JPH11327617A - Program preparation supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten work time required for a flow examination by efficiently supporting the programming work of a multi-component assembly device by plural robots. SOLUTION: Relating to this program preparation supporting device 100, when an operator prepares a process flow by selecting a standard operation pattern and inputting process order information and robot specifying information by an input part 102, an interference check processing for checking whether or not the processes of the plural robots are allocated in the same interference area and an evaluation processing are executed to the process flow by an arithmetic part 103 and the interference checked result and the evaluated result of the process flow are displayed at a display part 104. Even the operator who does not know the detailed operations of the robots easily and accurately examines whether or not interference is generated among the robots and whether or not the process is omitted, etc., by looking at contents displayed at the display part 104. Also, a program is automatically prepared by the arithmetic part 103 and an interference trouble such as the collision of the robots with each other or the like is prevented by interlock signals.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot program creation support device for defining operations in various work processes of an industrial robot, and more particularly to a program creation suitable for creating a robot program for an assembly device for high-mix low-volume production. The present invention relates to a support device.

[0002]

2. Description of the Related Art In an assembling robot apparatus, a program described in some programming language is required to make a robot perform necessary operations. However, when creating this kind of program, the creator has been required to perform a huge amount of work up to the stage of examining the process flows of various work processes and describing the details of the operation. Also, programming relied heavily on simulations of the creator's thinking, and individual differences were also large. For this reason, Japanese Patent Application Laid-Open No. H8-249026 provides a programming method using a support tool capable of efficiently guiding and assisting a programming operation of an operator with respect to a programming operation in an assembly robot system. On the other hand, in the case of frequently changing models for high-mix low-volume production, it is important to easily convert the equipment. At this time, the program also needs to be changed.However, if the overall configuration and layout of the system do not change significantly when the equipment is diverted, or if each part of the system is modularized and designed so that it can be rebuilt, the program Reusable.

[0003]

However, the prior art described in the above publication does not consider multi-part assembly by a plurality of robots, and therefore cannot sufficiently cope with a case where interference check between robots is required. In other words, if multiple robots are used to perform multi-component, multi-step assembly work, the process allocation will be diversified and the interference check will be complicated. On the other hand, it is difficult to automate programming that seeks an optimal solution. In addition, there is no evaluation criterion when deciding the assembly order and the assignment to the robot, which is also a problem in the work of examining the optimal flow. For this, it is possible to estimate the tact time by performing a simulation using a virtual model as an evaluation criterion, but the cost of the simulation system is increased, and it takes time to create a model for the simulation, and the workload increases. Would. Accordingly, the problem to be solved by the present invention is to use a standard device categorized by a standard operation pattern efficiently, so that a complex device such as a multi-component, multi-process assembly work performed by a plurality of robots is used. It is an object of the present invention to provide a program creation support device that enables a designer who is not a designer to accurately evaluate a process flow and perform programming in a short period of time. In particular, in claim 1, the created flow is accurately evaluated so that a person who does not know the detailed operation of the robot can create a robot program, which can cope with multi-part assembly by a plurality of robots, and efficiently perform programming work. It is an object of the present invention to provide a program creation support device capable of supporting the program and shortening the work time required for the flow study. It is another object of the present invention to provide a program creation support device capable of reducing the amount of standard data to be stored in a storage unit. According to a third aspect of the present invention, there is provided a program creation support apparatus capable of creating a program having no individual difference and preventing an interference trouble such as a collision between robots due to a human error after being mounted on an actual machine. The task is to provide. Further, according to the fourth aspect, the cycle time can be easily estimated without estimating the tact data one by one for each process, and the optimal solution of the process flow for the purpose of shortening the cycle time is obtained. An object of the present invention is to provide a program creation support device capable of reducing work time. It is another object of the present invention to provide a program creation support device that enables more accurate estimation of the cycle time in the trial calculation of the cycle time. It is another object of the present invention to provide a program creation support device having a display function so that the balance of process allocation between robots can be understood at a glance. According to the seventh aspect, when the robot of the multi-part assembling apparatus can switch and use a plurality of hands or can exchange the hands, it is possible to consider a process allocation for reducing the number of hands of the entire assembling apparatus. It is an object to provide a program creation support device. It is another object of the present invention to provide a program creation support device that can automatically create a teaching data file and complete tentative teaching with a simple operation.

[0004]

According to the first aspect of the present invention, there is provided an apparatus comprising a plurality of robots and a plurality of component supply devices, wherein each robot has a predetermined sequence. Multi-parts programmed to perform work processes such as grasping, assembling, and transporting in a common or occupied work area, and controlled so that multiple robots do not simultaneously enter the same interference area with an interlock signal. A robot program creation support device in the assembling device is configured to include a storage unit, an input unit, a calculation unit, and a display unit, and the storage unit includes a standard data storage unit that stores standard data classified by a standard operation pattern. The input unit has a standard operation pattern selecting means for selecting the standard operation pattern, and at least process order information and robot information. A process flow creating means for creating a process flow by inputting designation information, wherein the arithmetic unit checks whether or not the processes of the plurality of robots are assigned to the same interference area And a process flow evaluation means for evaluating the created process flow, wherein the display unit displays the check result by the interference check means, an interference check result display means, and the evaluation result by the process flow evaluation means. And a flow evaluation result display means for displaying. According to a second aspect of the present invention, based on the device configuration of the first aspect, the standard operation pattern includes at least an operation pattern of a gripping step and an operation pattern of an assembly or transfer step. I have. According to a third aspect of the present invention, based on the device configuration of the first or second aspect, a standard program is stored in the standard data storage means, and the standard program is connected to the arithmetic unit. Means and automatic generation means for automatically generating an interlock signal. According to a fourth aspect of the present invention, the tact time data indicating the standard time of each step is stored in the standard data storage means on the premise of the device configuration according to any one of the first to third aspects. The process flow evaluation means has a cycle time calculation function for calculating the total tact time required for one cycle of each robot, and the flow evaluation result display means displays the cycle time calculation result by the process flow evaluation means. It is characterized by having provided. According to a fifth aspect of the present invention, based on the apparatus configuration of the fourth aspect, the process flow evaluation means is provided with a function of correcting a process start timing in a cycle time calculation process. And According to a sixth aspect of the present invention, based on the apparatus configuration of the fourth or fifth aspect, the flow evaluation result display means expresses the flow of each process of each robot in a form in which blocks are arranged, Each block is characterized in that it has a function of displaying a length proportional to the tact time of each corresponding process. According to a seventh aspect of the present invention, a function for inputting a robot hand name is provided in the input unit on the premise of the apparatus configuration in any one of the first to sixth aspects, and a multi-component is provided in the process flow evaluation means. It is characterized in that a counting function for counting the number of hands of the entire assembling apparatus is provided, and a function of displaying the result of counting the number of hands of the entire multi-component assembling apparatus is provided in the flow evaluation result display means. Also,
According to an eighth aspect of the present invention, based on the apparatus configuration according to any one of the first to seventh aspects, standard teaching data of a robot is stored in the standard data storage means, and standard teaching data is stored in the arithmetic unit. And standard hand data mode automatic correcting means for automatically correcting the connected teaching data in accordance with the manual mode.

[0005] In the program creation support apparatus according to the first aspect of the present invention, when an operator selects a standard operation pattern and inputs process order information and robot designation information by using an input unit, a process flow is created. The operation unit performs an interference check process and an evaluation process on whether or not the processes of a plurality of robots are assigned to the same interference area for the process flow, and displays an interference check result and an evaluation result of the process flow. Displayed on the display unit, even if the operator does not know the detailed operation of the robot, by checking the interference check result and the process flow evaluation result displayed on the display unit, there is no interference Can be easily and accurately examined to see if there is any problem, reducing the time required for studying the process flow , It is possible to efficiently perform programming work of a multi-part assembly device of a plurality of robots. According to the second aspect of the present invention, the standard operation pattern is divided into an operation pattern of a gripping step and an operation pattern of an assembly or transfer step, and the standard data is classified for each operation pattern and stored in a storage unit. By storing them in the standard data storage means, various operation patterns of each work process of each robot can be expressed by appropriately combining them, so that the amount of standard data stored in the storage unit can be reduced. it can. In the program creation support device according to the third aspect, since the program is automatically created by the standard program connection means of the arithmetic unit, a program without individual differences can be created, and the program can be easily improved and maintained. In addition, since the interlock signal is automatically assigned, it is possible to prevent occurrence of an interference trouble such as a collision between robots after being mounted on an actual machine. Further, in the program creation support device according to the fourth aspect, the cycle time of each robot is calculated by the calculation unit using the tact time data stored in the standard data storage means of the storage unit, and the calculation result is displayed on the display unit. Therefore, the cycle time can be known without estimating the tact time for each process and calculating the cycle time, so that the optimal solution of the process flow for the purpose of shortening the cycle time can be obtained. Work time can also be reduced. Further, according to the program creation support device of the present invention, the process start timing can be corrected at the time of the cycle time calculation processing, so that the cycle time can be more accurately estimated. According to the program creation support device of the sixth aspect,
The process flow of each process of each robot is expressed in a form where blocks are arranged, and the blocks are displayed on the display unit in a length proportional to the tact time of each process. Thus, the balance of process allocation among a plurality of robots can be understood at a glance. According to the program creation support device of the present invention, the arithmetic unit is provided with a hand number counting means for counting the number of hands of the entire multi-part assembly apparatus, and the flow evaluation result display means of the display unit is provided with a hand number counting unit. Since the function of displaying the counting result is provided, when the robot of the multi-part assembling apparatus can switch or exchange a plurality of hands, it is possible to consider a process allocation for reducing the number of hands of the entire assembling apparatus.
According to the program creation support device of the present invention, since the teaching data file is automatically created by the standard teaching data linking means of the arithmetic unit, the tentative teaching is completed by a simple operation, and the teaching operation on the actual machine is completed. Work can be reduced.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. First, the configuration of this embodiment will be described. FIG. 2 is an overall configuration diagram showing an example of a multi-part assembly apparatus to which the present invention is applied. The multi-part assembling apparatus 200 includes a double-arm robot 201 including two horizontal multi-indirect robots (hereinafter simply referred to as robots) 201L and 201R arranged on the left and right, and a double-arm robot 2
01, left and right robots 201L, 2
01R shared component supply device 202 and left and right robots 201L and 201R dedicated component supply device 203
L, 203R, an assembling workbench 204 shared by the left and right robots 201L, 201R disposed in front of the dual-arm robot 201, and the left and right robots 201L, 201 similarly.
1R shared transport conveyor 205 and left and right robots 2
01L and 201R, respectively, and two robot controllers 206L and 206R.
L, 206R, which is a higher-level device that controls 206R
And 7. Each of the robots 201L and 201R is programmed to perform work processes such as grasping and assembling in each work area and to carry parts between the work areas according to a determined sequence. Therefore, the work area is the left and right robots 201 as in this example.
When shared by L and 201R, interference such as collision may occur. Therefore, a signal line 208 is connected between the robot controllers 206L and 206R of the robots 201L and 201R.
In order to transmit and receive interlock signals to and from each other. That is, each robot 201L, 201L determines whether another robot has entered the shared work area.
The R robot controllers 206L and 206R detect and determine the interlock signal on the robot program so that the left and right robots 201L and 201R do not simultaneously enter the same interference area. Note that the hatched portion in FIG. 2 indicates an area shared by the left and right robots 201L and 201R, that is, an interference area where the left and right robots 201L and 201R may interfere with each other.

FIG. 1 is a functional block diagram showing an example of an embodiment of a program creation support device according to the present invention. As shown in the figure, the program creation support device 100 generally includes a storage unit 101, an input unit (operation unit) 102, a calculation unit 103, and a display unit 104. The configuration and function of each unit are shown below. The storage unit 101 includes a standard data storage unit 101a, in which standard data such as a standard program, standard tact data, and standard teaching data can be stored. Each standard data is classified for each standard operation pattern, and various data are standardized and stored in a file. The standard operation pattern referred to here is an operation pattern in which work steps in which the robot grasping operation and the assembling operation are almost the same are shared, and in this embodiment, the work steps related to one part are divided into the first half grip pattern and the second half. It is divided into assembly (transfer) patterns. The types of the standard operation patterns are classified according to the identification information of the work area as well as the type of the robot operation. The input unit 102 includes a process flow creation unit 102a and a standard operation pattern selection unit 102b. In this embodiment, a hand name input means 102c is further provided. In the standard operation pattern selection means 102b, a part name is input, and a gripping pattern and an assembly pattern are selected. In the process flow creating means 102a, the order of each process (operation pattern) and the robot name of the designated robot are input. In the hand name input means 102c, the hand name of the robot hand to be used for each component is input.

The arithmetic unit 103 includes the interference check means 10
3a and a process flow evaluation means 103b are provided. In the interference check means 103a, an interference check between the robots in each process is performed. In the process flow evaluation unit 103b of this embodiment, a cycle time calculation process and a hand number counting process are performed. The operation unit 10
3 is provided with a standard program connection means 103c, an interlock signal automatic generation means 103d, a standard teaching data connection means 103e, and a manual system mode automatic correction means 103f. 103d, a program file is automatically generated.
A teaching data file is automatically generated by 3e and the hand-system mode automatic correcting means 103f. The display unit 104 includes an interference check result display unit 104a and a flow evaluation display unit 104b. Display unit 1 of this embodiment
Numeral 04 can visually display the input process, various calculation results, and the like on the display screen. In the program creation support device 100 of the present embodiment, the main screens displayed on the display unit 104 are the three types of screens shown in FIGS.

FIG. 3 shows a display example of a component information input screen corresponding to the first page of the input screen. This screen is a screen on which the operator inputs information of all parts to be assembled. On the screen, an input operation unit for inputting or selecting a component name, a gripping pattern, an assembly pattern, and a hand name, and a confirmation button for notifying the device that the operator has completed the input operation are arranged. . FIG. 4 shows a display example of a process flow creation screen which is the second page of the input screen. This screen is displayed when an operator creates and examines a process flow. On the screen, a process list section for creating a process flow, a process flow allocating section, an input check button for starting a process for checking whether all processes have been correctly input, and for starting various flow evaluation processes Flow evaluation button is arranged. FIG. 5 shows a display example of a process flow evaluation result display screen of the cycle time calculation result. The calculation result of the cycle time and the result of counting the number of hands are displayed on the right side of the screen, and the process tact diagram is displayed on the left side of the screen. In the process tact diagram, the flow of each process of each robot is expressed in a form in which blocks (rectangular display bodies) are arranged, and each block is displayed with a length proportional to the tact time of each process. As a result, the work balance between the left and right robots such as the waiting time, order, and work content of each process can be understood at a glance. (Corresponding to claim 6) The operation of this embodiment will be described below. (1) Operation Flow of Operator The operation flow of the operator in the program creation support device of the present embodiment is as follows. First, a component name, an operation pattern (gripping pattern, assembly pattern), and a hand name are input or selected on the component information input screen of FIG. After entering or selecting the required items, press the confirm button. Next, a process flow is created on the process flow creation screen of FIG. Here, the operation of arranging each process in order from the process list to the process flow allocating unit to each robot (the left and right robots 201L and 201R in this embodiment) is performed.
At this time, if operations in the same interference area are arranged at the same step number, an interference error will occur later. After completing the process layout, press the input check button. If there is an input error display, the operator corrects the flow, but if there is no input error display, the operator presses the flow evaluation button. Then, the process flow evaluation result display screen of FIG. 5 is displayed, and the results of the interference check, the process flow determination check, and the like are checked, and the process flow such as sorting is reviewed. If there is no need to rearrange, etc., press the return button to return to the process flow creation screen of FIG. 4, press the confirm button to confirm the flow, and load the created file into the simulator or the robot controller of the actual robot I do. (2) Processing on Each Screen When necessary items are input or selected on the component information input screen of FIG. 3 and the confirm button is pressed, a process list on the process flow creation screen is automatically generated. In this example, a list of two processes of a gripping process and an assembling process is created for one component. Then, the screen is switched to the process flow creation screen shown in FIG. 4, and the entire process list input on the component information input screen is displayed in the process list section. The input component information is stored in the storage unit 101.
Is stored in When the input check button on the process flow creation screen in FIG. 4 is pressed, the arithmetic unit 103 executes an interference check process and a process for checking that there is no omission in the process. In the case where one part is divided into a gripping step and an assembling step as in this example,
A process is performed to check whether the same part is allocated to another robot, and a process is performed to check whether the assembly process is located before the gripping process. Although not shown, if there is an input error, an error is displayed at a predetermined location on the process flow creation screen. When the flow evaluation button on the process flow creation screen is pressed, the operation unit 1
At 03, the cycle time calculation process and the hand number counting process are executed, and the results are displayed on the flow evaluation result display screen of FIG. When the confirm button on the process flow creation screen is pressed, the arithmetic unit 103 starts the program file creation process and the teaching data file creation process, and creates a file for each robot. The input flow information is stored in the storage unit 101.

(3) Details of Each Processing Flow In this embodiment, the processing functions of each means in the arithmetic unit 103 are realized by software processing. Hereinafter, the operation of this embodiment will be described with reference to the flowcharts shown in FIGS. FIG. 6 shows a flow of the interference check processing by the interference check means 103a. First, the identification mark of each process is set from the operation pattern of that process (S1).
In this example, the setting of the work area identification marks for all processes is divided into the following three patterns. -Interference area (shared parts supply area located behind the robot); A-Interference area (shared assembly workbench and conveyor area located in front of the robot); B-Non-interference area (parts dedicated to left and right robots) Supply device)
C Next, a determination routine of the work area identification mark (S2 to S
At 6), it is determined whether or not a plurality of (two in this example) robot identification marks are assigned to the same interference area A or B in each step. That is, the process numbers are sequentially set (S2), identification mark determination is performed for each process number (S3), and identification marks of a plurality of robots are assigned to the same interference area A or B as described above. If the error has occurred (NG in S3), an error message such as "interference error" is displayed at a predetermined location on the process flow creation screen (S6). If there is no overlapping assignment of a plurality of robots to the same interference area in all steps (Yes in S4), a message such as "no interference" is displayed (S5).

FIG. 7 shows the flow of automatic program generation processing by the standard program connection means 103c and the automatic interlock signal generation means 103d. First, following I / O initialization processing, component information and flow information are sequentially read from the storage unit 101 (S11, S12), a program file name is created (S13), and a common part of the robot program is created. (S14). Next, the files of the standard program corresponding to the operation pattern of each process are read for each robot in the order of the process numbers input on the flow creation screen of FIG. 4 (S15), and are linked (S16). Then, when the reading and linking of the standard program for all the processes are completed (Yes in S17), a command related to the interlock signal is generated at the interference area on the obtained robot program so as not to cause interference. Is described. Finally, the entire file is modified to complete the robot program. FIG. 8 shows the flow of the cycle time calculation process by the process flow evaluation means 103b. First, the interference checking means 10
As in the process of 3a, an identification mark is set in each of the interference areas to (S21). Next, work start time, end time, and process size of each process are provisionally determined in the order of process numbers as follows. -Process start time = Process end time of previous process-Process size = Tact time-Process end time = Process start time + Process size Next, the work area identification mark is determined (S23), and the process start time is as follows. Is performed. That is,
If the work area identification mark of the previous process of another robot is the same (Yes in S23), there is a possibility of interference, so
If the work end time of the process that may cause interference is later than the work end time of the previous process, the process start time is corrected so that the user's own process is started after that (S2).
4). If the work area identification mark of the previous process of another robot is different (No in S23), there is no possibility of interference, and thus the process start time is not corrected. Then, when the process start time has been corrected for all the steps (Ye in S25).
s) Further, the first process start time is corrected (inter-cycle correction) (S26). Here, if there is a possibility that the first process of the robot and the next process of the other robot may interfere with each other, the start position of the next process of the other robot is compared with the start position of the second process of the other robot, and whichever is earlier. The first step start time of the cycle is corrected so as to be continued. Finally, the total tact time required for one cycle of each robot is calculated (S2).
7), save the result or display it on the screen with the longer one as the cycle time (S28). (The above are claims 4 and 5.
FIG. 9 shows a flow of the hand number counting process by the process flow evaluation means 103b. First, for each robot, the hand names input on the parts information screen of FIG. 3 corresponding to the steps input on the process flow creation screen of FIG. 4 are read, and the hands that do not overlap are totaled in the hand number counting routine. That is, the process number is sequentially set for each robot (S31, S32), and the hand name of the robot is read from the component information corresponding to the set process number (S3).
3) Total the number of hands for all processes for each robot (S
34, No in S35). Then, when the total number of hands for all processes is obtained for all robots (Yes in S35),
Finally, the number of hands of each robot (the value obtained in S34) is summed (S37), and the result is stored or displayed on a screen (S38). FIG. 10 shows a flow of a robot teaching data file automatic generation process by the standard teaching data linking means 103e and the hand-system mode automatic correcting means 103f. First, the storage unit 101
The component information and the flow information are sequentially read out from
(S42), a teaching data file name is created (S4).
3) A common part of the teaching data such as the work origin is created (S44). Next, a file of standard teaching data corresponding to the operation pattern of each process is read for each robot in the order of the process numbers input on the flow creation screen of FIG. 4 (S4).
5) The connection is continued (S46). When the reading and linking of the standard teaching data for all the steps are completed (S4
Finally, the data is corrected in accordance with the hand system mode to complete the teaching file of the dual-arm robot 201 including two horizontal multi-indirect robots. (The above corresponds to claim 8.) In the above embodiment, the case where the multi-part assembling apparatus includes a dual-arm robot including two horizontal multi-indirect robots has been described as an example. The present invention is not limited to this, and can be effectively applied to an apparatus for supporting creation of a robot program of a multi-part assembly apparatus including three or more horizontal multi-indirect robots or other types of robots.

[0012]

As described above, the present invention has the following excellent effects. According to the first aspect of the present invention, when the operator creates a process flow by selecting the standard operation pattern and inputting the process sequence information and the robot designation information using the input unit, a plurality of robots are required for the process flow. The operation unit performs an interference check process and an evaluation process to determine whether or not the process is assigned to the same interference area. The result of the interference check and the evaluation result of the process flow are displayed on the display unit. Even operators who do not know the information can easily and accurately examine whether there is interference between the robots and whether there is any omission in the process by looking at the interference check result and the process flow evaluation result displayed on the display unit. Can reduce the work time required for studying the process flow, and can improve the efficiency of multi-part assembly equipment using multiple robots. Ming work can be efficiently performed. According to the second aspect of the present invention, the standard operation pattern is divided into the operation pattern of the gripping step and the operation pattern of the assembly or transfer step.
By dividing the standard data for each operation pattern and storing it in the standard data storage means of the storage unit, various operation patterns of each work process of each robot can be expressed by appropriately combining these. The data amount of the standard data stored in the storage unit can be reduced.
According to the third aspect of the present invention, since the program is automatically created by the standard program linking means of the arithmetic unit, a program without individual differences can be created, and the program can be easily improved and maintained. Since the interlock signal is automatically assigned, it is possible to prevent the occurrence of interference trouble such as collision between robots after being mounted on the actual machine. According to the invention of claim 4, the cycle time of each robot is calculated by the calculation unit using the tact time data stored in the standard data storage means of the storage unit,
Since the calculation result is displayed on the display unit, it is possible to know the cycle time without calculating the cycle time by estimating the cycle time for each process. An optimal solution can be obtained, and the work time for that can be reduced.
According to the fifth aspect of the present invention, it is possible to correct the process start timing at the time of the cycle time calculation processing, so that it is possible to more accurately estimate the cycle time. According to the sixth aspect of the present invention, the process flow of each process of each robot is expressed in a form in which blocks are arranged, and the blocks are displayed on the display unit in a length proportional to the tact time of each process. As a result, the interval between blocks is represented as a waiting time, and the balance of process allocation among a plurality of robots can be understood at a glance. According to the invention of claim 7, according to the program creation support device,
The calculation unit is provided with a hand number counting means for counting the number of hands of the entire multi-part assembly apparatus, and the flow evaluation result display means of the display unit is provided with a function of displaying the hand number counting result. When the robot can switch or exchange a plurality of hands, it is possible to consider a process allocation for reducing the number of hands of the entire assembling apparatus. According to the eighth aspect of the present invention, the teaching data file is automatically created by the standard teaching data linking means of the arithmetic unit, so that the tentative teaching is completed by a simple operation, and the time required for the teaching operation on the actual machine is reduced. Can be reduced.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing an example of an embodiment of a program creation support device according to the present invention.

FIG. 2 is an overall configuration diagram showing an example of a multi-part assembly apparatus to which the present invention is applied.

FIG. 3 is a diagram illustrating a display example of a component information input screen displayed on a display unit in FIG. 1;

FIG. 4 is a diagram showing a display example of a process flow creation screen displayed on a display unit in FIG. 1;

FIG. 5 is a diagram showing a display example of a flow evaluation result display screen displayed on a display unit in FIG. 1;

FIG. 6 is a flowchart showing a flow of a hand number counting process according to the embodiment of the present invention;

FIG. 7 is an operation flowchart illustrating a flow of a program automatic generation process by the program creation support device of FIG. 1;

FIG. 8 is an operation flowchart illustrating a flow of a cycle time calculation process by the program creation support device of FIG. 1;

9 is an operation flowchart illustrating a flow of a hand number counting process by the program creation support device of FIG. 1;

FIG. 10 is an operation flowchart illustrating a flow of a teaching data file automatic generation process by the program creation support device of FIG. 1;

[Description of Signs] 100 Program Creation Support Device, 101 Storage Unit, 1
01a standard data storage means, 102 input section, 102
a process flow creation means, 102b standard operation pattern selection means, 102c hand name input means, 103 arithmetic unit, 103a interference check means, 103b process flow evaluation means, 103c standard program connection means, 103
d Automatic interlock signal generation means, 103e Standard teaching data linking means, 103f Hand system automatic correction means, 104 display unit, 104a interference check result display means, 104b flow evaluation display means, 200 multi-part assembly device, 201L robot, 201R Robot, 2
01 Double-armed robot, 202 Common parts supply device, 2
03L Dedicated parts supply device, 203R Dedicated parts supply device, 204 Assembly work table, 205 Conveyor,
206L robot controller, 206R robot controller, 207 sequencer, 208 Signal line for interlock signal.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI G05B 19/048 G05B 19/05 D 19/4093 19/403 E (72) Inventor Koichi Kawano 1-chome Nakamagome, Ota-ku, Tokyo No. 3-6 Ricoh Co., Ltd.

Claims (8)

[Claims] 1. A robot comprising a plurality of robots and a plurality of component supply devices, wherein each robot performs work processes such as grasping, assembling, and transporting in a common or occupied work area according to a predetermined sequence. A robot program creation support device in a multi-part assembly device, which is programmed so that a plurality of robots do not simultaneously enter the same interference area with an interlock signal, comprising: a storage unit, an input unit, and an arithmetic unit. And a display unit. The storage unit has standard data storage means for storing standard data classified by the standard operation pattern, and the input unit is a standard operation pattern for selecting the standard operation pattern. Selecting means, and a process flow creating means for creating at least a process flow by inputting process sequence information and robot designation information; The operation unit has interference check means for checking whether or not the processes of the plurality of robots are assigned to the same interference area, and process flow evaluation means for evaluating the created process flow. Wherein the display unit comprises: an interference check result display means for displaying a check result by the interference check means; and a flow evaluation result display means for displaying an evaluation result by the process flow evaluation means. Device program creation support device. 2. The program creation support apparatus according to claim 1, wherein the standard operation pattern comprises at least an operation pattern of a gripping step and an operation pattern of an assembly or transfer step. 3. A standard program storage means for storing a standard program in the standard data storage means, and a standard program connection means for connecting a standard program, and an interlock signal automatic generation means for automatically generating an interlock signal. 3. The program creation support device according to claim 1, wherein: 4. A cycle time for calculating a total tact time required for one cycle of each robot, wherein tact time data indicating a standard time of each process is stored in the standard data storage means. 4. The program creation support device according to claim 1, further comprising a calculation function, wherein the flow evaluation result display means has a function of displaying a cycle time calculation result by the process flow evaluation means. . 5. The program creation support apparatus according to claim 4, wherein said process flow evaluation means is provided with a function of correcting a process start timing in a cycle time calculation process. 6. A function for displaying the flow of each step of each robot in a form in which blocks are arranged and displaying each block with a length proportional to the tact time of each corresponding step. The program creation support device according to claim 4, further comprising: 7. A function for inputting a robot hand name in the input unit, a counting function for counting the number of hands in the entire multi-component assembler in the process flow evaluation means, and a multi-function in the flow evaluation result display means. 7. The program creation support apparatus according to claim 1, further comprising a function of displaying a result of counting the number of hands of the entire part assembling apparatus. 8. A standard teaching data linking means for linking the standard teaching data with the arithmetic unit, wherein the standard teaching data of the robot is stored in the standard data storage means, and the linked teaching data is adjusted to the hand system mode. 8. The program creation support device according to claim 1, further comprising: a hand-system mode automatic correction means for performing automatic correction by means of a program.