that occurs when the TCP moves outside the set operating range in the approach job of the first embodiment.Figure 14 shows the area switching that occurs when the TCP moves outside the set operating range in the approach job of the first embodiment.Figure 15 shows the operation of the unloading job according to the provisional program of the first embodiment.Figure 16 shows the area switching that occurs 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 a process performed by the control system of the first embodiment.Figure 18 is a flowchart showing an example of a process 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 safety laser scanner in the second embodiment.Figure 20 is a side view showing the movable range of the TCP and the detection area of the safety laser scanner in the second embodiment.Figure 21 shows the operation of the loading job according to the provisional program of the second embodiment.Figure 22 shows the area switching that occurs when the TCP goes outside the set operating range in the loading job of the second embodiment.Figure 23 shows the area switching that occurs when the TCP goes outside the set operating range in the loading job of the second embodiment.Figure 24 shows the operation of the approach job according to the provisional program of the second embodiment.Figure 25 shows the area switching that occurs when the TCP is outside the set operating range in the approach job of the second embodiment.Figure 26 shows the area switching that occurs when the TCP moves outside the set operating range in the approach job of the second embodiment.Figure 27 shows the operation of the unloading job according to the provisional program of the second embodiment.Figure 28 shows the area switching that occurs when the TCP goes outside the set operating range in the unloading job of the second embodiment.Figure 29 is a flowchart showing an example of a process performed 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 safety laser scanner in the third embodiment.Figure 31 is a side view showing the movable range of the TCP and the detection area of the safety laser scanner in the third embodiment.Figure 32 shows the operation of the loading job according to the provisional program of the third embodiment.Figure 33 shows the area switching that oc