JP2012181574A - Interference checking device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically correct an operation program in which interference occurs by checking the interference among a plurality of movable objects comprising workpieces and a robot.SOLUTION: Acquiring means 21A acquires shape data on and an operation program of a plurality of movable objects. Model creation means 21B creates a plurality of movable object models based on the shape data. Simulation means 21 simulates operations of the plurality of movable object models based on the operation program and the movable object models. Interference determining means 22 determines the presence or absence of the interference among the plurality of movable object models based on the simulation result. Avoidance operation setting means 25A sets an interference avoidance operation into the operation program of the interfering movable object models. Operation program verification means 25B determines the presence or absence of the interference of the operation program in which the avoidance operation is set.

Description

  The present invention relates to an interference check device and a program for checking interference between a plurality of objects including a workpiece and a robot.

  When working on a workpiece by a robot, it is necessary to prevent interference between a plurality of moving objects. Therefore, conventionally, for example, each time an interference occurs by actually operating a robot or a workpiece, the operation of the interfering object is changed, and the operation program for each object is manually corrected. However, manual correction work takes time and effort, and may increase man-hours.

Conventionally, there is known an interference check device that simulates the operation of a robot and a workpiece offline to automatically check interference between objects (see Patent Document 1).
However, in this conventional interference check device, it is necessary to manually correct a plurality of operation programs when interference occurs. Therefore, since it takes time and effort to modify the operation program, it is difficult to reduce the work load.

JP 7-78017 A

  The present invention has been made in view of such a conventional problem, and an object of the present invention is to check interference between a plurality of objects composed of a workpiece and a robot by simulation, and automatically and easily execute an operation program in which the interference occurs. Is to fix.

The present invention is an interference check device for checking interference between a plurality of movable objects composed of one or more workpieces and one or more robots working on the workpiece, and includes a plurality of movable object shape data and a plurality of steps. An acquisition means for acquiring an operation program comprising: model generation means for generating a movable object model of a plurality of movable objects based on shape data; and operations of a plurality of movable object models based on the operation program and the movable object model Simulation means for simulating the interference, interference determination means for determining the presence or absence of interference between a plurality of movable object models based on the simulation results, and avoidance action setting for setting an interference avoidance action in the action program of the interfering movable object model Simulation means and interference based on the means and the operation program in which the avoidance action is set An operation program verification means for determining the presence or absence of interference by the constant unit, an interference check device which includes a.
In addition, the present invention is a program for causing a computer to function as each unit of the interference check device.

  According to the present invention, it is possible to automatically and easily correct an operation program in which interference occurs by checking the interference between a plurality of objects including a workpiece and a robot by simulation.

It is a schematic block diagram which shows the manufacturing apparatus of the seat pad of this embodiment. It is a functional block diagram of an interference check device. It is a flowchart which shows the process sequence of an interference check apparatus.

An embodiment of an interference check device of the present invention will be described with reference to the drawings.
The interference check apparatus according to the present embodiment is used in, for example, a manufacturing apparatus or a manufacturing line that manufactures various products by working on a workpiece with a robot. The interference check device simulates the movement of a plurality of relatively moving objects (moving objects) in a virtual space and checks interference between the moving objects. In addition, the interference check device checks, as interference, a situation that hinders an operation or work that occurs between the movable objects such as contact or collision of the movable objects. Note that the work refers to an object on which the robot works.

  In the present embodiment, a vehicle seat pad manufacturing apparatus (hereinafter referred to as a manufacturing apparatus), which is a foam molded body, will be described as an example, and the interference check of a movable object will be described. The seat pad is a pad provided in a seat of a vehicle such as an automobile. A seat pad is shape | molded by the resin foam (for example, polyurethane foam) of each characteristic in the shape according to the shape of each part in a seat. This seat pad is manufactured from a plurality of raw materials obtained by adding foaming agents and additives to various stock solutions of foam molding resin. The manufacturing apparatus fills a plurality of raw materials in a mold and foams the raw materials to manufacture a seat pad.

FIG. 1 is a schematic configuration diagram showing a manufacturing apparatus according to the present embodiment.
As shown in the figure, the manufacturing apparatus 1 includes one or more (two in FIG. 1) workpieces 2, a conveying device 3 that conveys the workpiece 2, and one or more (two in FIG. 1) that operate on the workpiece 2. The robot 4, the interference check device 5, and the hub 6 are provided. The interference check device 5 is connected via a hub 6 to a control device (not shown) provided in the transport device 3 and each robot 4. The interference check device 5 checks in advance the interference between a plurality of movable objects including the workpiece 2 and the robot 4 provided in the manufacturing device 1 by simulation. The workpiece 2 and the robot 4 are collectively referred to as a movable object.

  The work 2 is a seat pad forming die, and includes an upper die 2A and a lower die 2B. The upper mold 2A and the lower mold 2B are combined to define a cavity inside. At the time of molding the seat pad, the upper mold 2A is separated from the lower mold 2B, and the foam molding raw material is injected into the lower mold 2B. Subsequently, the upper mold 2A is combined with the lower mold 2B, and the raw material is foamed in the cavity. Thereby, a raw material is shape | molded and hardened, and a cushion-like foaming molding (seat pad) is shape | molded. The workpiece 2 is opened and closed by an opening / closing device (not shown) (only the closed workpiece 2 is shown in FIG. 1), and the raw material is injected and the seat pad is taken out.

  The conveyance device 3 includes a conveyor 3A arranged in an annular shape (only a part of which is shown in FIG. 1) and a drive device (not shown) that circulates the conveyor 3A. On the conveyor 3A, a plurality of workpieces 2 are arranged at regular intervals. The conveying device 3 drives the conveyor 3A to convey the workpiece 2 at a predetermined speed, and circulates the plurality of workpieces 2. The manufacturing apparatus 1 injects raw materials into a plurality of circulating works 2 by a plurality of robots 4. In addition, the circulating work 2 is opened and closed in conjunction with the injection and curing of the raw material, and the seat pad is continuously manufactured.

  The robot 4 is an industrial (working) articulated robot. The robot 4 includes a plurality of (for example, six) movable axes including a turning axis and a rotation axis, and a drive device (not shown) that drives the movable axes. In addition, an injection head 4A for injecting a foam molding raw material is attached to the tip of the robot 4 as a work tool. The robot 4 drives the movable shaft to move the injection head 4A to an arbitrary position within the movable range while arranging the injection head 4A in an arbitrary direction and state. The raw material is injected from the nozzle of the injection head 4 </ b> A and injected into the work 2.

  The plurality of robots 4 and the work 2 (conveyance device 3) operate based on a preset operation program. As a result, each robot 4 performs an operation on the workpiece 2. The plurality of robots 4 operate in patterns defined in their respective operation programs, and inject raw materials into one workpiece 2 at a predetermined timing. A plurality of raw materials are simultaneously injected into the work 2, and the seat pad is manufactured as described above.

  The interference check device 5 includes a data setting device (hereinafter referred to as a setting device) 10 and an operation program creation device (hereinafter referred to as a creation device) 20. The setting device 10 and the creation device 20 are composed of, for example, a personal computer and are connected by a communication device. The setting device 10 and the creation device 20 include a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores various computer programs, and a RAM (Random Access Memory) that temporarily stores data directly accessed by the CPU. And have. The setting device 10 and the creation device 20 have respective means (functional units) that execute processing relating to interference check as function realizing means obtained by executing a computer program by a CPU.

FIG. 2 is a functional block diagram of the interference check device 5.
In the interference check device 5, as shown in the figure, the setting device 10 and the creation device 20 transmit and receive data to and from each other. The setting device 10 includes an input unit 11, a setting data storage unit 12, a display unit 13, and a transmission unit 14. The input unit 11 includes a keyboard, a mouse, or a data recording medium reader used by an operator for inputting data and commands. The storage unit 12 stores the data input by the input unit 11 and the data received from the creation device 20. The display means 13 displays various information related to the interference check, check results, and the like. The transmission unit 14 transmits an operation program and a control command for operating the conveyance device 3 and the control device of the robot 4, respectively.

  The operator inputs shape data and operation patterns of a plurality of movable objects (work 2 and robot 4) using the input means 11. The shape data is data representing the three-dimensional shape of the movable object. Here, the shape data consists of CAD (Computer Aided Design) data. In the shape data, for example, the outer shape, dimensions, and movable axis data of the workpiece 2 and the robot 4 are set. Further, the operator inputs the movement speed of the workpiece 2 and the operation of the robot 4 for each step as the operation pattern. Corresponding to the operation of the robot 4, for example, the position at each step of the robot 4 at each step, the operation of a plurality of movable axes provided in the robot 4, or the operation speed of the robot 4 is input. The arrangement interval of the plurality of workpieces 2 and the installation position of each robot 4 are also input. The input data is set as interference check reference data and stored in the storage unit 12.

  The setting device 10 creates an operation program including a plurality of steps (operation steps) for each of a plurality of movable objects based on the operation pattern set by the operator. In each operation program, the operation of each movable object is set by being decomposed into successive steps. The plurality of operation programs are stored in the storage unit 12 as reference (initial) operation programs. Each data stored in the storage unit 12 is read out and used by the creation device 20.

  The creation apparatus 20 includes a simulation unit 21, an interference determination unit 22, an interference data storage unit 23, a display unit 24, and an operation program correction unit (hereinafter referred to as a correction unit) 25. The creation device 20 simulates the simulation unit 21 and determines the interference of the movable object by the interference determination unit 22. Further, the creation device 20 automatically creates an operation program in which interference does not occur by correcting the operation program in which interference occurs by the correcting means 25. Hereinafter, each unit of the creation apparatus 20 will be described in detail.

  The simulation unit 21 includes an acquisition unit 21A that acquires data from the setting device 10, a model creation unit 21B, and a locus calculation unit 21C. The acquisition unit 21A acquires predetermined data necessary for the simulation process from the reference data stored in the storage unit 12 of the setting device 10. At that time, the acquisition unit 21A acquires, from the storage unit 12, shape data of a plurality of movable objects and an operation program including a plurality of steps.

  The model creating unit 21B creates movable object models of the plurality of movable objects based on the shape data of the plurality of movable objects. The movable object model is a model of the robot 4 and the workpiece 2 in which a movable object is modeled in a virtual space, and is created for each of a plurality of movable objects. The model creating means 21B calculates the three-dimensional shape of the movable object based on the shape data, and creates the three-dimensional shape of the movable object formed of a polyhedron. Thereby, the robot model and work model used for simulation are created.

  The simulation unit 21 simulates the operations of the plurality of movable object models based on the operation programs and the movable object models of the plurality of movable objects. At this time, the trajectory calculation unit 21C arranges a plurality of movable object models in the virtual space based on the reference data acquired by the acquisition unit 21A. Further, the trajectory calculating means 21C calculates the movement based on the operation program of each movable object model, and calculates the position and trajectory of the moving movable object model. The simulation means 21 reproduces the motion of a plurality of movable objects with a movable object model by simulation. That is, the simulation means 21 reproduces the operation when a plurality of robot models perform work (for example, raw material injection operation) on a plurality of work models, and the operations of the robot model and the work model during the work.

  The interference determination unit 22 determines the presence or absence of interference between a plurality of movable object models based on the simulation result by the simulation unit 21. The interference determination unit 22 includes a position comparison unit 22A and an interference region determination unit 22B. The position comparison unit 22A compares the positions of a plurality of movable object models for each step of the operation program. The interference area discriminating unit 22B discriminates an interference area between a plurality of movable object models for each step based on the position comparison result obtained by the position comparison unit 22A.

  Here, a common coordinate system having the same origin is used for a plurality of movable object models. Based on this same coordinate system, the surface and the internal position (coordinates) of each movable object model are represented. The position comparison means 22A compares the coordinates of a plurality of movable object models. The interference area discriminating means 22B discriminates, as an interference area, a portion where the coordinates overlap between the compared movable object models. The interference determination unit 22 determines that the movable object models interfere with each other when there is an interference area, and determines that the movable object models do not interfere with each other when there is no interference area.

  The interference determination means 22 determines the presence or absence of interference between robot models or between a robot model and a work model for each step of the operation program. In addition, the interference determination unit 22 determines a position where interference of the movable object model occurs (referred to as an interference position), and determines an amount of overlap between the interference positions (referred to as an interference amount) based on the interference region. The determination result of the interference determination unit 22 is stored in the determination result storage unit 23A of the storage unit 23. The determination result storage unit 23A stores, for example, the presence / absence of interference, a movable object model that interferes, an interference position (coordinates), an interference amount, and an interference area. The interference determination unit 22 also stores the operation program in which the interference has occurred and the step in which the interference has occurred in the operation program storage unit 23B of the storage unit 23.

  The creation apparatus 20 displays the interference determination result and the movement of the movable object model on the display unit 24. On the display means 24, the presence or absence of interference is displayed for each step of the operation program. Further, the creation device 20 reproduces the operation of the movable object model on the display unit 24 when interference occurs. The display content on the display unit 24 is transmitted to the setting device 10 and is also displayed on the display unit 13 of the setting device 10.

  The correction means 25 includes an avoidance action setting means 25A and an action program verification means (hereinafter referred to as verification means) 25B. When the interference determination unit 22 determines that there is interference, the avoidance operation setting unit 25A sets an interference avoidance operation in the operation program of the moving object model that interferes. The avoidance operation for avoiding interference is calculated or determined by the avoidance operation setting means 25A for each step in which interference occurs based on preset conditions and avoidance patterns.

  At that time, the avoidance operation setting unit 25A changes the operations of the plurality of movable axes of the robot 4 set in the operation program of the robot 4 so as to avoid interference. Specifically, the operation value of the robot 4 is corrected by changing the command value (output value) for the operation to be output to the drive device of the movable shaft. Thereby, the operation of the movable shaft of the robot 4, the position of each part, and the operation trajectory are changed. The avoidance operation setting means 25A newly creates a step in which an operation for avoiding interference is set, and adds an interference avoidance operation step to the operation program for the movable object. Alternatively, the avoidance operation setting unit 25A changes the operation speed (or operation time) of the movable object set in the operation program so that the operation and position at the time of interference between the movable objects are shifted.

  The avoidance operation setting unit 25A includes the above-described axis operation change unit, step addition unit, and speed change unit. By each means, the avoidance action setting means 25A sets an action for avoiding interference at each step where each action program has interference. The correction means 25 corrects the operation program by the avoidance operation setting means 25A, and then verifies the corrected operation program by the verification means 25B. The verification unit 25B causes the simulation unit 21 and the interference determination unit 22 to determine the presence or absence of interference based on the operation program in which the avoidance operation is set. The simulation unit 21 and the interference determination unit 22 perform simulation and interference determination in the same manner as described above based on the motion program and the movable object model.

  The creation device 20 executes the above processing in response to a request from the operator. The creation device 20 determines whether or not all the operation programs have interference, and corrects all the operation programs in which the interference occurs. The corrected operation program is stored in the storage means 23. Further, the creation device 20 repeats the correction and verification of the operation program by the correction unit 25 until no interference occurs. Thus, an operation program that does not cause interference is created, and the operation of the movable object is corrected. The operation program determined to cause no interference in the first determination is stored in the storage unit 23 as it is.

  The interference check device 5 uses the creation device 20 to check interference between a plurality of movable object models, and corrects in advance the operation program in which the interference occurs and the operation of the movable object. After confirming that no interference occurs in all the operation programs, the interference check device 5 transmits the operation program to the control device of the transfer device 3 and the robot 4 by the transmission unit 14. At the time of manufacturing the seat pad, the conveying device 3 operates based on the operation program of the workpiece 2 to convey a plurality of workpieces 2. The plurality of robots 4 operate on the workpiece 2 by operating based on respective operation programs. The raw material is injected into the work 2 from the robot 4.

Next, a procedure for checking interference by the interference check device 5 will be described.
FIG. 3 is a flowchart showing a processing procedure of the interference check device 5.
First, the operator operates the setting device 10 and inputs shape data and operation patterns of a plurality of movable objects (work 2 and robot 4) using the input unit 11. The operator inputs shape data, operation patterns, and predetermined predetermined data of all movable objects that operate in the manufacturing apparatus 1. As shown, the input data is set as reference data (S101) and stored in the storage means 12 (S102). The setting device 10 creates an operation program for a plurality of movable objects based on the operation pattern, and stores the operation program in the storage unit 12 as reference data.

  Subsequently, when the operator gives an instruction to start processing, the acquisition unit 21 </ b> A acquires predetermined reference data from the setting device 10. The acquiring unit 21A acquires shape data and operation programs of a plurality of movable objects that are simulation targets provided in the manufacturing apparatus 1. Based on the acquired shape data, a plurality of movable object models are created by the model creation means 21B. Based on the motion program and the movable object model, the simulation unit 21 simulates the motion of the plurality of movable object models (S103). Based on the simulation result, the interference determination means 22 determines the interference area between the movable object models as described above (S104), and determines the presence or absence of interference between the plurality of movable object models (S105).

  As a result of the determination, when it is determined that there is no interference in all the operation programs (S105-NO), the transmission unit 14 transmits a plurality of operation programs to each transmission destination (S106). The process ends after transmission is completed. On the other hand, when it is determined that there is interference (YES in S105), a step (referred to as an interference step) in which the operation program interference occurs is stored. In addition, the interference determination result is transmitted to the setting device 10 and displayed on the display means 13 (S107). Next, the avoidance operation setting means 25A sets the interference avoidance operation for all operation programs having interference, and corrects the operation program. The avoidance operation setting means 25A changes the output value to the movable axis (drive device) of the robot 4 for each interference step of the operation program. Thereby, the operation of the movable axis of the robot 4 set in the operation program is changed (S108), and the interference avoiding operation is set.

  After correcting all the operation programs with interference and the operation of the robot 4, the corrected operation program is verified by the verification means 25B (S109). The verification unit 25B causes the simulation unit 21 and the interference determination unit 22 to determine the presence or absence of interference based on the operation program and the movable object model in which the operation of the movable axis is changed. As a result of the determination, when it is determined that there is no interference (S110-NO), the transmission unit 14 transmits an operation program (S106), and the process is terminated. When it is determined that there is interference (S110-YES), the operation program interference step is stored. Further, although it is determined whether or not all the corrections of the interference step have been completed (S111), the process is continued because it is not corrected at first (S111-NO). Thereafter, the correcting step 25 corrects the interference steps of the operation program in order.

  The correcting means 25 determines whether or not the interference step to be corrected is a preset work step (S112). The work step is a step in which the robot 4 works with respect to the work 2, and work step identification information is added to the operation program based on an operator's designation. In the work step, it is necessary to reliably arrange the predetermined position (here, the injection head 4A) of the robot 4 at the position where the work is performed. When the interference step is a work step (S112—YES), the correcting unit 25 changes the operating speed of one or both of the interfering movable objects by the avoiding operation setting unit 25A (S113).

  In the present embodiment, the avoidance operation setting unit 25A increases or decreases the operation speed of the robot 4 set in the operation program so that interference does not occur. Thereby, the operation or position of the robot 4 is shifted to avoid interference. The injection head 4A of the robot 4 is disposed at a position where the injection head 4A works with respect to the workpiece 2 at a changed operation speed and timing without interfering with other movable objects. The plurality of robots 4 each work on the workpiece 2 while avoiding interference with each other.

  The avoidance operation setting means 25A changes the operation program of one robot 4 when the two robots 4 interfere with each other. The avoidance operation setting means 25A changes the operation time of the robot 4 from the step immediately before the interference step (referred to as the previous step) to the interference step longer. As a result, the operation speed of the robot 4 is decreased, and the interference position of the robot 4 is moved slowly to the position (target position) in the interference step. However, when the other robot 4 moves from the target position, an optimal operation speed is set so that the interference position of one robot 4 reaches the target position in a short time. When the operation before and after the interference step needs to be changed with the change in the operation speed, each operation of the robot 4 is changed by the avoidance operation setting means 25A.

  After correcting the interference step of the operation program, the corrected operation program is verified by the verification unit 25B (S114). The verification unit 25B causes the simulation unit 21 and the interference determination unit 22 to determine the presence or absence of interference at the corrected interference step based on the operation program whose operation speed has been changed. As a result of the determination, when it is determined that there is interference (S115-YES), the operation speed is changed again (S113), and the operation program is corrected. Also, the corrected operation program is verified (S114). The correction and verification of the operation program are repeated until it is determined that there is no interference (S115-NO).

  On the other hand, the steps other than the work step are steps that do not directly affect the work of the robot 4, for example, a moving step that moves the injection head 4A to the work position, and a standby step where the movable object does not operate. When the interference step to be corrected is not a work step (S112—NO), the correcting unit 25 adds an interference avoiding operation step to the operation program by the avoiding operation setting unit 25A (S116). Thereby, the operation or position at the time of interference of the movable object is changed to avoid the interference. At that time, the avoidance operation setting unit 25A creates a step for moving the robot 4 in a direction to avoid interference and adds the step to the operation program of the robot 4. This avoidance operation step is added between the interference step and the previous step. The avoidance operation setting means 25A increases the operation speed of the robot 4 near the interference step and operates the robot 4 in the same time before and after the addition of the step.

  After correcting the interference step of the operation program, the corrected operation program is verified by the verification unit 25B (S117). Based on the operation program to which the interference avoiding operation step is added, the verification unit 25B causes the simulation unit 21 and the interference determination unit 22 to determine the presence or absence of interference at the corrected interference step. As a result of the determination, when it is determined that there is interference (S118-YES), an avoidance operation step is added again (S116), and the operation program is corrected. Also, the corrected operation program is verified (S117). The correction and verification of the operation program are repeated until it is determined that there is no interference (S118-NO).

  When it is determined that there is no interference (S115-NO, S118-NO), it is determined whether or not the correction of all the interference steps is completed (S111). When there is an uncorrected interference step, the above process is repeated until the correction of all the interference steps is completed (S111-NO), and the interference steps are corrected in order. When all the correction of the interference step is completed (S111-YES), the transmission unit 14 transmits a plurality of operation programs, respectively (S106), and the process is terminated.

  As described above, the interference check device 5 of the present embodiment can accurately check interference between a plurality of movable objects including the workpiece 2 and the robot 4 by simulation. In addition, an operation program in which interference does not occur can be acquired by automatically and simply correcting an operation program in which interference occurs. Accordingly, interference between a plurality of movable objects can be prevented, so that the robot 4 can perform an accurate and smooth operation on the workpiece 2. Since a plurality of types of avoidance motions can be set by the avoidance motion setting means 25A, the motion program and the motion of the movable object can be appropriately corrected according to the interference step to be corrected.

  The interference avoidance operation may be set only in the operation program of the robot 4 or may be set in the operation program of the robot 4 and the workpiece 2. The interference check and the correction of the operation program may be executed collectively for all the operation programs, or the operation programs may be executed in a plurality of groups. The plurality of movable objects can be any combination of one workpiece 2 and one robot 4, multiple workpieces 2 and multiple robots 4, one workpiece 2 and multiple robots 4, multiple workpieces 2 and one robot 4. There may be.

  In addition, the present invention can be realized as a program for causing a computer to function as each of the means described above of the interference check device 5. The present invention can also be applied to a robot / workpiece interference check device that performs work other than the manufacturing work of a foamed molded product.

  DESCRIPTION OF SYMBOLS 1 ... Manufacturing apparatus, 2 ... Workpiece, 3 ... Conveyance apparatus, 4 ... Robot, 5 ... Interference check apparatus, 6 ... Hub, 10 ... Data setting apparatus, 11. ..Input means, 12 ... storage means, 13 ... display means, 14 ... transmitting means, 20 ... operation program creation device, 21 ... simulation means, 21A ... acquisition means, 21B ... model creation means, 21C ... trajectory calculation means, 22 ... interference determination means, 22A ... position comparison means, 22B ... interference area determination means, 23 ... storage means, 23A ... Determination result storage means, 23B ... operation program storage means, 24 ... display means, 25 ... operation program correction means, 25A ... avoidance operation setting means, 25B ... operation program verification means.

Claims (6)

An interference check device for checking interference between a plurality of movable objects including one or more workpieces and one or more robots working on the workpiece,
An acquisition means for acquiring shape data of a plurality of movable objects and an operation program comprising a plurality of steps;
Model creation means for creating a movable object model of a plurality of movable objects based on the shape data;
A simulation means for simulating the motion of a plurality of movable object models based on the motion program and the movable object model;
Interference determining means for determining the presence or absence of interference between a plurality of movable object models based on the simulation results;
Avoidance operation setting means for setting interference avoidance operation in the operation program of the moving object model to interfere,
Based on the operation program in which the avoidance operation is set, an operation program verification unit that determines the presence or absence of interference by the simulation unit and the interference determination unit;
Interference check device with In the interference check device according to claim 1,
An interference check apparatus, wherein the avoidance operation setting means includes means for changing the operation of the movable axis of the robot set in the robot operation program. In the interference check device according to claim 1,
An interference check apparatus, wherein the avoidance operation setting means includes means for adding an interference avoidance operation step to the operation program. In the interference check device according to claim 1,
An interference check apparatus, wherein the avoidance operation setting means includes means for changing the operation speed of the movable object set in the operation program. In the interference check device according to any one of claims 1 to 4,
The interference determination means includes means for comparing the positions of the plurality of movable object models for each step of the operation program, and means for determining an interference area between the plurality of movable object models based on the result of the position comparison. Check device.   The program for functioning a computer as each means of the interference check apparatus in any one of Claim 1 thru | or 5.

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