JPH11208865A - Simulation method of component mounting trajectory - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To facilitate selection of a part assembling route. SOLUTION: A part pair to be checked for interference can be specified, a near miss value can be set for each specified part pair, and a part of the display screen is interfered or interfered with. Judgment as to whether the object is present and how far the part is from the obstacle are displayed in real time. According to the display shown in the figure, the part 1 (P1) and the part 2
(P2) indicates that the near miss value is set to 8, and the current distance between the part 1 (P1) and the part 2 (P2) is 6.5. You can see that it is. In addition, it can be seen that the part 1 (P4) and the part 2 (P6) are interfering with each other on the selected route. Further, a part 1 (P5) and a part 2 (P11)
Means that there is no near miss or interference in the route selected just now (in this case, "?" Is displayed).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of simulating a trajectory of assembling parts, for example, so that an assembling trajectory (transport trajectory) of vehicle parts can be relatively easily created.

[0002]

2. Description of the Related Art Recently, it is common practice to assemble a vehicle using a robot. When assembling a vehicle, components must be attached to the vehicle body. However, if a robot attempts to assemble the components, there is a problem in selecting a component transport route to avoid interference. That is,
When the robot mounts the parts on the vehicle body, the parts should not interfere with the vehicle body, and the parts should not interfere with other production machines. It is necessary to select a transport route). Conventionally, this selection has been made in the following manner.

<When using CAD> First, an image of the situation around the robot is developed on CAD based on data around the work area of the robot (data related to obstacles and the like existing around the robot), and data of parts is also displayed. Image of the situation where the robot is gripping the part based on the CA
Expand on D. In this state, move the robot little by little in any direction and visually check the clearance between the parts held by the robot and the surrounding obstacles (interfering objects). If the clearance seems to be small, perform the manual operation. While checking the distance, we will select a transport path for parts that does not cause interference.

<Case of Using Graphic Simulator> First, similarly to CAD, an image of a situation around the robot and an image of a situation where the robot is gripping the part are developed. Since a general graphic simulator is provided with an automatic near-miss check function and an interference check function, if a part held by the robot is near-missed by a nearby obstacle, the part is displayed in yellow, while When the interference occurs, the part is displayed in red. Therefore, using these functions, the robot moves the components so as not to interfere with each other, and selects a non-interfering component transfer path.

[0005]

SUMMARY OF THE INVENTION As described above, CAD
In the case of CAD, conventional methods of selecting a transfer route using graphic simulation require that all humans perform the interference check in the case of CAD, not only in terms of reliability, but also in cases where measurement is necessary. Since entering and exiting the mode, selection of the transport route requires a very large number of man-hours.

In the case of a graphic simulator, a near-miss value is set for each component in order to cause a near-miss display (generally, a near-miss value can only be set uniformly).
If the near-miss value is not appropriate, it is necessary to confirm again the number of times the setting has been made again.To correct the transport position after interference once, use the automatic near-miss confirmation function or Since it is necessary to escape from the interference check function (the function of displaying parts in red when interference occurs), complicated operations for entering and exiting these functions are required. No matter which method is used, the route selection requires a great deal of man-hour and time.

SUMMARY OF THE INVENTION The present invention is provided to solve such a conventional problem as much as possible, and provides a component placement simulation method capable of easily selecting a component mounting path. With the goal.

[0008]

The present invention for achieving the above object is constituted as follows. According to the first aspect of the present invention, a component assembling route is created while displaying the peripheral status of the component transport route and moving the component within the display so as not to interfere with an interference object existing in the transport route. Is a method of simulating a component assembling trajectory that is used to set a near-miss value for each component, and the distance between the component and an interfering object is set to the near-miss value for the component during creation of the component mounting path. This is a method of simulating a component assembling trajectory, characterized in that when it becomes smaller, a near miss is displayed.

[0010] According to a second aspect of the present invention, the components are mounted while displaying the surroundings of the component transfer route and moving the component within the display so as not to interfere with an interference object existing in the transfer route. A method of simulating a component assembling trajectory used for creating a path, wherein a distance between the component and an interfering object is displayed in a part of the display during creation of a component assembling path. This is a method of simulating the assembling trajectory of components to be mounted.

[0010] According to a third aspect of the present invention, components are displayed while displaying the surroundings of the component transfer path, and moving the component within the display so that the component does not interfere with an interfering object existing in the transfer path. A method of simulating a component mounting trajectory used for creating a path, wherein a near miss value is set for each component, and during creation of a component mounting path,
A method of simulating a component assembling trajectory, characterized by displaying presence / absence of interference between the component and an interfering object and a near-miss state on a part of the display based on the set near-miss value.

[0011] According to a fourth aspect of the present invention, the components are assembled while displaying the surroundings of the component transfer route and moving the component within the display so as not to interfere with an obstacle present on the transfer route. A method of simulating a component mounting trajectory used for creating a path, wherein a near miss value is set for each component, and during creation of a component mounting path,
Based on the set near miss value, the presence / absence of interference between the component and the interfering object, the near miss state is displayed on a part of the display, and the distance between the component and the interfering object is displayed on the part of the display. This is a method for simulating a component assembling trajectory.

[0012]

The invention constructed as described above has the following effects for each claim. According to the first aspect of the present invention, a near-miss value can be set for each component, and a near-miss state can be displayed based on the near-miss value, so that an optimal assembly path can be created for each component. Becomes

According to the second aspect of the present invention, the distance between the component and the interfering object can be displayed on a part of the display on the display in real time while the assembly path of the component is being created. The attachment route can be easily selected in a short time and with a small number of man-hours.

According to the third aspect of the present invention, the presence or absence of interference between the component and the interfering object based on the set near miss value,
Since the near miss state can be displayed on a part of the display on the display in real time, it is possible to create an optimal assembly path for each component.

According to the fourth aspect of the present invention, the presence or absence of interference between the component and the interfering object is determined based on the set near miss value.
The near-miss state is displayed in a part of the display in real time, and the distance between the part and the interfering object is displayed in a part of the display in real time, making it possible to create an optimal assembly path for each part. At the same time, it is possible to easily select a component assembling route in a short time and with a small number of man-hours.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of an apparatus for performing the method of the present invention. The graphic simulator 25 includes a keyboard 1, a mouse 3, a display device 45, and a storage device 35. The keyboard 1 and the mouse 3 give various instructions to the graphic simulator 25.
An image display device such as a T display or a liquid crystal display, and the storage device 35 is a portion that stores the method of the present invention as a program.

As will be described in detail later, the graphic simulator 25 has three typical functions: an assembly trajectory creation function, an assembly trajectory creation support function, and an interference confirmation function. The interference confirmation function includes two functions: a near miss value setting function for setting a near miss value for each component and a real time interference / near miss situation real time numerical display function for numerically displaying an interference or near miss situation in real time.

Therefore, the operator operates the keyboard 1
While using the mouse and the mouse 3 to move the parts held by the robot by the simulation operation, an optimal assembling path that does not interfere with other production equipment or a work (eg, a vehicle body) to be assembled is determined. It can be easily created in a relatively short time. What assists in the creation are an assembly trajectory creation support function and an interference confirmation function.

FIG. 2 is a block diagram showing a specific configuration of an apparatus for implementing the method of the present invention, and more specifically describes the apparatus of FIG. In the input processing unit 10 of the graphic simulator 25, according to the input from the keyboard 1 and the mouse 3, the setting of the parts to be paired (part pair setting), the setting of the near miss value for each paired part (the near miss value for each pair) ), Settings for executing the interference / near-miss mode (interference / near-miss active), mouse drag (mouse drag) for determining the position and orientation of the part, settings for reproducing the selected (created) assembly trajectory (trajectory ( Various settings such as path / definition) are performed.

The arithmetic unit 20 has a component shape database in which shape data for each component is stored. The data of the component pair set by operating the keyboard is taken out of this database, and the component pair data determined by mouse dragging is taken out. An interference / near-miss calculation between the component and another obstacle is performed based on the component position and orientation and the set near-miss value for each pair. In addition, when the setting of the trajectory (path) definition is completed, a calculation function is provided for performing a motion simulation by continuously moving components based on the created assembly trajectory.

The output processing unit 30 stores the information of the set component pair as component pair information, stores the near miss value set for each paired component as near miss value information for each pair, The fact that the mode has been designated is stored as interference / near miss active information. That is, the storage device 35 is provided in the output processing unit 30,
These pieces of information are stored in the storage device 35. The interference / near-miss calculation is performed by the calculation unit 20,
The calculation result is used by the output unit 30 to calculate the presence / absence of interference / distance between paired parts.
To be displayed.

The schematic configuration of the graphic simulator for implementing the method of the present invention is as described above. Hereinafter, the method for simulating the assembling trajectory of parts according to the present invention will be described in detail with reference to the flowcharts of FIGS. explain.

Before starting the work of selecting an assembling trajectory, first, a pair of parts to be checked for interference is specified. This designation is performed by operating the keyboard 1 as described above. The part pair is a work to be assembled and a part (including an obstacle) to be attached to the work (S1).

Next, a near miss value is set for each part pair. If the near miss value can be set for each component pair in this manner, it is possible to appropriately select the assembly path of each component. For example, some parts have a near miss value of 10m.
Although it is sufficient to set only m, 3
If a near-miss value of 0 mm is set, the degree of freedom in selecting an assembling route is reduced. In this way, an optimum near-miss value can be set according to features such as a part shape. If this is the case, the degree of freedom in selecting the assembly path increases (S2).

When the above setting is completed, the operation of the mouse 3 or the keyboard 1 finally causes the display 4 to be operated.
Prepare to move the part by selecting the part displayed at 0. When this operation is started, a window is generated in a part of the screen of the display, and an interference / near-miss display window is displayed there (S3). Then, an interference / near-miss confirmation mode is entered so that the occurrence of interference and near-miss can be recognized (S4). Next, the assembled component is moved according to the operation of the mouse 3 or the keyboard 1 (S5).

The graphic simulator 25 displays the presence / absence of interference and the distance between paired components calculated by the output unit 30 in the interference / near-miss display window, for example, as shown in FIG. According to this display, the component 1 (P
It can be seen that the near miss value is set to 8 for 1) and component 2 (P2), and the current component 1 (P1) and component 2 (P2)
Since the distance to 2) is 6.5, it can be seen that a near miss has occurred in the route selected just now. Also, part 1
It can be seen that (P4) and part 2 (P6) are interfering with each other on the selected route. Furthermore, it can be seen that the part 1 (P5) and the part 2 (P11) do not cause near miss or interference in the route selected just now (in this case, “?” Is displayed). Note that the display of A in the active column indicates A when the assembly trajectory (trajectory definition) finally created by the method of the present invention is verified (movement simulation).
This is for checking the interference only in the section marked with. With such a function, the time required for the motion simulation can be reduced (S6).

The operator moves the part while looking at such a display, stores the coordinates of the trajectory as needed while selecting a path that does not cause near miss or interference, and creates an assembling path of the part (S7). .

FIG. 4 is a flowchart for explaining the processing of steps S3 and S4 in FIG. 3 in detail. The process of designating a pair of interference check target components and the process of setting a near miss value for each pair are exactly the same as the steps S1 and S2 in FIG.
2). When the setting is completed, the operator is next asked whether to enter the interference / near-miss confirmation mode (S13). When the operator issues an instruction to enter the interference / near-miss confirmation mode, the operator enters the interference / near-miss confirmation mode in which the state of the interference / near-miss is displayed on the display, and the operator displays the interference / near-miss confirmation mode. , An assembly locus of the component moved by the operation of the mouse 3 or the keyboard 1 is created (S14). On the other hand, if the user does not give an instruction to enter the interference / near-miss confirmation mode, the same interference as before (parts are displayed in red),
While observing the situation of the near miss (the component is displayed in yellow), a rough attachment locus of the component is created by operating the mouse 3 or the keyboard 1 (S15).

When the operator enters the interference / near-miss confirmation mode, the operator is asked whether or not to enter the assembly trajectory creation support function. Only the confirmation mode is executed (S16). If the mode of the assembling trajectory creation support function is designated, this mode is executed, and the assembling trajectory selected in the interference / near-miss confirmation mode and the interference / near-miss confirmation are confirmed. The trajectory is automatically corrected so that the installation trajectory manually selected instead of the mode becomes the optimal trajectory (S
17).

As described above, according to the method of the present invention, it is possible to specify a component pair whose interference is to be confirmed, to set a near miss value for each of the specified component pairs, Judgment of whether or not parts are interfering, and how far the part is from the obstacle are displayed in real time, so creating the assembly path of parts This facilitates the improvement of the trajectory accuracy and the reduction of man-hours.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an apparatus for performing a method of the present invention.

FIG. 2 is a block diagram showing a specific configuration of an apparatus for performing the method of the present invention.

FIG. 3 is a diagram showing an example of a screen displayed on the display of FIG. 2;

FIG. 4 is a flowchart illustrating the method of the present invention.

FIG. 5 is a flowchart illustrating the method of the present invention.

[Explanation of symbols]

 10: input unit, 20: arithmetic unit, 25: graphic simulator, 30: output processing unit, 40: display.

Claims (4)

[Claims] 1. A peripheral state of a transport path of a component is displayed, and is used to create an assembly path of the component while moving the component within the display so as not to interfere with an interference object existing in the transport path. A method of simulating a component assembling trajectory, in which a near-miss value is set for each component. A simulation method for assembling trajectories of parts, characterized by displaying that the condition is "1". 2. A part mounting route is displayed while displaying the peripheral status of a component transfer route and moving the component within the display so as not to interfere with an interference object existing in the transfer route. A method of simulating a component assembling trajectory, wherein a distance between the component and the interfering object is displayed in a part of the display during creation of a component assembling path. Simulation method. 3. A part assembly route is displayed while displaying the peripheral state of a component transfer route and moving the component within the display so as not to interfere with an interference object existing in the transfer route. A method of simulating a component assembling trajectory, wherein a near-miss value is set for each component, and an interference between the component and the interfering object is determined based on the set near-miss value during creation of a component assembling path. A method of simulating a component assembling trajectory, wherein presence / absence and a near-miss state are displayed in a part of the display. 4. A part mounting route is displayed while displaying a peripheral condition of a component transfer route and moving the component within the display so as not to interfere with an interference object existing in the transfer route. A method of simulating a component assembling trajectory, wherein a near-miss value is set for each component, and an interference between the component and the interfering object is determined based on the set near-miss value during creation of a component assembling path. A method of simulating a component assembling trajectory, wherein presence / absence and a near-miss state are displayed in a part of the display, and a distance between the part and the interference object is displayed in a part of the display.