JP2002304425A - Route design support device and support method for route design - Google Patents

Abstract

PROBLEM TO BE SOLVED: To design an attaching/detaching route with easily and efficiently estimating operability and workability. SOLUTION: A route wherein an attaching/detaching member desired to be attached/detached can be attached/detached without interfering with peripheral parts is input S1, and the attaching/detaching member is input as initial condition S2, then an operation simulation process is performed S3, and finally the attaching/detaching member is moved along the input attaching/detaching route with checking interference of the attaching/detaching member with the peripheral parts S4. When the attaching/detaching member interferes with the peripheral parts, the attaching/detaching route is modified and the process above is repeated S5→S1→S2, etc. When the member does not interfere, an attaching/detaching route evaluation routine is performed S5→S6. That is, a change in inclination of the attaching/detaching route, moved volume, curvature and a route length are calculated and the operability of the attaching/detaching route is evaluated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route design support device and a route design support method, and more particularly, to a route design support device and a route design support for designing a route of a detachable route when exchanging mechanical parts or the like. About the method.

[0002]

2. Description of the Related Art Conventionally, when designing an attachment / detachment path for attaching / detaching a member of a mechanical device, in order to examine the effectiveness of the attachment / detachment path, verification work is performed to determine whether or not there is interference with peripheral parts. However, two-dimensional examination or three-dimensional examination is added to such verification work.

More specifically, when conducting a two-dimensional study, an envelope of a member is created for each step width along the attachment / detachment path using 2D CAD, and it is visually checked whether or not it interferes with peripheral parts. I judge it.

When three-dimensional examination is performed, 3D CAD is mainly used, and a part model of a component to be attached / detached is changed at predetermined intervals along an attachment / detachment path so that an operation state model of the member to be attached / detached. And determines whether or not it interferes with peripheral components by using the interference check function of 3D CAD.

[0005] Regarding the operability evaluation, a prototype is actually created and operated to determine whether it interferes with peripheral parts.
We are studying whether there is an accessible space or whether the parts to be detached can be taken out smoothly.

Recently, a CAD apparatus and assembly evaluation software for arranging a member to be attached / detached in a three-dimensional space and evaluating a detachable path while arranging a human body model are already known. Is also available on the market (for example, registered trademark DYNAM manufactured by Japan Technomatics Co., Ltd.).
O).

[0007]

However, in the above prior art, in order to verify the validity of the shape of the detachable part in the designed detachment path, a prototype is actually prepared and operated as described above. Since the operability is evaluated, it is necessary to rebuild the prototype in some cases.Therefore, there is a problem that it takes time to evaluate the effectiveness of the attachment / detachment path and the operability and also causes a cost increase. Was.

Conventionally, work evaluation is performed to determine whether or not a specific work is possible using a human body model on a three-dimensional computer graphic. Has to be operated, and the procedure for work evaluation is complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and a route design support apparatus and a route design support device capable of designing a detachable route while easily and efficiently evaluating operability and workability. The purpose is to provide support methods.

[0010]

In order to achieve the above object, a route design support apparatus according to the present invention inputs a component of a mechanical component to be attached or detached and supports the design of a detachable route for the mechanical component. A path design support apparatus, comprising: input means for inputting a detachable path; determining means for determining whether the detachable path input by the input means interferes with peripheral parts of the mechanical component; and Evaluation means for evaluating whether the operability of the detachable path is good or not, and when the judgment means judges that the operability is inferior, or when the evaluation means judges that the operability is bad, a new It is characterized by having a detachable path correcting means for inputting the detachable path and executing the determining means and the evaluating means again.

Further, a route design support method according to the present invention is a route design support method for inputting an element of a mechanical component to be attached / detached and assisting in designing a detachable route for the mechanical component. An input step of inputting a path, a step of determining whether or not the detachable path input in the input step interferes with peripheral parts of the mechanical component, and evaluating whether the operability of the inputted detachable path is good or not. When an evaluation step and the determination step determine that interference with the peripheral component is determined, or when the evaluation means determines that the operability is poor, a new attachment / detachment path is input to the determination step and the evaluation. And a detachment path correction step of executing the step again.

The other features of the present invention will be apparent from the following description of embodiments of the invention.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of a route design support device according to the present invention. The route design support device includes a central processing unit 1 for executing a predetermined operation simulation process, It has a display device 2 that displays the target shape and input information (removable member and removable path, etc.), the processing result, the history of the process, etc., a keyboard, a mouse, a selection instruction button, etc., and specifies necessary for operation. Input device 3 for inputting information, information input, menu selection instruction, etc.
And a storage device 4 for storing an operation procedure, three-dimensional display model shape data, a calculation program for changing the curvature and inclination of the path shape, and for storing the calculation results.

In the present embodiment, necessary designation information is input from the input device 3, the operation result is displayed on the display device 2, and the operation result and the operability evaluation result are stored in the storage device 4.

FIG. 2 is a flowchart showing the operation procedure of the route design support apparatus.

First, in step S1, the input device 3 is operated to input a path through which a detachable member to be detached can be detached without interference with peripheral components.

Next, in step S2, the input device 3 is operated to input a detachable member as an initial condition. In the following step S3, the input device 3 is operated to execute an operation simulation process. The attachment / detachment member is moved along the input attachment / detachment path while checking for interference between the member and peripheral parts.

Then, in step S5, it is determined whether or not the detachable member interferes with the peripheral parts, and the answer is affirmative (Y
In the case of es), that is, when the detachable member is interfering with the peripheral component, the movement of the detachable member is stopped at the point where the peripheral component has interfered, and the process returns to step S1 to correct the detachable path and repeat the above processing. .

On the other hand, if the answer to step S5 is negative (No) and the detachable member does not interfere until the detachable member reaches the detachable path, the process proceeds to step S6, the detachable path evaluation routine is executed, and the process is terminated. .

FIG. 3 is a flowchart of the detachment path evaluation routine executed in step S6.

In step S11, a change in the inclination of the attachment / detachment path is calculated. That is, based on the posture of the mounting position where the detachable member is mounted, the change in the inclination at each moving position of the detachable member is calculated. Specifically, as shown in FIG. 4, the angle △ θ0 formed by the tangent at the start point S (mounting position) and the tangent at the measurement point P, which is the movement position, is the inclination angle, and the inclination of each measurement point at equal pitch intervals Angle Δθ0, Δθ
1,... Δθi are calculated based on the start point S.

Next, in step S12, the inclination angle Δθn
The measured values of (n = 0, 1,..., I−1) are graphed.
That is, as shown in FIG. 5, a change in the inclination angle Δθn (posture) from the attachment point to the attachment / detachment point of the detachable member is plotted at equal pitch intervals, and a measurement graph is displayed on the display device 2.

Next, in step S13, the designer of the attachment / detachment route judges whether or not the attachment / detachment route is within the operating range in which the wrist can be operated in relation to the peripheral parts, while looking at the measurement graph. In the case of (Yes), the process is terminated as it is, while if the answer is negative (No), a sudden change in posture has occurred, and the change range of the angle of the tilt angle Δθn exceeds the operating range of the wrist. Is the case,
It is determined that there is a problem in the operability, and the process returns to step S1 to correct the attachment / detachment path, and the above-described processing is repeated.

For example, in order to obtain a mounting feeling (click feeling) when mounting the detachable member, a predetermined tilt angle Δθn
However, the operability is evaluated in consideration of whether a predetermined amount is firmly taken at the end of the attachment / detachment path. And
When the designer determines that there is no problem in operability (step S1)
The answer of 3 is affirmative (Yes), and the shape of the attachment / detachment path is determined. If it is determined that there is a problem (the answer to step S13 is negative (No)), the process returns to step S1 to correct the attachment / detachment path.

In step S14, a moving volume amount, which is a space through which the detachable member has passed, is calculated. In particular,
The detachable member is subdivided and copied along the detachable path plan, and the subdivided and calculated volume is integrated.
Then, the calculated detachable moving volume amount is stored in the storage device 4.

In step S15, the calculated amount of the removable moving volume is graphed as a bar graph, and it is determined whether there is no problem in compactness. If there is a problem with the compactness, the flow returns to step S1 to input another detachable path plan, performs the same processing as described above, and repeats the above processing until there is no problem with the compactness.

That is, in step S15, the moving volume of the detachable member is graphed as shown in FIG.
In 16, while looking at each of these bar graphs, it is determined which of the attachment / detachment path plans can attach / detach the attachment / detachment member most compactly, the moving volume amount capable of attaching / detaching the attachment / detachment most compactly is selected, and the processing is ended I do.

Next, in step S17, a change in curvature of the attachment / detachment path is calculated. In the present embodiment, as shown in FIG. 4, tangents A and B are drawn at the measurement point P and its neighboring point Q, the inclination angle between the tangent A and the tangent B is set to １θ1, The distance is defined as ΔS, and κ calculated by equation (1) is defined as a curvature, and a change in curvature is calculated.

[0030]

(Equation 1) In step S18, the curvature κm (m = 1, 2,..., J−
The measured value of 1) is graphed. That is, as shown in FIG. 5, the curvature κm from the mounting position of the attaching / detaching member to the attaching / detaching position.
Are plotted at equal pitch intervals, and the measurement results graphed are displayed on the display device 2.

In step S19, the designer of the attachment / detachment route
The change in the curvature κm is evaluated based on the measurement result, and the smoothness of the attachment / detachment path is determined. If there are many inflection points in the curvature κm, it cannot be said that the path is a smooth attachment / detachment path, so the answer in step S19 is negative (No), and the process returns to step S1 to correct the attachment / detachment path. To repeat the above processing. On the other hand, if there is no inflection point and the change in curvature is smooth, the detachable member can be taken out smoothly, so that it is determined that the operability is good, the detachable path is determined, and the process is terminated.

In step S20, the length of the attachment / detachment path is calculated, and in the following step S21, a graph display of the path length is displayed on the display device 2 in order to compare and examine various attachment / detachment path plans and the history of the attachment / detachment path plans. Then, in step S22, it is determined whether or not the detachable member can be quickly taken out by adopting the detachable path. If the answer to step S22 is negative (No), the process returns to step S1 to correct the attachment / detachment path and repeats the above processing.

Then, in step S22, step S
While looking at the graph displayed at 21, it is determined which of the attachment / detachment path plans can take out the attachment / detachment member most quickly, and the attachment / detachment path designer adopts the attachment / detachment path plan that can take out the attachment / detachment member most quickly. Is affirmed (Yes), and the process ends.

As described above, according to the present embodiment, when the detachable member is taken out along the attaching / detaching path, it can be automatically checked whether or not it interferes with peripheral components, and the design verification can be made more efficient. .

In the present embodiment, it is possible to evaluate the attachment / detachment path from various angles, and not only to judge whether or not it can be taken out without interfering with peripheral parts, but also to operability and compactness. While conducting design study including user's usability including click feeling,
A detachable path can be designed.

FIG. 7 shows a case where both the detachable member and the human body model are moved along the detachable path.

By moving the human body model 4 together with the attachment / detachment member 5 in this manner, it is possible to consider the operability of the human body, and it is possible to visually judge whether there is a gap to be reached in a short time. it can.

FIG. 8 shows a case where a detachable path is generated by a two-dimensional sketch 7 in a three-dimensional space 6 and the detachable member 8 represented in three dimensions is moved along the path constituted by the two-dimensional elements. Is shown.

If a detachment path for the two-dimensional sketch 7 is generated, a detachment simulation can be performed without modeling each three-dimensional detachment path, complicated modeling work can be omitted, and many studies can be performed in a short time. It can be tried in the middle, and can be easily modified or changed.

FIG. 9 is a diagram showing a state in which the result of the detachable path evaluation is being transmitted from the detachable path designer to a third party. By transmitting to the peripheral parts designer 11,
When designing the attachment / detachment route, it becomes possible to jointly arrange the peripheral parts and change the shape with the peripheral parts designer. Also,
Even if the optimal shape of the attachment / detachment path is found, it may interfere with peripheral parts.In such a case, it is possible to determine the placement and shape of peripheral parts along the optimal attachment / detachment path based on the evaluation result of the attachment / detachment path. By sharing the operation simulation result and the evaluation result, it becomes possible to jointly determine the optimum detachable shape numerically.

FIG. 10 is a flowchart showing a second embodiment of the route design support apparatus. In the second embodiment, the detachable member is moved for each step width, the trajectory result is stored, and the result is sequentially stored. An interference check with an interference component specified for each trajectory is performed.

In step S31, the input device 3 is operated.
A path is input so that the detachable member to be detached can be detached without interfering with the peripheral components. Then, in step S32,
A detachable member, which is an initial condition, and a peripheral component to be subjected to interference check between the detachable member and a step width for moving the detachable member are designated. By specifying the step size to be moved and the part to be checked for interference in this way, the processing time can be reduced, and more detailed verification can be performed.

Next, in step S33, the input device 3 is operated to execute an operation simulation process. In step S34, as shown in FIG. 11, the trajectory result of the detachable member is copied for each step width. .

In step S35, an interference check with the peripheral parts specified in step S32 is performed along the trajectory result, and it is determined whether or not interference occurs.

In step S36, it is determined whether or not interference occurs. If the answer is affirmative (Yes), that is, if the detachable member interferes with the peripheral component, the detachable member is interfered with the peripheral component at the point where it interfered. Is stopped, and step S1 is stopped.
Returning to step (c), the attachment / detachment path is corrected, and the above-described processing is repeated.

On the other hand, if the answer to step S36 is negative (No) and the detachable member does not interfere until the detachable member reaches the detachable path, the flow advances to step S37 to execute a detachable path evaluation routine, and the process ends.

As described above, according to the second embodiment,
By changing the step size and the component to be checked for interference as necessary, it is possible to cope with a case where the processing is to be speeded up or a case where a detailed verification is desired.

FIG. 12 is a diagram for explaining transmission of the storage result for each step size of the detachable member to a third party. FIG. 12 shows a measurement graph 13 of the detachable path evaluation result. Transmitted to the party 14.

FIG. 13 shows a modification of the second embodiment. When an interference check is performed in step S35, it is determined in step S36 that the detachable member is interfering with peripheral components. Proceeds to step S38, operates the input device 3 so that the interference is avoided in order to avoid the interference of the detachable member, and causes the detachment path designer to interactively move / rotate the detachable member trajectory to avoid the interference. Then, in the subsequent step S39, the detachable path is regenerated so that the detachable member passes through the trajectory in which the interference is avoided, and the process returns to step S33 to repeat the processing from step S34.

FIG. 14 shows a state in which the attachment / detachment path designer automatically interactively moves the attachment / detachment member and automatically regenerates the attachment / detachment path so as to follow the moved / rotated attachment / detachment trajectory.

As described above, in this modification, the interference check can be automatically performed in a short time, and the interfering component can be found instantaneously. Further, it is possible to interactively avoid interference with the designer of the detachable path. Then, since the attachment / detachment path that passes through the avoided attachment / detachment trajectory can be automatically generated, the attachment / detachment path that does not interfere with peripheral components can be efficiently searched. In addition, by evaluating the automatically generated attachment / detachment path, the optimal attachment / detachment path such as operability can be evaluated.

The present invention is not limited to the above-described embodiment. For example, when an operation simulation is executed and interference occurs with peripheral components, the above-described embodiment changes the attachment / detachment path to avoid the interference. However, the arrangement and shape of the peripheral components may be changed.

[0053]

As described above in detail, according to the present invention, even a designer who is not familiar with the analysis simulation can easily perform the operation simulation for designing the attachment / detachment path of the member, and can efficiently perform the operation simulation. The design can be advanced while verifying the attachment / detachment path.

Further, when interference with peripheral parts is found during the work of verifying the attachment / detachment path, a path for avoiding the interference can be efficiently generated, and an optimum path can be generated in a short time. .

Further, compactness, operability, etc.
Since parts based on human senses are represented in a graph, and the path of the attachment / detachment can be evaluated in a short time, the attachment / detachment path can be corrected before the prototype is created, and the design efficiency is improved. Can be improved.

Also, by storing the operation simulation trajectory results, a third party can compare and examine the results.
It is possible to modify the design and arrangement of peripheral parts,
Detachable path design can be performed jointly.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a route design support apparatus according to the present invention.

FIG. 2 is a flowchart illustrating an embodiment of a route design support method according to the present invention.

FIG. 3 is a flowchart of a detachment path evaluation routine.

FIG. 4 is a diagram for explaining a method of calculating a change in inclination and a change in curvature of a detachable path.

FIG. 5 is a graph showing a change in inclination and a change in curvature of a detachable path.

FIG. 6 is a diagram showing a moving volume amount between different attachment / detachment paths in a bar graph.

FIG. 7 is a diagram illustrating a case where both a detachable member and a human body model are moved along a detachable path.

FIG. 8 is a diagram illustrating a case in which a detachable path is generated by a two-dimensional sketch in a three-dimensional space to move a detachable member.

FIG. 9 is a diagram showing a state in which a detachable path evaluation result is transmitted from a detachable path designer to a third party.

FIG. 10 is a flowchart showing a second embodiment of the route design support method according to the present invention.

FIG. 11 is a diagram illustrating a state in which a trace result of a detachable member is copied for each step width.

FIG. 12 is a diagram illustrating a state in which a copy result for each step width of the detachable member is transmitted to a third party.

FIG. 13 is a flowchart showing a modification of the second embodiment.

FIG. 14 is a diagram illustrating a state in which a detachment path is regenerated according to a modification of the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Central processing unit 2 Display device 3 Input device 4 Storage device

Claims (22)

[Claims] 1. A path design support apparatus for inputting an element of a mechanical component to be attached / detached and supporting the design of an attach / detach path for the mechanical component, comprising: input means for inputting an attach / detach path; Determining means for determining whether or not the removed attachment / detachment path interferes with peripheral parts of the mechanical component; and evaluation means for evaluating whether or not the operability of the inputted attachment / detachment path is good. If it is determined that there is interference with a part or if the operability is determined to be poor by the evaluation means, a new attachment / detachment path is inputted, and the attachment / detachment path correcting means for executing the judgment means and the evaluation means again is provided. A route design support device characterized by having: 2. The method according to claim 1, wherein the input unit includes a step width input unit that inputs a step width at which the mechanical component moves along the attachment / detachment path, and a step width trajectory storage unit that stores a movement trajectory of the step width. 2. The route design support device according to claim 1, wherein the determination unit determines whether or not interference with the peripheral component is made based on the step width trajectory stored by the step width trajectory storage unit. 3. . 3. A detachment path regeneration for regenerating an attachment path by moving and / or rotating the step width trajectory if the mechanical part is determined to be interfering with the peripheral part by the determination means. The route design support device according to claim 1 or 2, further comprising means. 4. An evaluation means for calculating a change in inclination of the attachment / detachment path, and an operability evaluation means for evaluating operability based on the change in inclination calculated by the inclination change means. The route design support apparatus according to any one of claims 1 to 3, further comprising: 5. The evaluation means evaluates the operability based on the moving volume calculated by the moving volume calculating means for calculating the moving volume of the detachable path, and the moving volume calculated by the moving volume calculating means. 4. The route design support device according to claim 1, further comprising an operability evaluation unit. 6. The evaluation means includes: a curvature calculation means for calculating a curvature of the attachment / detachment path; and an operability evaluation means for evaluating operability based on the curvature calculated by the curvature calculation means. The route design support apparatus according to claim 1, wherein 7. The evaluation unit includes a path length calculation unit that calculates a path length of the detachable path, and an operability evaluation unit that evaluates operability based on the path length calculated by the path length calculation unit. 2. The method according to claim 1, further comprising:
The route design support device according to claim 3. 8. The detachable path is evaluated by combining at least two or more of the evaluation means according to any one of claims 4 to 7. The route design support device according to claim 3. 9. The evaluation device according to claim 1, wherein the evaluation means includes a display means for visually displaying the evaluation contents.
The route design support device according to claim 8. 10. The route design support apparatus according to claim 1, further comprising a transmission unit that transmits an evaluation result of the evaluation unit via a telecommunication line. 11. The route design support apparatus according to claim 1, wherein said input means includes a designating means for designating said peripheral part. 12. A route design supporting method for inputting an element of a mechanical component to be attached / detached and assisting the design of an attach / detach route of the mechanical component, comprising: an input step of inputting an attach / detach route; A step of determining whether the input attachment / detachment path interferes with peripheral parts of the mechanical part; an evaluation step of evaluating the operability of the input attachment / detachment path; and If it is determined that there is interference, or if the operability is determined to be poor by the evaluation means, a new attachment / detachment path is input, and the judgment step and the attachment / detachment path modification step of executing the evaluation step again are included. A method for supporting route design, which is characterized in that 13. The input step includes a step width input step of inputting a step width at which the machine component moves along the attachment / detachment path, and a step width trajectory storing step of storing a movement path of the step width. The method according to claim 12, wherein the determining step determines whether or not the peripheral component interferes with the peripheral component based on the step width trajectory stored in the step width storing step. . 14. When the mechanical component interferes with the peripheral component in the determining step, the detachment path is regenerated by moving and / or rotating the step width trajectory. 14. The route design support method according to claim 12 or claim 13. 15. The evaluation step according to claim 12, wherein the evaluation step calculates a change in inclination of the attachment / detachment path and evaluates operability based on the calculated change in inclination. A method of supporting route design described in Crab. 16. The method according to claim 12, wherein the evaluating step calculates a moving volume of the attachment / detachment path and evaluates operability based on the calculated moving volume.
A method for supporting route design according to claim 14. 17. The method according to claim 12, wherein the evaluating step calculates a curvature of the attachment / detachment path and evaluates operability based on the calculated curvature.
4. The method for supporting route design according to any one of 4. 18. The method according to claim 12, wherein the evaluating step calculates a path length of the detachable path, and evaluates operability based on the calculated path length.
4. The method for supporting route design according to any one of 4. 19. A method for evaluating the attachment / detachment path by combining evaluation processes in at least two or more evaluation steps among the evaluation steps according to any one of claims 15 to 18. The route design support method according to claim 12. 20. The route design support method according to claim 12, wherein said evaluation step includes a display means for visually displaying the evaluation contents. 21. The route design support apparatus according to claim 12, wherein the evaluation result in the evaluation step is transmitted via a telecommunication line. 22. The method according to claim 1, wherein the input step includes a designation step of designating the peripheral component.
A method for supporting route design according to any one of claims 2 to 21.