JPH06348321A - Robot cooperation controller - Google Patents

Abstract

PURPOSE:To provide the robot cooperation controller which can improve work efficency by shortening the time required for the work and simplify system constitution when the work is performed by plural robots. CONSTITUTION:The robots 11 and 21 which are arranged having a common coordinate axis X are brought under noninterference control so that the work areas 10 and 26 of the robots 11 and 21 do not overlap with each other by dividing the work areas 10 and 26 of the robots 11 and 21 by a boundary 31 in work process units.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cooperative control device, and more particularly, it is devised so as to prevent the robots from colliding or contacting each other when performing assembly work or machining work using a plurality of robots. Robot cooperative control device.

[0002]

2. Description of the Related Art In recent years, various works have been automated by the introduction of robots, but there are cases where they are made to work cooperatively in order to improve efficiency. A conventional example of this kind of cooperative work is shown in FIG. In the interference area 5 (indicated by diagonal lines) in which the operating ranges 3 and 4 of the robots 1 and 2 overlap with each other, the robot shown in FIG. The robots 1 and 2 are allowed to stand by at a predetermined position, that is, the robots 1 and 2 are alternately allowed to enter the interference area 5 to perform work, thereby preventing the robots 1 and 2 from colliding or interfering with each other. It was done like this.

Further, as another conventional example, Japanese Patent Application Laid-Open No. Hei 4
There is one such as that described in Japanese Patent Laid-Open No. 305704.
This product divides the interference area in which the operating ranges of the robots overlap with each other into a plurality of areas and reduces the area to be waited for, thereby preventing the robots from colliding or interfering with each other and improving work efficiency. I am trying to improve.

In each of the above-mentioned conventional examples, when a robot enters the interference area, a signal indicating that the opponent robot enters the interference area or saves the robot outside the interference area is sent between the robot controllers of both robots. The determination is made by sending and receiving control signals.

[0005]

However, in the former robot cooperative control apparatus, in the interference area 5 in which the operating ranges 3 and 4 of the robots 1 and 2 of each other overlap, the area 5 is invaded first. Since the other robot was kept waiting at a predetermined position until the robot came out of the area, the interference area was widened when the distance between the working robots 1 and 2 was short or the link was long.

Therefore, the robot waiting for the work cannot easily enter the interference area, and it takes a lot of time to enter or save. As a result, there is a problem in that work efficiency is extremely deteriorated.
On the other hand, in the latter robot cooperative control device, the interference area is divided and the plurality of robots are prevented from entering the divided area. When the number of divided regions or the number of robots increases, each robot must always know the position of a robot other than itself (divided region), which makes information exchange complicated. Therefore, the system configuration of the robot becomes complicated,
There was a problem that it took a lot of time to introduce the system and to perform maintenance and inspection work.

Therefore, in the present invention, when performing work by a plurality of robots, the time required for the work can be shortened to improve the work efficiency, and the system configuration can be simplified. The purpose is to provide a control device.

[0008]

The invention according to claim 1 is
In order to solve the above problems, a robot coordinated control device for controlling a plurality of robots arranged so as to have a common coordinate axis, the robot cell controller sequentially outputting operation command signals according to an operation program, and the robot cell. The robot is operated based on the operation command from the controller, and when the operation corresponding to each operation command is completed, a plurality of robot controllers that output the operation end signal to the robot cell controller and the work area of each robot are the common coordinates for each work process. It is characterized by including a control controller that performs non-interference control so that the work areas of the robots are not overlapped by being divided by the system.

According to a second aspect of the present invention, in order to solve the above-mentioned problems, in the first aspect of the invention, the controller divides the common coordinate system into X-axis and Y-axis, respectively.
The feature is that the boundary is set by using the coordinate value of one axis in the Cartesian coordinate system composed of three axes, the Z axis and the Z axis. According to a third aspect of the present invention, in order to solve the above-mentioned problems, in the first aspect of the present invention, the control controller divides the common coordinate system into three axes of an X axis, a Y axis, and a Z axis. The feature is that the boundary is set using the coordinate values of two axes in the Cartesian coordinate system.

According to a fourth aspect of the present invention, in order to solve the above-mentioned problems, in the first aspect of the present invention, the controller divides the common coordinate system into X-axis and Y-axis, respectively.
The feature is that the boundary is set by using the coordinate values of three axes in the orthogonal coordinate system composed of the three axes of the Z axis and the Z axis. In order to solve the above-mentioned problems, a fifth aspect of the present invention is a robot cooperative control apparatus for controlling a plurality of robots arranged so as to have a common coordinate axis, and sequentially outputs an action command signal according to an action program. A robot cell controller, a plurality of robot controllers that operate the robot based on operation commands from the robot cell controller, and output an operation end signal to the robot cell controller when the operation corresponding to each operation command ends, A work area setting unit that divides the work area by a common coordinate system for each work process and controls so that a part of the work area of each robot overlaps, and a work area setting unit that controls the overlap area when the robot enters the overlap area. After confirming with the robot cell controller that no other robot is invading, And outputs it to the bot cell controller,
Robot movement control means for controlling to enter the overlapping area.

In order to solve the above problems, a sixth aspect of the present invention is a robot cooperative control apparatus for controlling a plurality of robots arranged so as to have common coordinate axes.
A parent robot controller that sequentially outputs operation command signals according to an operation program, and a robot that operates based on the operation commands from the parent robot controller. When the operation corresponding to each operation command ends, an operation end signal is sent to the parent robot controller. A plurality of child robot controllers to output, a work area setting unit that divides the work area of each robot by a common coordinate system for each work process, and controls so that a part of the work area of each robot overlaps, and the overlapping area. When a robot invades the robot, it confirms to the parent robot controller that no other robot is invading the overlapping area, and then outputs an intrusion signal to the parent robot controller to control the robot to enter the overlapping area. And a robot movement control means for controlling the movement.

[0012]

According to the first aspect of the present invention, for a plurality of robots arranged so as to have a common coordinate axis, the work areas of the robots are divided by the common coordinate system for each work process so that the work areas of the robots do not overlap. Thus, non-interference control is performed. Therefore, unlike in the past, the robots do not operate alternately within the interference area (area where multiple robots can enter), but each robot is given an operation area with the boundary of the common coordinate system as a boundary, and smooth work is performed. Be done.

As a result, it is not necessary to check the interference between the robots, the operation program can be simplified, and the work efficiency can be improved. Further, since this boundary is changed for each work process by the robot cell controller that sends an instruction to the robot controller, not only limited work but various works are performed. Also, if the robot is about to cross the boundary due to some abnormality, the robot cell controller can give a stop command to each robot controller, so that the robots may collide or come into contact with each other and be destroyed. Without this, safe control becomes possible.

According to the second aspect of the present invention, the boundary of the common coordinate system is set by using the coordinate value of one axis in the orthogonal coordinate system composed of the three axes of X axis, Y axis and Z axis. It is supposed to be done. Therefore, the program can be easily created, the operation time at the time of execution can be shortened, and the robot can be operated with high accuracy and at high speed. In the invention according to claim 3, the common coordinate system is divided into the X-axis, the Y-axis, and
The boundary is set by using coordinate values of two axes in a Cartesian coordinate system composed of three Z axes. Therefore, a boundary suitable for working on a plate-shaped object is provided.

In the invention according to claim 4, the boundary of the common coordinate system is set by using coordinate values of three axes in an orthogonal coordinate system composed of three axes of X axis, Y axis and Z axis. To be done. Therefore, finer boundaries are provided. According to a fifth aspect of the present invention, for a plurality of robots arranged so as to have a common coordinate axis, the work area of each robot is divided by a common coordinate system for each work process, and a part of the work area of each robot is divided. In addition to overlapping, when a robot enters the overlap area, it is confirmed to the robot cell controller that no other robot has entered the overlap area, and then an intrusion signal is output to the robot cell controller to overlap. Controls to enter the area.

Therefore, unlike the conventional case, the robot does not operate alternately in the interference area (area where a plurality of robots can invade), and each robot is provided with an operation area with the division of the common coordinate system as a boundary, so that it is smooth. Work is done. As a result, it is not necessary to check the interference between the robots, the operation program can be simplified, and the work efficiency can be improved.

Also, since the interference area is set freely,
The work time when working in the same area is also greatly reduced compared to the conventional case. In addition to this, some abnormality,
When the robots are about to cross the boundary, the robot cell controller can give a stop command to each robot controller, so robots do not collide or contact each other and are destroyed, enabling safe control. Become.

According to a sixth aspect of the invention, the parent robot controller outputs an operation command to a plurality of robots arranged so as to have a common coordinate axis, and the work area of each robot is shared by a common coordinate for each work process. The robot is divided into systems and the work areas of the robots are partially overlapped. When a robot enters the overlap area, it is notified to the parent robot controller that another robot does not enter the overlap area. After the confirmation, an intrusion signal is output to the parent robot controller to control the intrusion into the overlapping area.

Therefore, in addition to the same operation as the invention described in claim 5, a stop command can be simultaneously output from the parent robot to each robot at the time of abnormality, so that the control system can be simplified. it can.

[0020]

EXAMPLES The present invention will be described below based on examples.
1 to 7 are views showing an embodiment of a robot cooperative control apparatus according to the invention described in any of claims 1 to 4. First, the configuration will be described. In FIGS. 1 to 3, reference numeral 11 is a robot having an arm portion 12 composed of a plurality of arms that are movable within the movable area 10 and a hand 12 a at the tip of the arm portion 12. A robot controller 13 is connected to the robot 11. Has been done.

The robot controller 13 is composed of an MPU (microprocessor) 14 and a memory 15. Data such as an operation program and a boundary of a movable area is previously input to the memory 15, and the robot controller 13 is connected to a robot cell controller (hereinafter, simply referred to as a cell controller) 16. The cell controller 16 outputs an operation command signal to the robot controller 13 according to an operation program, and the robot controller 13 moves the robot 11 within the range of the movable area 10 based on the operation command from the cell controller 16,
When the operation corresponding to each operation command ends, an operation end signal is output to the cell controller 16.

As shown in FIG. 4, this robot 11 is arranged so as to have a common coordinate axis (X axis) with another robot 21. Like the robot 21, the robot 21 has an arm 22 having a hand at its tip, an MPU 23, and a memory.
A robot controller 25 having 24 and receiving an operation command from the cell controller 16 is provided, and the robot controller 25 can be moved within the range of the movable region 26 according to the operation command from the cell controller 16. In addition, the cell controller 16
Robot controller 30 for other robots not shown
Is also connected.

On the other hand, as shown in FIG. 4, the cell controller 16 includes a movable area 1026 of the robots 11 and 21 (hereinafter referred to as a work area 1).
(0, 26) is divided by the common coordinate system for each work process,
That is, the boundary 31 is set, and the non-interference control is performed so that the non-interference areas 10a and 26a are set so that the work areas of the robots 11 and 21 do not overlap, and the boundary 31 is set. At this time, the coordinate values of the Y axis, which is one axis in the orthogonal coordinate system composed of the X axis, the Y axis, and the Z axis, are used.

Specifically, the boundary 31 will be described with reference to FIG. 5 (a) and 5 (b) show, in a square shape, the overlapping portions (overlapping movable regions) of the movable regions of the robots 11 and 21. As shown in the figure, the cell controller 16 is the robot controller 13, 25 of the robot 11, 21.
A boundary 31 is set for each work process by outputting a signal to the non-interference areas 10a and 26a of the robots 13 and 25.
The boundary 31 is made variable according to each work process. The cell controller 16 constitutes a controller.

Next, the operation will be described. First, when performing a predetermined work, the cell controller 16 executes a work process program to the robot controllers 13 and 25, for example, an operation command such as “grasp a work and move from a predetermined position to a predetermined position”. In addition to outputting various motion signals, the boundaries 31 of the non-interference areas 10a and 26a of the robots 11 and 21 in this work process are set as shown in FIG. 5 (a).

Next, the robot controllers 13 and 25 keep their non-interference areas 10a and 26a so as not to cross the boundary 31.
Then, the control program is executed to move the robots 11 and 21 to perform the work. The robot controllers 13 and 25 output a signal to the cell controller 16 as soon as the work is completed, and wait for the input of the next work program. Next, the cell controller 16 outputs an operation signal for executing the operation command of the work process program to the robot controllers 13 and 25, and also the boundary 31 between the non-interference areas 10a and 26a of the robots 11 and 21 in this work process. The setting is made as shown in FIG. In this way, the work areas 10, 26
The boundary 31 is sequentially changed, and the work is sequentially performed in the non-interference areas 10a and 26a which do not exceed the boundary 31.

As described above, in this embodiment, the common coordinate axis X
With respect to the plurality of robots 11 and 21 arranged so as to have the work areas 10 and 26 of the robots 11 and 21, the work areas 10 and 26 of the robots 11 and 21 are divided by the boundary 31 according to the work process so that the work areas of the robots 11 and 21 do not overlap. Since interference control is performed, there is no need to perform control that alternately operates within the interference area (area where multiple robots can enter) as in the past, and an operation area with the common coordinate system division as boundary 31 Each robot 11, 21
Can be given to, and smooth work can be performed.

As a result, it is not necessary to check the interference between the robots 11 and 21, the operation program can be simplified, and the work efficiency can be improved. Further, since the boundary 31 is changed by the cell controller 16 for each work process, not only limited work but also various works can be performed. In addition, when the robots 11 and 21 are about to cross the boundary 31 due to some abnormality, the cell controller 16 can give a stop command to each robot controller 13 and 25, so that the robots 11 and 21 can communicate with each other. It is possible to prevent a collision or a contact and destroy it, and it is possible to perform a safe control.

Further, in order to divide the common coordinate system, the boundary 31 is used by using the coordinate value of the Y axis which is one axis in the orthogonal coordinate system composed of the three axes of X axis, Y axis and Z axis. Since the setting is made, the program can be easily created, the operation time at the time of execution can be shortened, and the robots 11 and 21 can be operated with high accuracy and at high speed.

Although the boundary 31 is set by one axis in this embodiment, the present invention is not limited to this, and the coordinate values of two axes, for example, the X axis and the Y axis are used as shown in FIG. The boundary 32 may be set when X ≦ 0 and Y ≧ 0. In this way, it is possible to provide a boundary suitable for work on a plate-shaped object. Further, not limited to this, as shown in FIG. 7, three axes, that is, the X axis, the Y axis, and the Z axis are used, and the boundary 33 is X ≧ 0, Y ≧ 0, and Z ₀ ≦ Z ≦ Z _1. May be set. In this way, finer boundaries can be provided.

FIG. 8 is a diagram showing an embodiment of the robot cooperative control apparatus according to the invention described in claim 5. The present embodiment is characterized in that an interference area is provided in addition to the boundaries of a plurality of robots, and other configurations are the same as the above-mentioned configurations, and therefore, description will be given using FIGS. To do. In this embodiment, as shown in FIGS.
The cell controller 16 (working area setting means) is the robot 1
The work areas 1 and 21 are divided by the work process along the Y-axis of the common coordinate system, that is, the boundaries 41a and 41b are provided, and the work areas 42 and 43 of the robots 11 and 21 are partially overlapped. A signal is output to the robot controllers 13 and 25 so as to provide the interference area 44 (overlap area). Further, the boundaries 41a and 41b and the interference region 44 are also variably controlled as shown in FIGS.

The robot controllers 13 and 25 (robot movement control means) are arranged so that, when one of the robots 11 and 21 enters the interference area 44, the other of the robots 11 and 21 enters the interference area 44. Not that cell controller 16
After the confirmation, the intrusion signal is output to the cell controller 16 to control the intrusion into the interference region 44. In the present embodiment having such a configuration, when performing a predetermined work, the cell controller 16 moves the robot controller 1
A work process program is output to 3, 25, for example, an operation signal for executing a motion command such as “grasp a work and move from a predetermined position to a predetermined position”, and each robot 11 in this work process is output. , 21 work areas
Boundaries 41a and 41b of 42 and 43 and an interference region 44 are set.

Then, the robot controllers 13 and 25 keep their work areas 42 and 41 so that they do not cross the boundaries 41a and 41b.
At 43, the control program is executed to move the robots 11 and 21 to perform the work. At this time, when it is necessary to enter the interference area 44 to perform work, a signal is output from either one of the robot controllers 13 and 25 to the cell controller 16 and either area of the robots 11 and 21 is output to the area 44. After confirming that the other does not exist, one of the robots 11 and 21 enters the interference area 44.

On the other hand, when the other one of the robots 11 and 21 is working in the interference area 44, the robots 11 and 21 are
Either one of them is the boundary 41a or the boundary 41b of the interference region 44.
The robot waits in the vicinity, but since the interference area 44 is variable and can be made smaller than in the conventional case, the waiting time of the robots 11 and 21 is significantly shortened. Then, the other one of the robots 11 and 21 that has entered the interference area 44 outputs a signal indicating that it is entering the area 44 to the cell controller 16 to prevent one of the robots 11 and 21 from entering.
After finishing work in the interference area 44, the robot
The robot controller 13 or 25 outputs a signal to the cell controller 16 to the effect that the robot has escaped from the interference area 44.

Since the cell controller 16 can detect that the other of the robots 11 and 21 is not present in the interference area 44 by this signal, the robot controllers 13 and 25 can be detected.
A signal is output to one of the robots 11 and 21 to cause one of the robots 11 and 21 to enter the interference region 44 to perform work. Robot controller 13, 25
Outputs an end signal from the cell controller 16 to the cell controller 16 and waits for the next work process program to be input from the cell controller 16. As soon as the end signals of the robot controllers 13 and 25 are complete, the cell controller 16 outputs the execution command of the next work process program and the command signals of the boundaries 41a and 41b and the interference region 44 at that time to the robot controllers 13 and 25. . In this way, the work is advanced by sequentially changing the boundaries 41a and 41b of the work area and the interference area 44 according to each process as shown in FIG.

As described above, in this embodiment, with respect to the plurality of robots 11 and 21 arranged so as to have common coordinate axes,
The work areas 42 and 43 of the robots 11 and 21 are divided by a common coordinate system for each work process, and a part of the work areas of the robots 11 and 21 are overlapped to set an interference area 44. When the robots 11 and 21 enter the interference area,
After confirming to the cell controller 16 that the other robots 11 and 21 are not invading the robots 11 and 21, the intrusion signal is output to the cell controller 16 to control the robot to enter the interference area 44. In addition to the same effect as the above embodiment,
The interference area 44 can be set freely, and the working time when working in the same area 44 can be significantly shortened compared to the conventional case.

FIG. 9 is a diagram showing an embodiment of the robot cooperative control apparatus according to the invention described in claim 6. In this embodiment, an embodiment of the invention described in claim 5 is a cell controller.
While the instruction to set the boundaries 41a and 41b and the interference area 44 is given from 16 to the robot controllers 13 and 25, one of the robot controllers is changed as shown in FIG.
By using the parent robot controller 51 having the same function as the cell controller and using other robot controllers as the child robot controllers 52 to 54, the robots 55 to 58 can be moved by the respective controllers 51 to 54. There is.

That is, in this embodiment, the parent robot controller 51 divides the work areas of the robots 51 to 54 into common coordinate systems according to work steps, and overlaps a part of the work areas of the robots 55 to 58. The robot controllers 51 to 54 are configured as work area setting means for controlling the robots 55 to 58 when any one of the robots 55 to 58 enters the overlapping area.
~ 58 that the parent robot controller 51 has not entered
After the confirmation, the intrusion signal is output to the parent robot controller 51 to constitute the robot movement control means for controlling the robot to invade the overlapping area.

In this way, in addition to the same effect as the embodiment of the invention described in claim 5, in the event of an abnormality, the parent robot controller 51 outputs a stop command to the child robot controllers 52 to 54 all at once. Therefore, the control system can be simplified. In particular,
Since the robot cooperative control means shown in the conventional example performs control by transmitting and receiving control signals between the robot controllers of both robots, for example, when there are four robot controllers C as shown in FIG. While a line for transmitting and receiving a control signal of a book is required, the present embodiment can have about four lines as shown in FIG. 9 and has an effect that the control system can be simplified. is there.

[0040]

According to the first aspect of the present invention, the robots are prevented from alternately operating in the interference area (area in which a plurality of robots can enter) as in the conventional case, and the division of the common coordinate system is used as a boundary. It is possible to give each robot a movement region to perform, and it is possible to perform a smooth work.

As a result, it is not necessary to check the interference between the robots, the operation program can be simplified, and the work efficiency can be improved. Since this boundary can be changed for each work process by the robot cell controller that sends an instruction to the robot controller, not only limited work but also various works can be performed.

When the robot is about to cross the boundary due to some abnormality, the robot cell controller can give a stop command to each robot controller, so that the robots collide or contact with each other and are destroyed. Can be prevented and safe control can be performed. According to the second aspect of the invention, the program can be easily created, the operation time at the time of execution can be shortened, and the robot can be operated with high accuracy and at high speed.

According to the third aspect of the invention, it is possible to provide a boundary suitable for work on a plate-shaped object.
According to the invention described in claim 4, it is possible to provide a finer boundary. According to the invention described in claim 5, the robot is prevented from alternately operating in the interference area (area in which a plurality of robots can invade) as in the conventional case, and the operation areas having the division of the common coordinate system as the boundaries are defined. It can be given to the robot and work can be done smoothly.

As a result, it is not necessary to check the interference between the robots, the operation program can be simplified, and the working efficiency can be improved. Further, since the interference area can be freely set, the working time when working in the same area can be significantly shortened as compared with the conventional case. In addition to this, if the robot is about to cross the boundary due to some abnormality, the robot cell controller can give a stop command to each robot controller, so the robots collide or contact each other and are destroyed. Can be prevented and safe control can be performed.

According to the invention of claim 6, in addition to the same effect as the invention of claim 5, a stop command can be simultaneously output from the parent robot to each robot at the time of an abnormality, so that the control system Can be simple.

[Brief description of drawings]

FIG. 1 is a top view of a robot showing an embodiment of a robot cooperative control apparatus according to the invention described in any one of claims 1 to 4.

FIG. 2 is a side view of the robot according to the embodiment.

FIG. 3 is a configuration diagram of a cooperative control device according to an embodiment.

FIG. 4 is a diagram showing boundaries of a robot according to an embodiment.

5A is a diagram in which a boundary is provided in a central portion of a work area of each robot, and FIG. 5B is a diagram in which a boundary is provided on the robot 11 side.

FIG. 6 is a diagram showing another aspect of boundaries and work ranges when the division of the common coordinate system is set by using the coordinate values of two axes in the orthogonal coordinate system.

FIG. 7 is a diagram showing another aspect of boundaries and work ranges when the division of the common coordinate system is set using the coordinate values of the three axes in the orthogonal coordinate system.

8A and 8B are views showing an embodiment of the robot cooperative control apparatus according to the invention described in claim 5, wherein FIG. 8A is a view in which an interference area is provided in the central portion of the work area of each robot, and FIG. Is a robot
FIG. 11 is a diagram in which an interference region is provided on the 11 side.

FIG. 9 is a schematic configuration diagram showing an embodiment of a robot cooperative control apparatus according to the invention of claim 6;

FIG. 10 is a diagram showing an arrangement of lines of a conventional robot cooperation device used for comparison.

FIG. 11 is a diagram showing a robot interference area in a conventional robot cooperative control apparatus.

[Explanation of symbols]

10, 26, 42, 43 Work area 10a, 26a Non-interference area 11, 21 Robot 13, 25 Robot controller (robot movement control means) 16 Robot cell controller (control controller,
Work area setting means) 31, 32, 33, 41 Boundary 51 Parent robot controller (work area setting means) 52 to 54 Sub robot controller (robot movement control means)

Claims (6)

[Claims] 1. A robot cooperative control apparatus for controlling a plurality of robots arranged so as to have a common coordinate axis, the robot cell controller sequentially outputting operation command signals in accordance with an operation program, and a robot cell controller from the robot cell controller. The robot is operated based on the operation command, and when the operation corresponding to each operation command is completed, multiple robot controllers that output the operation end signal to the robot cell controller and the work area of each robot are divided by the common coordinate system for each work process. And a controller that performs non-interference control so that the work areas of the robots do not overlap with each other, and a robot cooperative control apparatus. 2. The controller sets boundaries for the division of the common coordinate system by using coordinate values of one axis in an orthogonal coordinate system composed of three axes of X axis, Y axis, and Z axis. The robot cooperative control device according to claim 1, wherein 3. The controller sets boundaries for the division of the common coordinate system using coordinate values of two axes in an orthogonal coordinate system composed of three axes of X axis, Y axis, and Z axis. The robot cooperative control device according to claim 1, wherein 4. The controller sets boundaries for the division of the common coordinate system by using coordinate values of three axes in an orthogonal coordinate system composed of three axes of X axis, Y axis, and Z axis. The robot cooperative control device according to claim 1, wherein 5. A robot cooperative control apparatus for controlling a plurality of robots arranged so as to have a common coordinate axis, comprising: a robot cell controller for sequentially outputting operation command signals in accordance with an operation program; The robot is operated based on the operation command, and when the operation corresponding to each operation command is completed, multiple robot controllers that output the operation end signal to the robot cell controller and the work area of each robot are divided by the common coordinate system for each work process. And a work area setting means for controlling so that a part of the work areas of the respective robots are overlapped, and the robot is informed that when the robot enters the overlap area, another robot does not enter the overlap area. After confirming with the cell controller, output an intrusion signal to the robot cell controller, A robot cooperative control device, comprising: a robot movement control means for controlling so as to enter the overlapping area. 6. A robot cooperative control apparatus for controlling a plurality of robots arranged so as to have a common coordinate axis, the parent robot controller sequentially outputting operation command signals in accordance with an operation program, and the parent robot controller. The robot is operated based on the operation command, and when the operation corresponding to each operation command ends, a plurality of child robot controllers that output operation end signals to the parent robot controller, and the work area of each robot are common coordinate system for each work process. And a work area setting means for controlling so as to overlap a part of the work area of each robot, and that when the robot enters the overlap area, other robots do not enter the overlap area. To the parent robot controller, output an intrusion signal to the parent robot controller, and A robot cooperative control device, comprising: a robot movement control means for controlling to enter an area.