JPH09311883A - Designing/manufacturing process supporting device for mechanical equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device simultaneously evaluating the assembling/ disassembling simulation for mechanical equipment and its operation/operability in a virtual three-dimensional space within a computer, transmitting and reproducing its operation contents/evaluating result concerning a designing/ manufacturing process supporting device for mechanical equipment. SOLUTION: While generating and arranging parts in the virtual three- dimensional space 69 based on an inputted data 81 and executing fast interference check (60, 64 and 65), simulation and operability are evaluated by using he moving/rotating of the parts (58, 62 and 70). A processing history/evaluation result are recorded (71) and processing contents are edited if necessary (72). The recorded processing history, etc., is communicated (57) and a communication opposite party reproduces the processing history within the virtual three- dimensional space within its own system (67), executes exclusive control (59) and executes simulation and evaluation in common at the same time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
Simulation of disassembly work is performed by moving / rotating by a shape model having attributes such as weight of mechanical parts in virtual three-dimensional space, and evaluated by high-speed interference determination means that is executed at the same time. The present invention relates to an interactive mechanical device design / manufacturing process support device that evaluates the assembling property by collating them.

[0002]

2. Description of the Related Art Conventionally, there have been the followings as a simulation device for assembling work of a mechanical device and an assembling work or an assembling performance evaluation device.

There is a device that performs a movement / rotation simulation using a shape model created by three-dimensional CAD, rather than simulating the assembly work of a machine, for example, by a designer looking at a two-dimensional drawing.

Among these devices, there is a device having an interference determination processing function and using the result thereof, a movement restraint and an interference avoiding function. As a method for performing high-speed collision determination,
IPSJ 51st National Convention Lecture Collection (1) p
p. 53-54 "," 13th Annual Conference of the Robotics Society of Japan, Proceedings of pp. 373-374 "and the like.

A device that evaluates the assembling workability when assembling a mechanical device by designating the connection relationship between mechanical parts (fastening, bonding, fitting, etc.) and comparing it with the evaluation items prepared in advance Exists.

There is a device for evaluating a movable part of a mechanical system, which specifies a coupling relationship between mechanical parts (rotational coupling, slide coupling, etc.), defines a moving method of a movable part, and performs a simulation over time. In addition, most of these devices have the function of reproducing the simulation results by animation.

There is a system such as a three-dimensional CAD system capable of designating a target of interference check. Some robot simulation devices have an interference determination function and have a function of automatically generating a path without interference, which is necessary for moving an object from an initial position to a target position by using the function.

There is an assembly simulation device that has an interference determination function and has a function of automatically generating a path that does not cause interference, which is necessary for moving an object from an initial position to a target position by using the function. .

There is a device, such as the device described in Japanese Patent Laid-Open No. 7-311792, that performs assembly / disassembly simulation based on product design information and assembly / disassembly information, and evaluates assembly / disassembly.

Although not directly related to the mechanical / device design / manufacturing process support device, there are devices such as an electronic conference system for performing joint work between multiple points. There are devices that are similar to the above devices and share the same work environment built on a computer.

[0011]

As described above, there is a device for simulating the assembly work of a machine by moving / rotating the shape model of the machine part.

However, there is a system which simultaneously evaluates the assembly work (evaluation of the amount of work in human or time) and the workability such as the assemblability (for example, the evaluation of physical workability such as the required number of parts). Very few, only one of the evaluations,
There was a great difference from the actual work, and there was a problem in its evaluation accuracy.

Further, the device described in Japanese Patent Laid-Open No. 7-311792 is a few devices capable of simultaneous evaluation,
The interference determination function may say, for example, "Check the display screen for an overlap between the work space and other parts that would hinder work (publication page 6, left column, lines 12 to 14)". Insufficient points are found, and if the collision judgment with other objects is not always performed at the same time as the movement / rotation of the object (part, tool, jig, human hand, assembly robot, etc.), The simulation results in a state significantly different from the assembly work are evaluated as basic data, and the advantage of simultaneous evaluation is impaired.

When assembling / disassembling a machine or the like, interference occurs because of a blur generated when a human or a robot moves / rotates, or a blur for gripping and moving a tool or a jig. Whether or not it is done is not a problem, and it is important for assembly / disassembly workability evaluation to pay attention to the gap between the moving / rotating object and other objects. JP-A-7-31179
Starting with the device that enables simultaneous evaluation described in Japanese Patent No. 2,
In the conventional device that evaluates individually, no one paid attention to this gap.

A device for evaluating the conventional assembly work of a machine,
A device that evaluates the assemblability, and a device that performs both of them, provides information on whether or not the paths of the objects (parts, tools, jigs, human hands, assembly robots, etc.) necessary for the assembly work are secured. There was nothing to use as a standard for simulation and evaluation, and there was a problem with the accuracy of simulation and evaluation.

Although the time required for an object to move / rotate on a path is an important factor for simulation and evaluation, some general-purpose values stored in advance in a table, a database or the like are simply used. The accuracy of the evaluation was not sufficient because it was only.

Furthermore, the interference determination function of the device for performing the machine assembly / disassembly simulation has the problem that there is a gap between the simulation and the reality because the overlap between the objects is recognized, while the overlap is recognized. If there is no device, it will take a long time to execute the collision determination, and the interactivity with the simulation device will be impaired.
There was a problem that it caused a decrease in work efficiency.

Further, the conventional apparatus for simulating the assembly work of the machine by moving the shape model of the machine parts is
Since it does not have information on the assembled state of the parts that make up the mechanical device to be simulated,
Assembling / disassembling operations could not be performed freely and reversibly, and it was not suitable for disassembling simulation and maintainability of design target devices interactively.

Although there is a device for evaluating a moving part of a mechanical system having the concept of time, there is no device that incorporates the concept of time by linking the assembly work and the evaluation of its workability. There was a problem with the evaluation accuracy when performing the simulation.

Many of the assembling / disassembling workability evaluation devices have a time parameter, but since the work process and the passage of time are not linked, the estimated cumulative time required for assembly is one of the evaluation results. It is only presented, and there is a gap with the actual work. In addition, the evaluation worker
It was difficult to be aware of the movement of the device components during the disassembly work and the time.

The interference determination function of the conventional three-dimensional CAD is not suitable for simulation applications such as assembly / disassembly work because it does not have the concept of moving objects to check for interference. In addition, the one similar to the mechanism analysis software has the concept of checking the interference by moving the object, but it does not have the concept that the target (moving) parts change one after another like the assembly / disassembly work. It was very difficult to reconstruct the target of interference check during simulation.

As described above, heretofore, there has been no means for carrying out the assembly / disassembly simulation and the study of maintainability in a form that is realistic. Although there is a device that records / reproduces the results of moving system simulation at some point during the assembly / disassembly workability evaluation process of mechanical devices, it records the evaluation process of assembly / disassembly work /
There was no device that could reproduce / edit. Therefore, there is a problem that it is difficult to form a common backbone for assembly / disassembly in the work process of design / manufacturing.

Although there are devices such as electronic conferencing systems for performing joint work between multiple points and devices that share the same screen, access to virtual parts is required to apply this concept to virtual assembly evaluation of mechanical devices. It was not suitable for multipoint joint evaluation work because it does not have an exclusive control means for such things as.

In the same evaluation device, the part shape and its attributes,
There are devices that manage movement / rotation information and viewpoint / light source / window information independently, but because independent management is not assumed among multiple evaluation devices of the same type, bidirectional information transmission and multipoint It was difficult to perform the joint evaluation work efficiently.

[0025]

In order to solve the above problems, the present invention performs a simulation of assembly / disassembly work of a mechanical device and its evaluation in a virtual three-dimensional space set in a computer, and the work content and evaluation. An apparatus that supports design / manufacturing by transmitting / reproducing results is characterized by including the following means.

According to the present invention, in the virtual three-dimensional space set in the computer, the interference check is sequentially performed at high speed along the assembling / disassembling path of the assembling / disassembling parts,
It is equipped with a function to perform virtual assembly / disassembly work and evaluation of assembly / disassembly workability of mechanical devices at the same time.

In addition, in the function of simultaneously performing the virtual assembling / disassembling work and the assembling / disassembling workability evaluation of the mechanical device, it is provided with a function of performing simulation and evaluation of the assembling / disassembling work in time series. This makes it possible to obtain high assembly / disassembly workability evaluation accuracy.

Furthermore, when performing an assembly / disassembly simulation in a virtual three-dimensional space set in the computer, a moving / rotating path of the assembly / disassembling target parts, tools to be used, jigs, and the time required for moving / rotating. By paying attention to the data regarding the presence / absence of interference, it is possible to bring the simulation of assembly / disassembly work closer to reality and to obtain a high accuracy of assembly / disassembly workability evaluation.

Further, in the assembly / disassembly work simulation, the movement / rotation of the object is constantly monitored, and at the same time, the high-speed interference check is used to avoid different objects from sharing the same space at the same time, and the assembly / disassembly is performed. The work simulation is made closer to reality and the assembly / disassembly workability evaluation accuracy is improved.

Further, in the assembly / disassembly work simulation, by constantly monitoring the movement / rotation of the object and using the high-speed interference determination function, not only the presence / absence of interference but also the distance to which the moving / rotating object comes closest can be determined. Present, record,
This enhances the operability of interactive simulation,
Improve accuracy by using recorded data for assembly / disassembly workability evaluation.

Recording / reproduction of assembly / disassembly workability evaluation process /
Equipped with a function to specify / edit, and by linking with the assembly / disassembly workability evaluation function, it is possible to efficiently evaluate the assembly / disassembly work conditions of various mechanical devices.

Further, by transmitting the evaluation processing contents and the evaluation result, it is possible to reproduce the evaluation processing process at a remote location, and a function for viewing the reproduction contents of the evaluation processing process. By independently managing each point, it is possible to evaluate the same evaluation process from different perspectives.

Further, by providing a bidirectional communication function between a plurality of systems, a plurality of people can simultaneously operate one virtual three-dimensional space for virtual assembly / disassembly work and assembly / disassembly workability evaluation. Thus, it is possible to perform the evaluation work jointly even if the actual mechanical device does not exist and the evaluator is not in the same place.

When a virtual assembly / disassembly work of a mechanical device is executed, a function for switching the target of the interference check is provided by paying attention to the assembly / disassembly work target parts which are sequentially changed during the assembly / disassembly work. Reduce simulation time.

The present invention operates as follows. In the present invention, the movement / rotation and the like of the parts constituting the mechanical device are constantly monitored, and basic data for assembly / disassembly workability evaluation is acquired by the high-speed interference determination function, and its size, weight, shape information, and assembly are attached. Assembling work evaluation and assembling performance evaluation are performed at the same time based on the assembling performance evaluation reference information based on the method (methods such as screwing, bonding, snapping, etc.), its direction, and information of parts to be assembled. Simultaneous evaluation improves interactiveness and reduces evaluation man-hours.

Here, the assembling work evaluation is an evaluation regarding the amount of work of assembling / disassembling by a human or a robot, and the assembling performance evaluation is an evaluation regarding whether or not assembling is possible. For example, the evaluation of the work time such as how many hours it takes to assemble is an evaluation of the assembly work, and it is difficult to manually assemble it due to the number of screws for assembly, the size and weight of parts, etc. The evaluation is an evaluation of assemblability. A quantitative evaluation value is calculated for each of the assembling time reference data and the assembling performance evaluation reference data.

Further, the determination as to whether or not the assembly is possible is also performed for the intermediate route. The intermediate path is always present in the assembly work, and is a process in which the component to be assembled moves / rotates to the target position to be assembled. This also applies to jigs and tools. For example, if you try to tighten the screw with a screwdriver but the screwdriver interferes with other assembled parts, if the screw tightening position cannot be reached, it is determined that assembly is impossible or difficult.

In the present invention, the concept of time is adopted in the interlocked evaluation to improve the evaluation accuracy. In addition, by adding time (speed / acceleration) restrictions on the movement / rotation of parts, and by specifying whether the parts are assembled manually or by robots, the range of parts movement and the possibility of reversal, etc. By adding the constraint of, for example, for heavy or large objects, the amount of movement / rotation that can be performed per unit time is automatically reduced compared to light or small objects. Sets a constraint that parts cannot be inverted due to size and weight. These restrictions are different depending on whether the assembly work is performed by a human or the robot, but are determined by inquiring a database recorded for each moving / rotating means and each moving / rotating content. This makes it possible to make an evaluation close to reality.

In the present invention, the evaluation process can be recorded / reproduced, the evaluation process can be designated in advance, and the contents can be changed at any time. As a result, it is possible to evaluate the assembly work of mechanical devices that can be considered for various conditions.
When evaluating the assemblability, it is possible to leave a good solution by trial and error and improve the evaluation efficiency.

According to the present invention, the information during the evaluation and the evaluation result are transferred to the same type of evaluation device existing in another place, and the function of reproducing the evaluation process from the beginning based on the transferred information is provided. , It enables the bidirectional communication of information including the evaluation process rather than the one-way notification of the result. As a result, information loss can be suppressed, communication can proceed smoothly, and evaluation work efficiency can be improved.

Since the information obtained by the transfer can be edited by the device of the present invention, it is possible to exchange the information while improving it. In the present invention, an exclusive control means is provided for access to one virtual part, and it is impossible for the same virtual part existing in the same virtual space to exist in a plurality of places at the same time or have different postures. Furthermore, by equipping a virtual part (group) that is moving / rotating based on a certain rule with the same exclusive control means, it is possible to add a moving part to a mechanical device that is already in virtual assembly and has a moving part. You can avoid inconsistencies that may occur during work evaluation, such as moving other parts and then assembling other parts.

The exclusive control means is also applied to a viewpoint for viewing an object existing in a virtual three-dimensional space, a light source for illuminating the object, gravity of the environment, rotation speed of the environment, and the like. In the present invention, by independently managing the main information,
It realizes an evaluation environment in which a plurality of people see a single prototype that actually exists from the perspective of each person.
In two-way information transmission and multi-point joint evaluation work, each operator who operates the device of the present invention can see the same evaluation target device from an independent viewpoint, so that the efficiency of the evaluation work is dramatically increased. Improve.

According to the present invention, by having a function of inputting and interpreting information (a mutual positional relationship, a parent-child relationship between parts, a connection form such as rotation / slide, etc.) in which a group of parts constituting a mechanical device is assembled. , It is possible to study disassembly work and maintainability.

The assembling / disassembling work takes the form of moving and assembling the parts, or disassembling and moving the parts. Therefore, we focus on the parts that are moving for assembly and disassembly, and automatically switch the target of the interference check and manage it dynamically to reduce the interference check time.

In the case of a group of parts having movable system joints such as rotation and slide, a target group of parts for interference check according to the movement is constructed. In addition, we will focus on the “moving” things such as rotation by a motor and robots, and build a group of target parts for interference checking.

According to the present invention, virtual assembly / disassembly work of a mechanical device and its evaluation are performed, and by transmitting / reproducing them, it is as if the prototype is in front of the team work such as design / manufacturing. It is possible to obtain an environment where the work is being carried out by placing it in a room, and it is possible to efficiently carry out the design / manufacturing process of the mechanical device.

Further, since the information on assembly / disassembly can be transmitted by moving images without relying on the character information, the loss of information can be minimized even in a situation where the country where the design is carried out and the country where the manufacturing is carried out are different. Therefore, it is possible to efficiently train the assembly workers.

Further, by dynamically managing the interference check target, which is indispensable for the simulation of the assembly / disassembly work, it is possible to shorten the interference check time and improve the simulation efficiency.

[0049]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a system configuration example according to an embodiment of the present invention, and is a diagram for explaining the configuration of the present invention by focusing on a data flow.

In FIG. 1, 1 is input data, 11 is assembly information, 12 is shape data, 13 is movable part information, and 14 is physical property value information of parts (physical property values of color, mass, density, material etc. for each part). , 15 is assemblability evaluation reference data, 16 is assembly time reference data, 20 is a computer system such as a general-purpose computer, workstation or personal computer, 21 is CP
U is a virtual assembly evaluation device including a memory, 22 is processing history information, 23 is evaluation result information (assembling / assembling availability / moving part interference availability evaluation result), 3 is output data, 31 is a processing history file, and 32 is Evaluation result (assembling / assembling availability / moving part interference availability evaluation result) file, 41 is three-dimensional CAD,
42 represents a converter.

According to the present invention, the assembly information 1 is created from the shape modeler such as the three-dimensional CAD 41 through the converter 42.
1, input data 1 is shape data 12, movable part information 13, and component physical property value information 14. These input information can be changed during the evaluation work.

The assembly information 11 is information such as the connection relationship between parts and the parent-child relationship. The connection relationship between parts means information that can be called a joint that can be realized by a rotary type connection, a slide type connection, a gear type connection, etc., or a combination thereof. The parent-child relationship means the information of the component group configuration tree having the evaluation target device as a root, such as the order of assembling the component group that configures the device and information of a plurality of component groups that configure the subunit (subassembly).

The shape data 12 is three-dimensional shape data of a group of parts constituting the mechanical device. The movable part information 13 is
This is information regarding the movable parts of the group of parts constituting the mechanical device.

The component physical property value information 14 is information on physical property values such as color, mass, density, material, etc. for each component. Further, editable evaluation reference data is required as the input data 1. They are the assemblability evaluation reference data 15 and the assembly time reference data 16.

FIG. 2 is a diagram showing a configuration example of the assemblability evaluation reference data. The assemblability evaluation reference data 15 includes size (mm), mass (g), grippability, easiness of handling, easiness of fastening, and the like for each type of machine device part.

FIG. 3 is a diagram showing an example of the structure of assembly time reference data. For example, for each size of parts, mass (g),
Diagonal line (mm), maximum acceleration (m / s ² ), maximum velocity (m / s)
), Fastening method, number of fastening points, fastening time, etc. are set.

During the evaluation work, the processing history information 22
Also, evaluation result information 23 such as assemblability / possibility of assembling / impactability of movable part is generated. These pieces of information can be output to a file device or the like at any time. Here, these pieces of information are accumulated as a processing history file 31 and an evaluation result file 32 for assembling / assembling availability / moving part interference availability.

Further, the processing history information 22 and the evaluation result information 2
3 is recorded in a storage area (memory) inside the system. Therefore, it is possible to go back and edit at any time. The edited contents include new processing history 22 and evaluation result information 23.
Can be recorded as

Output data 3 output to a file device, etc.
Processing history file 31, evaluation result file 32
Can be read by another system to reproduce exactly the same process and various evaluation results. Also, by transferring the information recorded in the storage area to another system and sharing the same environment, it becomes possible to have a conversation between the systems and to collaborate with workers of other systems. .

FIG. 4 is a functional block diagram showing an embodiment of the present invention. This device is composed of a computer system 20, an input device 51, an output device 52, and a communication device 53.

Reference numeral 81 is input data consisting of three-dimensional shape data / movable part definition data / assembly information / physical property values, and 82 is an assembly availability verification result / movable part interference availability verification result / assembly performance evaluation result / process history recording result. Output data consisting of 83
Represents assembly time reference data, and 84 represents assembly property evaluation reference data.

The input data 81, the output data 82, the assembly time reference data 83, and the assemblability evaluation reference data 84 are composed of information stored in a fixed disk device or the like. The computer system 20 includes an input data conversion unit 54, an output data conversion unit 55, a user interface management unit 5
6, communication control means 57, virtual space management means 58, exclusive control management means 59, interference check target management means 60, time management means 61, movement / rotation processing means 62, movable part calculation means 63, interference check processing means 64, Interference avoidance calculation means 65, moving image display processing means 66, processing history reproduction means 6
7, component (group) attribute management means 68, virtual three-dimensional space 6
9, an assemblability evaluation unit 70, a processing history recording unit 71, a processing history editing unit 72, a processing history holding unit 73, and an assemblability evaluation holding unit 74. These are realized by general-purpose computers, workstations, computing devices such as personal computers, and memory devices.

The input device 51 is composed of a mouse, a keyboard, an input device represented by a three-dimensional mouse, and the like. The output device 52 includes a display, a printer, a display device represented by a head mounted display, and the like.

The communication device 53 is composed of a telephone line and a modem, a network board and a network line, a wireless LAN device and the like. The input data conversion means 54 is means for converting the input data 1 into a data type suitable for the system.

The output data conversion means 55 is means for converting the information held in the computer system 20 as output data. The user interface management means 56
Input device 51 or output device 52 and computer system 20
Is a means of managing the interface with.

The communication control means 57 confirms the communication partner,
It is a means for controlling the establishment of communication. The virtual space management means 58 stores the input three-dimensional shape data in the part (group) attribute management means 68, arranges the parts in the virtual three-dimensional space 69 based on the input three-dimensional shape data, and creates the virtual three-dimensional shape. It is a means for managing the space 69.

The exclusive control managing means 59 is means for performing various exclusive controls for access to one virtual part when performing collaborative work among a plurality of systems. The interference check target management means 60 is a means for automatically switching the interference check target by paying attention to the parts moving in the virtual three-dimensional space 69.

The time management means 61 is means for managing information regarding time in the assembly / disassembly work simulation. The movement / rotation processing means 62 is means for moving / rotating the part in the selected state in the virtual three-dimensional space 69.

The movable part calculation means 63 is means for calculating the movement of the movable part of the component based on the movable part definition data and the like. The interference check processing means 64 is a means for performing an interference check on the parts to be subjected to the interference check.

The interference avoidance calculation means 65 is means for calculating the position / orientation of parts and the like so as to avoid interference when interference occurs in the virtual three-dimensional space 69.
The moving image display processing means 66 is means for displaying the state of the virtual three-dimensional space 69 on the output device 52.

The processing history reproducing means 67 is means for reproducing the processing history held in the processing history holding section 73. The component (group) attribute management means 68 uses the input data 81 that has been input.
Is a means of holding and managing.

The virtual three-dimensional space 69 is a three-dimensional CG for arranging parts and the like generated based on the input data 81.
(Computer graphics) space. The assemblability evaluation unit 70 is a unit for calculating an assemblability evaluation of a target mechanical device or the like.

The processing history recording means 71 is means for recording the processing history information, which is the content of the processing executed by the computer system 20, in the processing history holding section 73. The processing history editing unit 72 is a unit for editing the processing history information held in the processing history holding unit 73, such as compression, decompression, addition of processing, and deletion of processing.

The processing history holding unit 73 is means for holding processing history information. The assemblability evaluation holding unit 74 is a unit that holds the assemblability evaluation obtained by the assemblability evaluation unit 70.

Next, the processing flow of the present invention will be described with reference to FIGS.
This will be described with reference to the flowchart shown in FIG. [1] Basic Work Evaluation / Assembly Performance Evaluation Processing and Simulation Processing FIG. 5 shows a machine in the virtual three-dimensional space 69 while sequentially performing high-speed interference check along the assembly / disassembly path of the assembly / disassembly target parts. It is a processing flowchart in the case of simultaneously performing virtual assembly / disassembly work and assembly / disassembly workability evaluation of the apparatus.

First, the input data 81 such as the shape data of the group of parts constituting the mechanical device is input from the input device 51 (step S1). The three-dimensional shape data of the input data 81 is converted into virtual three-dimensional space data by the input data conversion means 54. Based on this, the virtual space management means 58 creates and arranges the parts in the virtual three-dimensional space 69. After the arrangement is completed, the interference check processing means 64 executes the interference check processing, and if necessary, the interference avoidance calculation means 65 executes the recalculation of the initial arrangement position (step S2). The interference check processing means 64 is a high-speed interference check algorithm, for example, "Proc. Of the 51st National Convention of Information Processing Society of Japan (1) pp.53-54",
"Proceedings of the 13th Annual Conference of the Robotics Society of Japan p
p. 373-374 "and the like.

After execution of the interference check or recalculation of the initial arrangement position, the state of the virtual three-dimensional space 69 is displayed on the output device 52 (step S3). When the arrangement and display of the shape data of the group of parts constituting the mechanical device are completed in the virtual three-dimensional space 69, the simulation becomes possible.

The simulation is executed based on the instruction to the virtual three-dimensional space 69. Virtual space management means 58
Waits for an instruction from the input device 51, and when the instruction is sent, interprets the content and executes necessary processing (step S4).

When it is determined that the sent command is a part selection command (step S5), the part is registered in the system as a selected state (step S6), and the interference check target management means 60 targets the interference check. Is switched to the selected component (step S7). Then, the moving image display processing means 66 updates the display information for indicating that it is in the selected state (step S8).

In updating the display information, in addition to the text information, the color of the component display is changed (for example, red), the brightness is changed (for example, brightened), and a frame line indicating the minimum circumscribed rectangular area on the display is drawn. Means such as drawing a frame line showing the minimum circumscribing sphere region, adding a mark (for example, setting a flag, shown by an arrow), and the like are used. After the display information is updated, the state of waiting for an instruction is again obtained (step S
4).

When it is determined that the sent command is the move / rotate command (step S9), the move / rotate processing means 62 sends the move / rotate command to the selected component (step S12). , Move / rotate processing is performed (step S13). After that, the interference check processing means 6
4, the interference check process is executed (step S1
4), it is determined whether or not interference has occurred (step S
15).

If no interference has occurred, the moving image display processing unit 66 displays the state after the movement / rotation processing, and the processing history recording unit 71 records the processing content in the processing history holding unit 73. Further, the position / orientation of the selected component is updated (step S17), and the assemblability evaluation means 70 generates assemblability evaluation data based on the movement / rotation amount (step S18). After that, the process returns to step S4 and waits for the next command transmission.

When the interference occurs, the interference avoidance calculation means 65 avoids the interference state (step S16). Prepare two methods to avoid interference and use them according to the user's instructions.

The first method is a method of stopping the movement / rotation of an object when interference occurs. For example, when an object moving along a certain straight line interferes with the object before reaching the target point, the movement is stopped at that point. The following means are used to determine the movement suspension state in order to prevent sharing of the same space between object groups that cause interference.

Within the range of the movement / rotation instruction, the movement / rotation processing below the instruction value is performed, and the interference check is executed again. Movement / steps in steps S13 to S16
The rotation and interference check processing cycle is repeated until a predetermined value (a minute distance that does not occupy the same space and is considered to be in contact between objects) prepared separately in a table is satisfied and there is no interference. As a result, the position / orientation of the component in the selected state in which the interference is avoided is updated (step S17), and the assemblability evaluation unit 70 is based on the movement / rotation amount in which the interference avoidance calculation unit 65 determines the interference avoidance. Assembling property evaluation data is generated by
The evaluation result is recorded in (step S18). After that, the state of waiting for an instruction is resumed (step S4).

The second method is a method of searching for alternative movement / rotation in order to aim at the final target state instructed by the movement / rotation command of the object when the interference occurs.
For example, if an object moving along a certain straight line interferes with the object before reaching the target point, the moving direction is temporarily changed, the posture of the moving object is changed (rotated), etc. And aim for the final goal state. As a means for searching and selecting alternatives, the search range is determined by comparison with the final target state, the alternatives within the search range are evaluated, and the one with the lowest cost is selected and executed. To determine the cost for each alternative, the amount of movement and the amount of rotation, as well as the weight of the object and the easiness of rotation according to the ratio of the vertical, horizontal, and height of the minimum outer rectangular parallelepiped that wraps the object, and assemblability evaluation are used. It is calculated based on a part of the parameters used (eg gripping property). If the time or number of searches specified by the system is exceeded in this alternative search, a message indicating that transition to the target state is impossible is displayed, and the search and evaluation cycle is stopped.

When it is determined that the sent command is a part assembly / disassembly command (step S10), the connection relationship (parent-child relationship) between the parts is updated (step S19), and the assemblability evaluation means 70 assembles. A final assemblability evaluation for the relevant part is executed and recorded in the assemblability evaluation holding unit 74 (step S20). Then, it returns to the state of waiting for an instruction again (step S4).

The interference check function can be turned ON / OFF by the user's setting or the like, and the processing speed can be improved when reproducing the evaluation result. The sent command is for other processing (for example, processing related to viewpoint, light source, etc.)
If so, the processing is performed (step S11), and the state of waiting for an instruction is again obtained (step S4).

[2] Processing of work evaluation and workability evaluation in which time concept is added FIG. 6 shows assembly / disassembly work in time series in the simultaneous evaluation of work / workability evaluation and simulation processing described in FIG. 5 is a processing flowchart for performing the simulation and evaluation of FIG. The point different from the above-mentioned example is that the time required for the movement / rotation processing is calculated and recorded, and the calculated time is used for the evaluation of the assemblability.

The processing of steps S21 to S31 is the same as the processing of steps S1 to S11 shown in FIG. When it is determined that the sent command is a movement / rotation command (step S2
9) Then, a movement / rotation command is sent to the selected component (step S32), and a movable / rotatable velocity / angular velocity determined by the size and weight of the selected component is calculated (step S33) and obtained. A moving / rotating process based on the speed is performed (step S34).

Thereafter, an interference check process is executed (step S35), and it is determined whether or not interference has occurred (step S36). If no interference occurs, step S3
Proceed to step 8 to display and record the status after movement / rotation processing.

On the other hand, if interference occurs, processing for avoiding the interference state is performed (step S37). The method of avoiding the interference is the same as that described with reference to FIG. The processing of steps S34 to S37 is repeated until interference does not occur. As a result, the time required for the movement / rotation is calculated and recorded (step S38), the position / orientation of the selected component in which the interference is avoided is updated (step S39), and the movement / rotation amount avoiding the interference is calculated. Assembling property evaluation data is generated and recorded based on the above (step S40). Then, it returns to the state of waiting for an instruction again (step S24).

The processing of steps S41 to S42 is the same as the processing of steps S19 to S20 of FIG. 5, and the description thereof will be omitted. [3] Simulation processing using high-speed interference check Here, when performing assembly / disassembly work simulation processing in a virtual three-dimensional space, the movement / rotation path, movement / rotation of parts to be assembled, tools used, jigs, etc. Data regarding the time required and the presence or absence of interference is used. By this,
It is also possible to make the assembly / disassembly work simulation realistic and improve the accuracy of assembly / disassembly workability evaluation.

When it is found that different objects share the same space by using the high-speed interference check function as the interference check processing, the same space is shared with the state before the movement / rotation is executed. A state (optimal solution) that is closest to the target and does not share the same space with the state that was found to be the target (this is the target) is searched. At this time, the display may not be displayed on the screen, and the search may be terminated at the time when the optimum solution is found and the result may be displayed on the screen by the combination of the minute movement / rotation and the high-speed interference check. Furthermore, when the interference check process is performed, the closest distance between the object to be moved / rotated and the other objects and the combination of the objects and the objects constituting the object are displayed on the screen regardless of the occurrence of interference. Display and record. This data is used as one of the data for evaluation of assembly / disassembly workability simultaneously with display and recording.

[4] Recording / Reproduction / Editing of Processing History FIGS. 7 to 11 record actual processing contents for each processing instruction in the above-mentioned simultaneous assembly work / simultaneous evaluation of assembly performance and simulation processing. It is a processing flowchart in the case of having a function of recording assembling property evaluation contents (evaluation process) and editing / reproducing it.

7 and 8 mainly show the flow of the basic processing and the processing history recording processing. (A) Processing history recording processing First, input data 81 such as shape data of a group of parts constituting a mechanical device is input (FIG. 7: Step S51), and based on the input shape data, the virtual three-dimensional space 69 is stored. Parts are generated (step S52), and the state of the virtual three-dimensional space 69 is displayed on the output device 52 (step S53).

Waiting for a send command from the input device 51, it is determined whether the sent command is a process history reproduction command or an edit related command (step S54). When it is determined that the sent command is neither the process history reproduction command nor the edit related command, it is further determined whether the command for the virtual three-dimensional space 69 has been sent (step S5).
5).

When the command for the virtual three-dimensional space 69 is sent, it is next determined whether or not exclusive control is in progress (step S56). If it is in exclusive control, the command is input from the input device 51 again without performing processing. Wait until is sent (step S5
4) If exclusive control is not being performed, it is determined whether the sent instruction is a component selection instruction (step S5).
7).

If it is determined that the sent command is a part selection command, the part is registered in the system as a selected state (step S58), the object of interference check is switched (step S59), and the selected state is selected. The display information for indicating is updated (step S60). After the processing is completed, the processing history recording unit 71 records the processing content in the processing history holding unit 73 (step S61). After that, the state of waiting for a command from the input device 51 is resumed (step S5).
4).

When it is determined that the sent command is the move / rotate command (step S62), the move / rotate command is sent to the selected component (FIG. 8: step S6).
6). Here, the contents of the process from the process of sending the movement / rotation command to the process of generating the assemblability evaluation data (steps S66 to S74) are the same as step S3 shown in FIG.
Since it is the same as the processing of 2 to step S40, its explanation is omitted. After the processing is completed, the processing content is recorded (step S7).
5). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

When it is determined that the sent command is a part assembly command (step S63), the connection relation between the parts is updated and the processing content is recorded (FIG. 8: step S7).
6). Next, the final assemblability evaluation for the relevant part is executed, the evaluation process is recorded (step S77), and the evaluation contents are recorded (step S78). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

If the sent command is not one of a part selection command, a movement / rotation command, and a part assembly command, other processing (processing relating to viewpoint, light source, etc.) is performed based on the command (step S64). ), The processing content is recorded (step S65).

(B) Process History Reproducing Process The process history reproducing means 67 has a function of reproducing, reverse reproducing, moving to the beginning, moving to the end, and directly specifying the history position (for example, I.
(using index or bookmark or using slider). All reproduction functions can be stopped during the process. Further, all the reproduction functions are controlled by the exclusive control management means 59 during the processing.
By using, it is possible to prevent inconsistencies from occurring during the reproduction process.

FIG. 9 is a diagram mainly showing the processing flow of the processing history reproduction processing. When it is determined that the command is either the process history reproduction command or the editing related command in the standby state of the sending command from the input device 51 (FIG. 7: step S54), the sending command further edits the processing history. It is determined whether the command is a related command (FIG. 9: step S79). If the command is an edit related command, the process proceeds to step S104 in FIG.

If the command is not an edit-related command, that is, if it is a process history reproduction command, the process history reproduction means 67 accesses the process history holding unit 73 and activates the history reproduction interface (step S80).

Then, it is judged whether or not an instruction is received from the history reproduction interface (step S81). If no command is received from the history reproduction interface, the process returns to step S54 in FIG. When an instruction comes from the history reproduction interface, it is judged whether the sending instruction is reproduction, reverse reproduction, movement to the beginning of the history, movement to the end of the history, or direct designation of the history position (step S82-). Step S86).

When it is determined that the transmitted command is reproduction (step S82), the exclusive control managing means 59 is notified (step S89), and the moving image display processing means 66 is notified that the reproduction mode is entered ( In step S90), the process history holding unit 73 is accessed to enter the reproduction mode (step S91). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

When it is determined that the sent command is the reverse reproduction (step S83), the exclusive control managing means 59 is notified (step S92), and the moving picture display processing means 66 is notified that the reverse reproduction mode is entered. (Step S93),
The processing history holding unit 73 is accessed to enter the reverse reproduction mode (step S94). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

When it is determined that the sent command is a move to the beginning of the history (step S84), the exclusive control managing means 59 is notified (step S95), and the process history holding unit 73 is accessed to save the history. The head information is acquired (step S96), and the moving image display processing unit 66 is notified to change to the head state of the history (step S97). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

When it is determined that the sent instruction is the movement to the end of the history (step S85), the exclusive control management means 59 is notified (step S98), and the processing history holding unit 73 is accessed to save the history. The last information is acquired (step S99), and the moving image display processing means 66 is notified to change to the last state of the history (step S100). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

When it is determined that the sent command is the direct designation of the history position (step S86), the exclusive control managing means 59 is notified (step S101), the process history holding unit 73 is accessed and designated. The position history information is acquired (step S102), and the moving image display processing unit 66 is notified to change to the specified position history state (step S103). After that, the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

If the command from the history reproduction interface is neither reproduction, reverse reproduction, movement to the beginning of the history, movement to the end of the history, or direct designation of the history position, the reproduction processing is stopped (step S87). ), Exclusive control management means 5
9 is notified of the end (step S88), and then the state of waiting for a command from the input device 51 is resumed (FIG. 7: step S54).

(C) Processing history editing processing The processing history editing means 72 compresses / expands processing history information,
It has a process addition / deletion function. All editing functions are
By using the exclusive control managing means 59 in the middle of the processing, it is possible to prevent a contradiction from occurring in the middle of the editing processing. Furthermore, in the addition / deletion process, it is checked whether or not there is a contradiction with other parts. Contradiction means, for example, assembling work to a nonexistent part, part A to part B
For example, the component B is deleted after being assembled. If necessary, messages such as “Recommendation”, “Warning”, and “Prohibition” are notified and processing is performed. If past simulation / evaluation results are read and the work is continued, the results will be added to the processing history.

10 and 11 are diagrams mainly showing the flow of the process history editing process. In the standby state for an instruction sent from the input device 51 (FIG. 7: step S5
4) If it is determined that the sent command is either a process history reproduction command or an edit related command, it is further determined whether the command is a process history edit related command (FIG. 9: step S79). . If the command is a process history editing related command, the process history editing means 72 accesses the process history holding unit 73 and activates the history editing interface (FIG. 1).
0: Step S104).

It is determined whether or not an instruction is received from the history editing interface (step S105). If no command comes from the history reproduction interface, step S54 in FIG.
Return to. When an instruction comes from the history reproduction interface, it is determined whether the sending instruction is compression, expansion, process addition, or process deletion (steps S106 to S109).

When the sending command is neither compression, decompression, process addition, nor process deletion, history editing is ended (step S110) and the exclusive control managing means 59 is notified of the end (step S111). After that, the input device 51 is input again.
To the state of waiting for an instruction from (FIG. 7: Step S5
4).

When it is determined that the sent instruction is (data) compression (step S106), the exclusive control management means 59 is notified (step S113), and the process waits until the compression target is designated (step S114). ). When the compression target is designated, the history information of the compression target portion is collected (step S115), the movement / rotation command is compressed (step S116), and the processing history is updated (step S117). Then, the state of waiting for a command from the input device 51 is restored again (FIG. 7: step S54).

When it is determined that the transmitted instruction is expansion (step S107), the exclusive control managing means 59 is notified (step S118), and it waits until the expansion target is instructed (step S119). When the expansion target is designated, the history information of the expansion target part is collected (step S
120), expand the move / rotate command (step S1)
21), and update the processing history (step S122). After that, the process returns to the state of waiting for a command from the input device 51 (FIG. 7: step S54).

When it is determined that the sent instruction is the addition of processing (step S108), the exclusive control managing means 5
9 (FIG. 11: step S123), and waits until the location in the history information to add the process is designated (step S124). If a location for processing addition is specified,
Collect the history information of the part to be added (step S12)
5). Next, the process waits until the content of the process to be added is specified (step S126). If the content of the process to be added is specified, the contradiction based on the content of the additional process and the addition location is checked (step S127), and the contradiction is detected. When it is determined that there is no such item (step S128), the additional item is notified to the processing history holding unit 73 (step S132). After that, the process returns to the state of waiting for a command from the input device 51 (FIG. 7: step S54).

When it is determined that there is a contradiction between the additional processing content and the additional location (step S128), an instruction as to whether or not to change the processing content is determined (step S129), and when the processing content is changed, the additional processing is performed. It waits until the content of is designated (step S126). If the processing content is not changed, an instruction as to whether or not to change the additional portion is determined (step S130), and if the additional portion is changed, wait until the location in the history information to add the processing is designated. (Step S124) If the addition location is not changed, the addition process is stopped (Step S131), and then the state of waiting for a command from the input device 51 is returned again (FIG. 7: Step S54).

When it is determined that the sent command is the deletion of the process (FIG. 10: Step S109), the exclusive control management means 59 is notified (FIG. 11: Step S133), and the history information for deleting the process is included. It waits until the place is designated (step S134). When the location of the processing deletion is designated, the history information of the deletion target portion is collected (step S135).

Next, the contradiction based on the deletion processing contents and the deletion location is checked (step S136), and if it is determined that there is no contradiction (step S137), the deletion item is notified to the processing history holding unit 73 (step S140). ). After that, the process returns to the state of waiting for a command from the input device 51 (FIG. 7: step S54). When it is determined that there is a contradiction between the deletion processing content and the deletion location (step S137), an instruction as to whether to change the deletion location is determined (step S1).
38). When changing the deletion location, wait until the location in the history information to be deleted is specified (step S1).
34), if the deletion location is not changed, the deletion process is stopped (step S139), and then the input device 5 is restarted.
Return to the state of waiting for an instruction from 1 (FIG. 7: Step S5
4).

[5] Transmission of evaluation result / processing history When transmitting the evaluation result / processing history to another system, when the transmission side is specified, the processing history holding unit 73,
Based on the contents recorded in the assemblability evaluation holding unit 74,
Output to a file device etc. The operating state of the transfer partner is confirmed using the communication device 53, and if transfer is possible, transfer is performed. The receiving side reads the transmitted data and restores the same environment as the transmitting side. When the restoration is completed, the processing flow is similar to that shown in FIGS.

FIG. 12 is a diagram showing the flow of processing for transmitting processing contents and evaluation contents. FIG. 12A is a diagram showing a processing flow of transmission processing on the sending side. The sending side outputs the recorded processing contents such as the part shape, the assembly information, the processing history, the evaluation history / result (step S151), and designates the transfer partner (step S152). It is checked whether the transfer partner is operating (step S153), and if it is operating, the output processing content is transferred (step S15).
4), the process ends.

If the transfer partner is not in operation, an instruction as to whether or not retransmission is necessary is determined (step S15).
5) If there is no need for retransmission, the process ends. If retransmission is necessary, it is determined whether or not there is already a record in the retransmission queue (step S156), and if there is no record in the retransmission queue, it is recorded in the retransmission queue (step S157). It is determined whether the retransmission waiting time has expired (step S158), and if the retransmission waiting time has not expired, a predetermined retransmission time is waited (step S159), and then the process returns to step S153 to check whether the transfer partner is operating. . If the retransmission waiting time has expired, the processing ends.

FIG. 12B is a diagram showing a processing flow of transmission processing on the receiving side. The receiving side inputs the received and recorded processing content (step S161), and reproduces the part in the virtual three-dimensional space 69 according to the input part shape and assembly information (step S162). After that, the input processing history is restored (step S163), and the evaluation history / evaluation result is restored (step S164).

[6] Collaborative work processing between multiple systems When performing collaborative work between multiple systems, the processing is as follows:
It is mainly divided into a processing part such as confirmation / establishment of a communication partner and an exclusive control processing part at the time of executing an instruction.

The communication control means 57 first confirms the communication partner, and determines the machine for collaborative work. afterwards,
A loop state where messages are exchanged between machines and interpreted. In this loop, the communication status with other machines is also monitored, and communication errors and machine errors are dealt with.

The exclusive control management means 59 performs the following management processing, for example. (a) Prohibition processing of different movement / rotation commands to the same part at the same time. (b) Restriction processing of delete commands for parts.

(C) Movement / rotation commands, parallel projection / perspective projection, zoom magnification for the viewpoint used in another machine,
Permission / prohibition status management processing for changing attributes such as viewing angle and depth. (d) When changing the attributes that the simulation environment has in common, such as gravity, processing that requests notification and permission from other machines and is performed only when consent is obtained.

(E) Processing for requesting notification and permission to other machines when changing attributes such as color, texture, mass, material, etc. for parts, and only when consent is obtained. 13 to 1
FIG. 5 is a diagram showing a processing flow of communication processing and exclusive control processing between a plurality of systems that perform joint work.

Connection is made with all collaborative work machines performing collaborative work (step S171), and it is checked whether all connection requests are satisfied (step S172). If there is a communication partner that cannot be connected, it is determined whether or not to end the process (step S173), and if not, whether or not to wait (step S17).
4).

In the case of waiting, the specified waiting time ends (step S176) or the connection confirmation is performed (step S175) until all communication partners satisfy the connection request (step S177), and the specified waiting time elapses. In that case, the process proceeds to step S178. If all connection requests are satisfied within the specified waiting time, the process proceeds to step S180.

When not waiting, if there is no communication partner with which a connection has been established, the processing is terminated, and if there is a communication partner with which a connection has been established, an instruction as to whether or not to work within the connection range is determined (step S179), and work is performed. If not, the process ends. When performing work, the communication partner is stored (step S
180).

The communication partner satisfying the connection request is confirmed (step S181), messages are exchanged between the machines, and a loop state of processes for interpreting the messages is entered (steps S182 to S185).

Not registered in the communication recovery waiting queue,
When it is determined that there is a partner who cannot be confirmed (step S182), it is determined whether or not all other machines can be confirmed (FIG. 14: step S186). If all the other machines cannot be confirmed, the communication disabled partner is separated from the communication target (step S187), and the communication disabled partner is registered in the communication recovery waiting queue (step S188). , Go to step S183.

When all the other machines cannot be confirmed, it is judged whether or not to wait for the recovery of the communication state (step S189). Separate from communication target (step S18)
7), the partner is registered in the communication recovery waiting queue (step S188). If the communication state is not recovered, the process ends.

When it is judged that there is a partner who has been registered in the communication recovery waiting queue and has been confirmed (FIG. 13: step S183), it is judged whether or not the simulation state has changed while the confirmation is impossible ( FIG. 14: Step S190), if there is a change in the simulation state, the work history is notified, and after the environment of the recovery machine is restored (Step S191), if there is no change, communication is continued from the communication recovery waiting queue. The partner is deleted (step S192), the partner whose communication is recovered is registered as a communication target (step S193), and the process returns to the loop state.

When a work command is received from another machine (FIG. 13: step S184), an inquiry is made to the exclusive control managing means 59 (FIG. 14: step S194), and it is determined whether the work command can be executed (step S195). ).
If the work command cannot be executed, execution refusal (unexecutable) is notified (step S196), and if the work command is executable, it is registered in the exclusive control management means 59 (step S197), and the work command is executed. Is notified to the machine that has notified the command (step S198), and the execution start instruction from the machine that has notified the command is awaited (step S198).
199).

Thereafter, it is judged whether or not there is a message of execution cancellation (step S200). If the execution is not canceled, the instruction is executed on the own machine (step S201). If the execution is canceled, the exclusive control managing means 59 is executed. Notification of deletion of the exclusive control registration is given (step S202), and the process returns to step S181 in FIG.

When the instruction is interpreted as the instruction of the own machine (FIG. 13: step S185), the instruction is, for example, Load, De of parts, assembly information, and simulation information.
It is determined whether the inquiry is necessary for the exclusive control management means 59, such as a letter, a movement / rotation of a part (assembly), a joint definition, or the like (FIG. 15: step S2).
03). When an inquiry is necessary, the exclusive control management means 59 is notified (step S204), and it is determined whether the communication partner machine is in an executable state (step S20).
5). If it is in an executable state, it sends an instruction to another machine (step S206), and if it is not in an executable state, it notifies that it is not executable (step S207). If all the machines are executable (step S208), the instruction execution is notified to the other machines (step S209), the instruction is executed (step S210), and after the completion of the execution, the exclusive control managing means 59 is notified of the end. Yes (step S211).

If an inquiry is not required for the exclusive control managing means 59 (step S203), it is judged whether or not the instruction is an end instruction (step S212). If the instruction is an end instruction, the processing is terminated, and it must be an end instruction. If the environment is changed (step S213), step S181 in FIG.
Return to.

[7] Interference check target management processing The interference check target management means 60 is a part that is moving for assembly or disassembly, a part group, a part group having movable joints,
The ones that move independently, the combination of these,
Manage the target of interference check. The interference check target is automatically managed by a combination of predetermined interference check targets, but in addition to this, it has a "user management mode" function that the user independently specifies. The default state of the "user management mode" is determined, for example, under the conditions shown in FIG. 19 described later.

16 to 18 are flowcharts of the interference check target management process. It is determined whether or not the target management of the interference check is the user management mode (FIG. 16: step S221). If the management mode is the user management mode and there is a selected component (step S224), the interference by the system automatic setting is determined. Using the check target management as a default value, the user designation interface is started (step S225), the completion of the user setting is waited, and the interference check target management is reflected (step S226).

If it is not the user management mode but the system automatic management mode (FIG. 16: step S221), it is determined whether or not there is a selected component (step S22).
2) If there is a selected component, it is determined whether the selected component is part of the assembled component group (FIG. 17: step S227).

If the selected component is not a part of the assembled component group, it is set so that the interference check is performed between the selected component and the other component (group) (step S2).
28). If the selected component is a part of the assembled component group, it is determined whether or not there is an object having a movable joint in the component group (step S229). If there are no movable joints, the selected parts group and other parts (group)
It is set so as to perform an interference check between and (step S230).

If there is an object having a movable joint, it is judged whether or not the movable joint is an independent movable joint (step S2).
31), and it is further determined whether or not the constituent parts of the movable system joint are to be subjected to the interference check (step S23).
2). If the movable system joint is not an independent movable system and the components of the movable system joint are not subjected to the interference check, the interference check is performed between the component group of the movable system joint and other parts (groups). (Step S2)
33). Otherwise, the interference check is set between the component group of the movable joint and the other component (group) and between the component groups constituting the movable joint (step S234).

After the interference check is set according to the respective conditions (step S228, step S230,
Step S233, step S234), it is determined whether there is a moving part (FIG. 16: step S22).
3).

Further, even when there is no selected part, it is judged whether or not there is a moving part (FIG. 16: step S223). If there is a moving part, it is determined whether the part is a single part (FIG. 18: step S2).
35). If the moving part is not a single part, it is determined whether the components of the movable joint (the moving part and the part to which the moving part is assembled) are to be subjected to the interference check ( Step S236), if it is a target, a setting is added so that an interference check is performed by a combination between the moving parts group and the other parts (group) (step S237), and the configuration of the movable system joint is further added. A setting is added so that the interference check is performed for the combination within the component group (step S238).

When the components of the movable joint are not subjected to the interference check, the interference is checked between the moving components and the other components (groups) other than the components of the movable joint. Setting is added (step S23)
9).

If the moving part is a single part,
It is determined whether or not the component groups of the movable joints are to be subjected to the interference check (step S240), and if so, the interference check is performed between the moving component and other components (groups). The setting is added to be performed (step S241). If the components of the movable joints are not subject to interference check, set the interference check between the moving parts and other components (groups) except the components of the movable joints. Add (step S24
2).

After the interference check settings are added according to the respective conditions (steps S238 and S2).
39, step S241, step S242), and the process ends.

FIG. 19 is a diagram showing an example of the interference check target management combination table. The table in FIG. 19 is
It is an example of a condition of setting in the case of automatic management. The default state of the "user management mode" is also determined according to the conditions shown in FIG.

The interference check target management combination is set by the type of parts (group) being selected (moving) for assembly / disassembly, presence or absence of independently movable parts being selected (moving) for assembly / disassembly, and independent. Determined based on the presence / absence of movable parts and the presence / absence of interference check between movable joint components. The setting items of the interference check target management combination table have the following meanings.

Setting 1: There is no moving part for assembling or disassembling, but there is a single part moving independently, and interference check is performed between the moving single part and other parts group. Set to do. However, it is set so that the interference check is not performed between the moving parts and the parts in which the parts are assembled.

Setting 2: There is no moving part for assembling or disassembling, but there is a single part moving independently, and interference check is performed between the moving single part and other parts group. Set to do. Furthermore, it is set so that the interference check is also performed between the moving parts and the parts in which the parts are assembled.

Setting 3: There is no moving part for assembling or disassembling, but there is a moving part group independently, so that the interference check is performed between the moving part group and other parts group. Set to. However, it is set not to perform the interference check between the moving parts group and the parts in which the parts group is assembled, and between the parts group forming the movable part.

Setting 4: There is no moving part for assembling or disassembling, but there is a moving part group independently, so that the interference check is performed between the moving part group and other parts group. Set to. Further, it is set so as to perform the interference check between the moving parts group and the parts in which the parts group is assembled and between the parts groups forming the movable part.

Setting 5: If there is a single part moving for assembly or disassembly and no independently moving parts, check the interference between the moving part and other parts Set.

Setting 6: When there is a single part that is moving for assembly or disassembly and there is a single part that is independently movable, interference check is performed between the moving part and other parts group. Then, the interference check is performed between the movable single part and other parts. However, it is set so that the interference check is not performed between the moving parts and the parts in which the parts are assembled.

Setting 7: When there is a single part that is moving for assembly or disassembly and there is a single part that is independently movable, interference check is performed between the moving part and other parts group. Then, the interference check is performed between the movable single part and other parts. In addition, it is set so that interference check is also performed between moving parts and parts in which the parts are assembled.

Setting 8: When there is a single part that is moving for assembly or disassembly and there is a group of parts that move independently, interference check is performed between the moving part and other parts. Then, the interference check is performed between the moving parts group and the other parts group. However, it is set not to perform the interference check between the moving parts group and the parts in which the parts group is assembled, and between the parts group forming the movable part.

Setting 9: When there is a single part that is moving for assembly or disassembly and there is a group of parts that move independently, check the interference between the moving part and other parts Then, the interference check is performed between the moving parts group and the other parts group. Also,
It is set so as to check the interference between the parts constituting the movable part.

Setting 10: If there is a group of parts that are moving for assembly or disassembly and there is no independently moving part, check the interference between the moving parts group and the other parts group. Set.

Setting 11: When there is a group of parts that are moving for assembly and disassembly and there is a single part that is independently movable, interference check is performed between the group of moving parts and other parts. Then, the interference check is performed between the movable single part and other parts. However, it is set so that the interference check is not performed between the moving parts and the parts in which the parts are assembled.

Setting 12: When there is a group of parts that are moving for assembly and disassembly, and when there is a single part that is independently movable, interference check is performed between the group of moving parts and the other parts. Then, the interference check is performed between the movable single part and other parts. In addition, it is set so that interference check is also performed between moving parts and parts in which the parts are assembled.

Setting 13: If there is a group of parts that are moving for assembly or disassembly, and if there is a group of parts that are moving independently, check the interference between the moving parts and the other parts. And set to perform interference check between moving parts and other parts. However, it is set not to perform the interference check between the moving parts group and the parts in which the parts group is assembled, and between the parts group forming the movable part.

Setting 14: When there is a group of parts that are moving for assembly or disassembly, and there is a group of parts that move independently, interference check is performed between the moving parts group and other parts groups. In this way, the interference check is performed between the parts that are moving independently and other parts. In addition, it is set so as to check the interference between the parts constituting the movable part.

Setting 15: When there is a group of parts having movable joints that are moving for assembly or disassembly, and there is no independently moving part, interference between the moving parts and other parts Set to check.

Setting 16: There is a group of parts having movable system joints that are moving for assembly and disassembly, and there are no parts that are independently movable, but the interference check between the movable system joint component groups is "Yes". In this case, it is set to perform interference check between the moving parts group and other parts group. Further, in the group of parts having the movable joint that is being selected (moved), it is set to perform the interference check between the groups of parts that constitute the movable part.

Setting 17: If there is a group of parts having movable joints that are moving for assembly or disassembly, and if there is a single part that is independently movable, then between the moving parts group and other parts group Set to perform the interference check, and set to perform the interference check between the movable single part and the other parts group. However, it is set not to perform the interference check between the moving part and the part in which the part is assembled.

Setting 18: If there is a group of parts having movable system joints that are moving for assembly and disassembly, and if there is a single part that is independently movable, then between the moving parts group and other parts group Set to perform the interference check, and set to perform the interference check between the movable single part and the other parts group. Further, in the group of parts having the movable joint that is being selected (moved), it is set to perform the interference check between the groups of parts that constitute the movable part.

Setting 19: If there is a group of parts having movable system joints that are moving for assembly and disassembly, and there is a group of parts that move independently, between the moving parts group and other parts group Set to perform the interference check, and set to perform the interference check between the independently moving parts group and other parts group. In addition, it is set so as to check the interference between the parts constituting the movable part.

Setting 20: If there is a group of parts having movable joints that are moving for assembly and disassembly, and there is a group of parts that move independently, between the moving parts group and other parts group Set to perform the interference check, and set to perform the interference check between the independently moving parts group and other parts group. In addition, the setting is made so that the interference check between the component groups forming the movable part is performed, and in the component group having the movable system joint being selected (moved), the interference between the component groups forming the movable part is performed. Set to check.

Setting 21: In addition to setting 15, selection (movement)
In a group of parts having a movable joint inside, a setting is made so that an interference check is performed between the group of parts forming the movable part and the other parts.

Setting 22: In addition to setting 16, selection (movement)
In a group of parts having a movable joint inside, a setting is made so that an interference check is performed between the group of parts forming the movable part and the other parts.

Setting 23: In addition to setting 17, selection (movement)
In a group of parts having a movable joint inside, a setting is made so that an interference check is performed between the group of parts forming the movable part and the other parts.

Setting 24: In addition to setting 18, selection (movement)
In a group of parts having a movable joint inside, a setting is made so that an interference check is performed between the group of parts forming the movable part and the other parts.

Setting 25: In addition to setting 19, selection (movement)
In a group of parts having a movable joint inside, a setting is made so that an interference check is performed between the group of parts forming the movable part and the other parts.

Setting 26: Select (move) in addition to setting 20
In a group of parts having a movable joint inside, a setting is made so that an interference check is performed between the group of parts forming the movable part and the other parts.

When the user selects the user management mode, the above settings can be changed.

[0182]

As described above, according to the present invention,
Virtual assembling / disassembling work of mechanical devices and assembling performance evaluation work can be efficiently performed, and it is not necessary to actually manufacture a prototype machine, or the number of manufactured prototype machines can be reduced.

Furthermore, by transmitting / reproducing the work content and the evaluation result in a three-dimensional animation, it is possible to reduce the information transmission loss from the design to the manufacturing and realize an efficient design / manufacturing process.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a system configuration viewed from a data flow.

FIG. 2 is a diagram showing an example of assemblability evaluation reference data.

FIG. 3 is a diagram showing an example of assembly time reference data.

FIG. 4 is a functional block diagram showing an embodiment of the present invention.

FIG. 5 is a flowchart of processing for performing work evaluation and workability evaluation while performing high-speed interference check.

FIG. 6 is a processing flowchart for performing simulation and evaluation of assembly / disassembly work in time series.

FIG. 7 is a flowchart of recording / reproducing / editing processing contents and evaluation contents.

FIG. 8 is a flowchart of a process of recording / reproducing / editing process contents and evaluation contents.

FIG. 9 is a flowchart of recording / reproducing / editing processing contents and evaluation contents.

FIG. 10 is a flowchart of recording / reproducing / editing processing contents and evaluation contents.

FIG. 11 is a flowchart of recording / reproducing / editing processing contents and evaluation contents.

FIG. 12 is a flowchart of a transmission process of processing contents and evaluation contents.

FIG. 13 is a flowchart of communication processing and exclusive control processing for performing collaborative work between a plurality of systems.

FIG. 14 is a flowchart of communication processing and exclusive control processing for performing collaborative work between a plurality of systems.

FIG. 15 is a flowchart of communication processing and exclusive control processing for performing collaborative work between a plurality of systems.

FIG. 16 is a flowchart of interference check target management processing.

FIG. 17 is a flowchart of interference check target management processing.

FIG. 18 is a flowchart of interference check target management processing.

FIG. 19 is a configuration example of an interference check target management combination table.

[Explanation of symbols]

1 Input Data 11 Assembly Information 12 Shape Data 13 Movable Part Information 14 Parts Physical Property Value Information 15 Assembly Property Evaluation Standard Data 16 Assembly Time Standard Data 20 Computer System 21 Virtual Assembly Evaluation Device 22 Processing History Information 23 Assembly Property / Assembly Possible / Movable Part Interference availability / evaluation result information 3 Output data 31 Processing history file 32 Assembly / assembly availability / moving part interference availability / evaluation result file 41 Three-dimensional CAD 42 Converter

Claims (9)

[Claims] 1. A device for supporting a design or manufacturing process of a mechanical device for simulating assembly / disassembly work of the mechanical device and evaluating the simulation using a virtual three-dimensional space set in a computer. It is characterized by having means for performing virtual assembly / disassembly work and assembly / disassembly workability evaluation of a mechanical device at the same time while performing successive interference checks along the assembly / disassembly path of assembly / disassembly target parts in space. Machinery design / manufacturing process support device. 2. The mechanical device design / manufacturing process support apparatus according to claim 1, further comprising means for simulating and evaluating assembly / disassembly work in time series. Manufacturing process support device. 3. The mechanical device design / manufacturing process support apparatus according to claim 2, wherein when an assembly / disassembly simulation is performed in the virtual three-dimensional space, parts to be assembled,
Characterized by means for simulating assembling / disassembling work that is close to reality by using data regarding movement / rotation path of tool or jig used, time required for movement / rotation, and presence / absence of interference in movement / rotation path Machinery design / manufacturing process support device. 4. The machine device design / manufacturing process support device according to claim 1, wherein movement / rotation of an object is constantly monitored in a simulation of an assembly / disassembly work, and interference check accompanying it is performed at the same time. A design / manufacturing process support device for a mechanical device, comprising means for preventing objects from sharing the same space at the same time. 5. The design / manufacturing process support device for a mechanical device according to claim 1, wherein movement / rotation of an object is constantly monitored in a simulation of assembly / disassembly work, and a high-speed interference determination focusing on a predetermined interference check target. By using the means, not only the presence / absence of interference but also the means for presenting and recording the closest distance of the moving / rotating object is provided, the operability of the interactive simulation is enhanced, and the recorded data is assembled / disassembled. A mechanical / device design / manufacturing process support device characterized by being used for evaluation. 6. The design / design of the mechanical device according to claim 1, claim 2, claim 3, claim 4 or claim 5.
In the manufacturing process support device, means for recording the assembly / disassembly workability evaluation process, means for reproducing the assembly / disassembly workability evaluation process based on the recorded information, and means for designating the recorded assembly / disassembly workability evaluation process. , A means for editing the recorded assembly / disassembly workability evaluation process, and by associating each of these means with the assembly / disassembly workability evaluation means, it becomes possible to evaluate the assembly / disassembly work conditions of various mechanical devices. A machine device design / manufacturing process support device characterized in that 7. An evaluation content and a result are displayed in a machine device design / manufacturing process support apparatus according to claim 1, claim 2, claim 3, claim 4, claim 5 or claim 6. It is possible to evaluate the same evaluation process from different points of view by providing a means that can reproduce the evaluation process at a remote location by transmitting it, and by independently managing the means for viewing the reproduction contents of the evaluation process. A mechanical / device design / manufacturing process support device. 8. A machine device design / manufacturing process support apparatus according to claim 1, claim 2, claim 3, claim 4, claim 5, claim 6, or claim 7, A means for transmitting simulation information relating to virtual assembly / disassembly work and evaluation of assembly / disassembly workability of a mechanical device in a virtual three-dimensional space to each other by using bidirectional communication means between the systems is provided. Supporting mechanical device design / manufacturing process characterized by jointly performing virtual assembly / disassembly work and assembly / disassembly workability evaluation by simultaneously operating one virtual three-dimensional space in the system apparatus. 9. A machine / device design / manufacturing process support according to claim 1, claim 2, claim 3, claim 4, claim 5, claim 6, claim 7 or claim 8. In the device, when performing a virtual assembly / disassembly work of a mechanical device, by providing attention to the assembly / disassembly work target parts that change sequentially during the assembly / disassembly work, a means for switching the target of the interference check was provided. A mechanical / device design / manufacturing process support device.