Wiring planning system and wiring planning method

Abstract

This wiring planning system includes: a generation unit that generates a movement path for a robot, with respect to each of a plurality of wirings on the basis of wiring data in which the plurality of wirings are set; a prediction unit that predicts a usage amount of a lead wire in each of the plurality of wirings on the basis of the movement path generated by the generation unit; and a determination unit that determines the order of the plurality of wirings on the basis of the usage amount of the lead wire predicted by the prediction unit.

Description

Wiring planning system and wiring planning method

[0001] The present disclosure relates to a wiring planning system and a wiring planning method.

[0002] In recent years, automation of wire installation work using robots and the like has been promoted in place of manual wire installation work. For example, Patent Document 1 discloses a wire installation device that operates a guide pin in an initial position and moves the guide pin to a target position where the tension of an electric wire having fixed start and end points increases.

[0003] Japanese Patent Application Laid-Open No. 2022-145181

[0004] The present disclosure has been devised in view of the above-described conventional situation, and aims to realize efficient use of lead wires in wiring work.

[0005] The present disclosure provides a wiring planning system having a generation unit that generates a movement path for a robot for each of a plurality of wirings based on wiring data in which the plurality of wirings are set, a prediction unit that predicts a usage amount of lead wire for each of the plurality of wirings based on the movement path generated by the generation unit, and a determination unit that determines an order of the plurality of wirings based on the usage amount of lead wire predicted by the prediction unit.

[0006] The present disclosure also provides a wiring planning method executed by a processor and a memory working in cooperation with each other, the wiring planning method including: a generation step of generating a movement path for a robot for each of a plurality of wirings based on wiring data in which the plurality of wirings are set; a prediction step of predicting a usage amount of lead wire for each of the plurality of wirings based on the movement path generated in the generation step; and a determination step of determining an order of the plurality of wirings based on the usage amount of lead wire predicted in the prediction step.

[0007] According to the present disclosure, it is possible to achieve efficient use of lead wires in wiring work.

[0008] FIG. 1 is a schematic diagram showing an example of the configuration of a wiring system according to an embodiment of the present invention; FIG. 2 is a block diagram showing an example of the configuration of an information processing device that can be used in the wiring system according to an embodiment of the present invention; FIG. 3 is a table diagram showing an example of the configuration of a management table for lead remaining amount information according to an embodiment of the present invention;

[0009] (Background to the Contents of Each Embodiment) Wiring work for lead wires used in electronic devices and the like can involve a large number of lead wires, types of lead wires to be handled, and the number of lead wires in the wiring plan, resulting in a heavy manual workload. Therefore, with the aim of reducing repetitive manual work and shortening work time, configurations that automate wiring work by using a multi-axis robot or the like based on preset wiring data have become widespread. There are various types of lead wires, and it is necessary to perform wiring work by switching between them based on the wiring data.

[0010] On the other hand, since it is not possible to determine in advance whether there will be a shortage of lead wires during wiring work, a configuration has been used in which the wiring work is continued until the lead wires run out, or the lead wires are replaced before the work so that there are sufficient lead wires, and then the wiring work is continued.With such a configuration, there are problems such as an increase in the frequency of interruptions to the wiring work, and the need to replace lead wires even when replacement is not actually necessary, and further improvements in terms of work efficiency have been desired.

[0011] In the following embodiment, taking the above circumstances into consideration, an example of a wiring planning system and a wiring planning method for a wiring system that realizes further efficiency improvements in wiring work will be described.

[0012] Hereinafter, with reference to the accompanying drawings as appropriate, detailed descriptions of embodiments that specifically disclose a wiring planning system and a wiring planning method according to the present disclosure will be provided. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

[0013] In this specification, "wiring work" or simply "wiring" refers to the process of temporarily arranging cables (lead wires) according to a wiring diagram and bundling the temporarily arranged cables. The bundled cables are then connected to electronic devices.

[0014] First Embodiment [Configuration of Wiring System] FIG. 1 is a top view (XY plan view) showing an example of the configuration of a wiring system 1 according to a first embodiment. The wiring system 1 includes a wiring device 2, a control device 3, and a wiring board 4. The wiring system 1 automates wiring on the wiring board 4 by having the control device 3 control the wiring device 2. In each of the figures described below, correspondences in three-dimensional space are shown using three-dimensional coordinate axes consisting of the X, Y, and Z axes. In each figure, the direction of the arrow in the coordinate system shown in the figure is positive, and the direction opposite the arrow is negative. Note that the direction of the three-dimensional coordinate axes and the position of the origin are merely examples and are not limited to these. In addition, some components may be indicated by adding a subscript (A, B, etc.) to the reference numeral for components of the same type. Subscripts are added when individual components need to be described, and the subscripts are omitted when components are described collectively.

[0015] The wiring device 2 includes a robot 5 , an actuator 6 , a lead wire supply mechanism 13 , a stocker 14 , and a guide roller 16 .

[0016] Wiring is performed on a wiring board 4. Guide pins for wiring are set on the wiring board 4. The guide pins may be set on the wiring board 4 manually or by a robot. When the guide pins are set on the wiring board 4 by a robot, a robot separate from the wiring robot 5 described later may be used. The wiring board 4 may be provided with, for example, a plurality of holes (not shown) at predetermined intervals for inserting the guide pins so that the guide pins can be set on the wiring board 4. In the example of FIG. 1 , ten guide pins P1 to P10 are set on the wiring board 4. In the following description, the guide pins are assumed to be set perpendicular to the wiring board 4. The specifications of the guide pins are not particularly limited, but their size, shape, etc. may be determined taking into consideration interference during wiring by the robot 5 and the specifications of the lead wires.

[0017] A holding jig 7 is installed on the wiring board 4. The holding jig 7 is a jig capable of holding a lead wire. In the example of FIG. 1 , the holding jig 7 holds the lead wire W1. The holding jig 7 is installed at a start position of the wiring board 4. The start position of the wiring is, in other words, the position where the wiring starts. More precisely, the holding jig 7 is installed by an operator or the like at the start position of the wiring, corresponding to wiring data created in advance by the operator or the like. This installation may be performed manually or by a robot. When the holding jig 7 is installed by a robot, a robot separate from the robot 5 for wiring, which will be described later, may be used. In the example of FIG. 1 , the holding jig 7 is installed at the position shown in FIG. 1 for wiring using the lead wire W1. For example, for wiring using the lead wire W2, one or more other holding jigs having a configuration similar to the holding jig 7 may be installed at a position different from the installation position of the holding jig 7. Furthermore, the holding jig 7 may hold not only the lead wire W1 but also other lead wires during wiring.

[0018] A cutting jig 8 is installed on the wiring board 4. The cutting jig 8 is a jig capable of holding and cutting a lead wire. Installation here may be performed manually or by a robot. When installing the cutting jig 8 by a robot, a robot separate from the robot 5 for wiring, which will be described later, may be used. In the example of FIG. 1 , the cutting jig 8 holds the lead wire W1 and can cut the lead wire W1 in the state shown in FIG. 1 . The cutting may be performed by cooperation between the cutting jig 8 and the robot 5. The cutting jig 8 is installed at the end position of the wiring. In other words, the end position of the wiring is the position where the wiring ends. More precisely, as with the holding jig 7A, the cutting jig 8 is installed by an operator or the like at the position where the wiring ends on the wiring board 4 based on wiring data created in advance by the operator or the like. 1, the lead wire W1 is routed along guide pins P1, P2, P3, P4, P5, and P6 on the wiring board 4. For example, if the wiring data specifies that the lead wire W1 also runs along guide pins P7, P8, P9, and P10 on the wiring board 4, the end position of the wiring using the lead wire W1 will change, and the installation position of the cutting jig 8 will also differ from the example of FIG.

[0019] One or more holding jigs 7 and cutting jigs 8 are installed as start and end points of the lead wires in the wiring. One holding jig 7 is configured to be able to hold one or more lead wires and one or more types of lead wires simultaneously. One cutting jig 8 is configured to be able to hold one or more lead wires and one or more types of lead wires simultaneously. The margin amount when the lead wires are held by the holding jig 7 and the cutting jig 8 may vary depending on the specifications of the lead wires and the configurations of the holding jig 7 and the cutting jig 8. In other words, the amount of lead wire consumed in one wiring operation is the sum of the margin amount when the holding jig 7 holds the lead wire, the distance along the guide bin from the holding jig 7 to the cutting jig 8, and the margin amount when the cutting jig 8 holds the lead wire. This margin amount is specified in advance and stored in a referable manner.

[0020] The robot 5 is, for example, a six-axis articulated robot. Hereinafter, the robot 5 will be described as a multi-joint (multi-axis) robot arm composed of multiple joints. An end effector (not shown) is attached to the tip of the robot 5, allowing the attachment and detachment of an actuator 6. In the example of FIG. 1 , the robot 5 is equipped with an actuator 6A. The robot 5 may be configured to be able to move the attached actuator 6 to any position in three-dimensional space within the range of the wiring board 4. Furthermore, when moving the actuator 6, the robot 5 can adopt various postures to avoid interference with the guide pins, holding jig 7, and cutting jig 8 installed on the wiring board 4, or to attach or detach the actuator 6.

[0021] The actuators 6 are configured to be switchable between a state in which the lead wires for wiring can be fed out and a state in which they are held. In the example of FIG. 1, five actuators 6A to 6E are provided, each corresponding to a lead wire W1 to W5. In the example of FIG. 1, of the five actuators 6, actuators 6B to 6E stored in the stocker 14 are holding lead wires W2 to W5, respectively. Meanwhile, in the actuator 6A mounted on the robot 5, lead wire W1 is in a state in which it can be fed out, and its end is held by a holding jig 7A. When wiring is to begin using a certain lead wire, the lead wire, like lead wire W1 shown in FIG. 1, is released from the hold of the actuator 6 into which the lead wire is inserted and is held by the holding jig 7 by the operation of the robot 5.

[0022] The lead wire supply mechanism 13 is a mechanism for supplying lead wires to the actuators 6 for wiring. In this embodiment, the lead wire supply mechanism 13 is configured with five reels 10A-10E corresponding to the five actuators 6A-6E, a shaft 11, a motor 12, and a torque limiter (not shown) for each reel. The shaft 11 functions as the rotation axis of the reels 10. The motor 12 applies rotational torque to each of the reels 10 based on the value detected by the torque limiter. This adjusts the tension of the lead wire during wiring to a predetermined state. For example, if the torque limiter detects a value equal to or greater than a predetermined torque, the lead wire is adjusted to be unwound. On the other hand, if the torque limiter detects a value less than the predetermined torque, the lead wire is adjusted to be wound up.

[0023] The reels 10 are capable of winding and storing the lead wires W. In the example of Fig. 1, five reels 10A to 10E wind and store lead wires W1 to W5, respectively. The reels 10 feed the stored lead wires to the actuator 6. In the example of Fig. 1, the lead wires W1 to W5 are fed to the actuators 6A to 6E, respectively.

[0024] The stocker 14 stores one or more actuators 6 separate from the robot 5. In the example of Fig. 1, the stocker 14 can store five actuators 6A to 6E. For example, when wiring using the lead wire W1, the robot 5 mounts the actuator 6A stored in the stock position 15 of the stocker 14.

[0025] It should be noted that, when the actuator 6 is stored in the stocker 14, the length from the reel 10 to the tip of the lead wire held by the actuator 6 may also be managed. Therefore, the length of the lead wire wound on the reel 10 and the length from the reel 10 to the tip of the actuator 6 may be combined and treated as the remaining amount of lead wire, which will be described later.

[0026] The guide rollers 16 are rollers for guiding and directing the lead wires fed from the respective reels 10 to the corresponding actuators 6. Note that the guide rollers may be omitted.

[0027] The control device 3 is configured using a general-purpose computer device such as a personal computer. An example configuration of the control device 3 will be described later with reference to FIG. 2 . The control device 3 performs wiring work by moving the robot 5 equipped with the actuator 6 along guide pins P erected on the wiring board 4. In the example of FIG. 1 , the control device 3 performs wiring work by moving the robot 5 equipped with the actuator 6A along guide pins P1, P2, P3, P4, P5, and P6. The control device 3 moving the robot 5 along the guide pins means, more precisely, moving the robot 5 along a wiring path identified by the control device 3 based on, for example, wiring data. The control device 3 moves the robot 5 along paths C1, C2, and C3 from the holding jig 7, which is the starting point, to the cutting jig 8, which is the end point. This allows wiring to be performed based on wiring data created in advance by, for example, an operator.

[0028] The control device 3 also functions as a controller for the motor 12, controlling the motor 12. More specifically, the control device 3 can control the drive timing, motor torque, rotation speed, rotation angle, and changes in rotation direction of the motor 12, in addition to controlling the robot 5. The control device 3 also functions as a wiring planning system that executes a wiring planning method, which will be described later.

[0029] 2 is a block diagram showing an example of the configuration of the control device 3 according to embodiment 1. The control device 3 is configured to include at least a processor 20, a memory 21, an input / output device 22, and a communication device 23. The components included in the control device 3 are connected to each other via an internal bus 24 so as to be able to communicate with each other.

[0030] The processor 20 may be configured using, for example, a Central Processing Unit (hereinafter referred to as "CPU"), a Micro Processing Unit (hereinafter referred to as "MPU"), a Digital Signal Processor (hereinafter referred to as "DSP"), a Field Programmable Gate Array (hereinafter referred to as "FPGA"), etc. The processor 20 reads and executes various data and programs stored in the memory 21, thereby controlling the robot 5 and the motors 12 in wiring and realizing wiring planning processing, which will be described later.

[0031] The memory 21 is a storage area for storing and holding various data, information, programs, etc., and may be composed of, for example, a non-volatile storage area such as a read only memory (hereinafter referred to as "ROM") or a hard disk drive (hereinafter referred to as "HDD"), or a volatile storage area such as a random access memory (hereinafter referred to as "RAM") The memory 21 stores, for example, wiring data created in advance by a wiring operator, configuration information of the lead wire supply mechanism 13, a program for controlling the robot 5 and motor 12 according to this embodiment, a program for wiring planning processing (described later), etc.

[0032] The input / output device 22 may include various buttons, keys, a keyboard, a touch panel, a microphone, or other input devices. The input / output device 22 accepts input of various data or information. The input / output device 22 may also include a display, a speaker, or other output device. The input / output device 22 is operated and used by, for example, an administrator who manages the control device 3 or an operator who uses the wiring system.

[0033] The communication device 23 communicates with the robot 5 and external devices (not shown) via a network (not shown) and transmits and receives various data or information. The communication device 23 may support both wired and wireless communication methods. The communication method used by the communication device 23 may be, for example, a Wide Area Network (hereinafter referred to as "WAN"), a Local Area Network (hereinafter referred to as "LAN"), Long Term Evolution (hereinafter referred to as "LTE"), mobile communication such as 5G, power line communication, short-range wireless communication such as Wi-Fi (registered trademark) and Bluetooth (registered trademark), or a combination of these.

[0034] The communication device 23 sends various operational instructions for wiring to the robot 5 and the motor 12 and receives feedback signals therefrom. The communication device 23 also acquires wiring data and information related to lead wires from external devices, etc.

[0035] In this embodiment, an example of the control device 3 will be described in which a device for executing the wiring planning process described below and a device for controlling the robot 5 and the like when executing wiring are integrated, but the present invention is not limited to this. For example, the wiring planning system for executing the wiring planning process and the wiring system for controlling the execution of wiring may be configured as separate devices, and these may be operated in cooperation with each other.

[0036] [Wiring Data] FIG. 3 is a schematic diagram illustrating wiring data 300 relating to wiring performed on the wiring board 4 according to this embodiment. The wiring data 300 may be configured, for example, using CAD (Computer Aided Design) data. The wiring data 300 indicates the positions of guide pins and the arrangement of lead wires that run along those guide pins. In the example of FIG. 3, the positions of 12 guide pins P1 to P12 are shown. It is also set which guide pins will be the start and end points of the wiring. The start and end points here correspond to the positions of the holding jig 7 and cutting jig 8 described above. It is also set which lead wires will be used for wiring.

[0037] When the wiring operator causes the robot 5 to perform wiring, he or she places one or more holding jigs 7, one or more cutting jigs 8, and one or more guide pins on the wiring board 4 in accordance with the wiring data. As described above, some or all of these placement operations may be performed by the robot. Then, the robot 5 performs wiring in accordance with instructions based on the wiring data 300 from the control device 3.

[0038] [Lead Wire Management Table] Fig. 4 is a diagram showing an example of the configuration of a management table 400 for managing information on lead wires used in wiring. Here, an example is shown in which information on five lead wires is managed, corresponding to the configuration of Fig. 1. The management table 400 is configured to include the stocker ID, installed lead wire type, lead wire diameter, lead wire quantity, and remaining lead wire quantity.

[0039] The stocker ID is identification information for uniquely identifying the stock position in the stocker 14 where the actuator 6 corresponding to the lead wire is stored. Here, the stocker IDs are shown as "A" to "E" corresponding to the five actuators 6A to 6E in FIG. 1. The installed lead wire type indicates the type of lead wire installed. The lead wire diameter indicates the diameter of the installed lead wire. The lead wire amount indicates the initial value of the length of the installed lead wire. The remaining lead wire amount indicates the remaining amount of lead wire at the current time. Items other than the remaining lead wire amount may be set based on input from the worker installing the lead wire.

[0040] The configuration of the management table 400 is an example, and other items may be included. The management table 400 may also be divided into multiple sections according to the items.

[0041] 5 to 7, the wiring arrangement planning process according to this embodiment will be described. The wiring arrangement planning process is a process for simulating wiring based on wiring data before wiring is actually performed, and specifying in advance the amount of lead wires to be used, the wiring order, etc. This allows a more efficient wiring plan to be planned and the details to be understood by the operator before the actual wiring is performed.

[0042] (Overall Processing) Fig. 5 is a flowchart of the overall wiring planning processing according to this embodiment. This processing flow is realized, for example, by the processor 20 of the control device 3 reading and executing various data and programs stored in the memory 21. At the start of the processing, it is assumed that the wiring data as shown in Fig. 3 has already been designed by an operator, and the lead wire management table as shown in Fig. 4 has already been set.

[0043] The control device 3 acquires wiring arrangement data to be processed (step S501). Multiple wiring arrangement data may be designed and selected based on instructions from an operator. The wiring arrangement data may include one or multiple wiring arrangements. Also, different lead wire types may be used for each wiring arrangement.

[0044] The control device 3 determines the positions of the guide pins on the wiring board 4 based on the wiring data acquired in step S501 (step S502). Information such as the size of the wiring board 4 and the positions where the guide pins can be placed is assumed to be specified in advance. Then, using this information, the positions of the guide pins on the virtual wiring board in the simulation are mapped.

[0045] The control device 3 identifies the start point, end point, and type of lead wire to be used for wiring based on the wiring data acquired in step S501 (step S503). The start point, end point, and type of lead wire to be used for wiring may be included in the wiring data in advance, or may be separately received by an operator or the like via the input / output device 22.

[0046] The control device 3 creates a movement path for the robot 5 based on the wiring data acquired in step S501, the positions of the guide pins extracted in step S502, and the various pieces of information specified in step S503 (step S504). The movement path for the robot 5 here may include a movement path for attaching and detaching the actuator 6 around the stocker 14, in addition to the movement and posture during wiring.

[0047] The control device 3 predicts the lead wire usage based on the movement path generated in step S504 (step S505). If the wiring data specifies multiple wiring runs or wiring using different lead wire types, the lead wire usage for each run is predicted. The lead wire usage here may take into account not only the length of the lead wires used for wiring but also the length of the lead wires required for the robot 5 to operate. For example, the maximum distance from the position of the actuator 6 attached to the tip of the robot 5 to the lead wire supply mechanism 13 when the robot 5 moves on the wiring board 4 may be considered. In this process, a management table, such as that shown in FIG. 4, that manages information on the lead wires used is also referenced. The lead wire usage is, for example, the sum of the amount consumed in wiring and the distance from the end of the wiring run to the stocker 14. In the case of calculating the remaining amount, the amount of lead wire used is determined based on, for example, the amount consumed in previous wiring work and the amount of lead wire used in the next wiring work (the sum of the amount consumed in wiring and the distance from the end of the wiring to the stocker 14).

[0048] It should be noted that the control device 3 can more easily predict and estimate the usage and consumption of lead wires when a robot lays the wires than when a human lays the wires.

[0049] The control device 3 determines the wiring order based on the lead wire usage predicted in step S505 (step S506). Details of the processing in this step will be described later with reference to Figures 6 and 7. Thereafter, the processing of the control device 3 proceeds to step S507.

[0050] The control device 3 displays the lead wire usage predicted in step S505, information on the wiring order relative to the wiring data, and the like via the input / output device 22 (step S507). The display content and display method here are not particularly limited; for example, the information may be notified to an external device via the communication device 23, or may be recorded as a simulation result in the memory 21. The simulation results in this process may be displayed in association with the wiring data, or a moving image or animation showing the movement of the robot 5 along the generated robot 5 movement path may be displayed. If there is a shortage of lead wires, information about the timing for replacing the lead wires and information about the lead wires to be replaced may be notified. Then, this processing flow ends.

[0051] (Process for Determining the Wiring Order: In the Case of a Single Wire Type) Fig. 6 is a flowchart of the process for determining the wiring order according to this embodiment. Fig. 6 assumes that wiring using lead wires of a single wire type is specified in the wiring data. This process corresponds to step S506 in Fig. 5. Note that lead wires of the same wire type installed on different actuators 6 may be treated as lead wires of a single wire type in terms of the remaining lead wire quantity, or may be treated as separate lead wires.

[0052] The control device 3 refers to the lead management table 400 and acquires lead remaining amount information (step S601).

[0053] The control device 3 determines whether there is a shortage of lead wires to be used based on the lead wire remaining amount information acquired in step S601 and the lead wire usage amount predicted in step S505 of Fig. 5 (step S602). For example, if lead wires of the same type can be used for multiple actuators 6, the shortage may be determined for each lead wire using the lead wire remaining amount information. If there is a shortage of lead wires (step S602: YES), the control device 3 proceeds to step S604. On the other hand, if there is no shortage of lead wires (step S602: NO), the control device 3 proceeds to step S603.

[0054] The control device 3 determines the order of wiring set in the wiring data based on a predetermined rule (step S603). The rule used here may be set, for example, as follows, and any one of these or a combination of these may be used.

[0055] - Prioritize the wiring arrangement with the longest lead wire usage distance. - Prioritize the wiring arrangement (group) with the most number of times among wiring arrangements (groups) with the same route. - Prioritize the wiring arrangement with the most guide pins used when wiring. Then, this processing flow ends, and the processing of the control device 3 proceeds to step S507 in Figure 5.

[0056] The control device 3 determines whether the remaining lead wire amount is equal to or less than a predetermined value based on the lead wire remaining amount information acquired in step S601 (step S604). The predetermined value here is a threshold value for the remaining lead wire amount and may be defined for each lead wire type. For example, the predetermined value may be set to 10% of the initial value of the lead wire amount. Alternatively, the operator may be able to arbitrarily set the predetermined value here. If the remaining lead wire amount is equal to or less than the predetermined value (step S604: YES), the control device 3 proceeds to step S606. On the other hand, if the remaining lead wire amount is not equal to or less than the predetermined value (step S604: NO), the control device 3 proceeds to step S605.

[0057] The control device 3 determines the order of wiring set in the wiring data based on a predetermined rule (step S605). The rule used here may be the same as or different from that used in step S603. Then, this processing flow ends, and the processing of the control device 3 proceeds to step S507 in FIG. 5.

[0058] The control device 3 determines the wiring order so as to minimize the amount of excess lead wire (step S606). For example, suppose that the remaining lead wire is 10 m, and the following are set: Wiring A, which uses 8 m of lead wire; Wiring B, which uses 5 m of lead wire; and Wiring C, which uses 4 m of lead wire. In this case, regardless of the order in which the wires are laid out, replacement or replenishment of the lead wires in the lead wire supply mechanism 13 will be necessary. Therefore, in this process, the wiring order is rearranged so as to minimize the amount of excess lead wire. For example, if Wiring A is laid out, 2 m of excess lead wire will be left. However, if Wiring B and Wiring C are laid out prior to Wiring A, the excess lead wire can be reduced to 1 m. Therefore, in the example of Wiring A, B, and C, the wiring order is determined as follows: Wiring B → Wiring C → (replacement / replenishment of lead wire) → Wiring A, or Wiring C → Wiring B → (replacement / replenishment of lead wire) → Wiring A. This allows the installed lead wires to be used as effectively as possible. In this example, whether to give priority to wiring B or wiring C may be determined based on another rule, such as the positions of the start and end points or the length, etc. Then, this processing flow ends, and the processing of the control device 3 proceeds to step S507 in FIG.

[0059] (Process for Determining the Wiring Order: In the Case of Multiple Wire Types) Fig. 7 is a flowchart of the process for determining the wiring order according to this embodiment. This process corresponds to step S506 in Fig. 5. Fig. 7 assumes a case in which wiring using lead wires of multiple wire types is specified in the wiring data.

[0060] The control device 3 refers to the lead management table 400 and acquires lead remaining amount information (step S701).

[0061] The control device 3 determines whether there are any shortages of leads among the leads being used (step S702) based on the lead remaining amount information acquired in step S701 and the lead usage amount predicted in step S505 of Fig. 5. If there are shortages of leads (step S702: YES), the control device 3 proceeds to step S704. On the other hand, if there are no shortages of leads (step S702: NO), the control device 3 proceeds to step S703.

[0062] The control device 3 determines the order of wiring set in the wiring data based on a predetermined rule (step S703). The rule used here may be set, for example, as follows, and any one of these or a combination of these may be used.

[0063] - Prioritize wiring using lead wires that are used frequently. - Prioritize wiring using lead wires with a thin wire diameter. - Alternate wiring using lead wires with a thin wire diameter and wiring using lead wires with a thick wire diameter. - Prioritize wiring with a large number of lead wires wired per guide pin. - Prioritize wiring using lead wires over a long distance. - Prioritize wiring using a large number of guide pins during wiring. Then, this processing flow ends, and the processing of the control device 3 proceeds to step S507 in Figure 5.

[0064] In the example of Fig. 7, the order of wiring is determined based on the number of remaining leads. Furthermore, when multiple leads are in short supply, the order may be determined taking into consideration the timing of their replacement or replenishment. For example, the order of wiring may be determined so that the replacement or replenishment times are close or the same.

[0065] The control device 3 rearranges the wiring order so that the remaining amount of each lead wire is minimized (step S704). For example, when multiple lead wires or multiple types of lead wires are wired on the same guide pin, the lead wires wired on the outer side will be used more than the lead wires wired on the inner side. This difference becomes particularly noticeable when many lead wires are wired on the same pin. Furthermore, the amount of usage may differ between the inner and outer sides depending on the lead wire diameter. Using this information, the lead wires are rearranged so that the remaining amount of lead wire is minimized. Note that when focusing on the same lead wire, the rearrangement may be performed taking into account that the remaining amount of lead wire is below a predetermined value, as shown in FIG. 6.

[0066] The control device 3 recalculates the lead wire usage based on the wiring order rearranged in step S704 (step S705). For example, the control device 3 recalculates the lead wire usage by setting a margin according to the wiring order and the lead wire diameter in addition to the wiring distance.

[0067] The control device 3 determines whether the remainders of all the missing leads due to the rearrangement in step S704 have been minimized as a result of the recalculation in step S705 (step S706). If they have been minimized (step S706: YES), the process flow ends, and the control device 3 proceeds to step S507 in FIG. 5. If they have not been minimized (step S706: NO), the control device 3 returns to step S704 and repeats the process. Note that, since the processing load of recalculation is expected to increase with the number of wirings, an upper limit on the number of recalculations may be specified in advance. If this upper limit is reached, the order that minimizes the remainder at that point may be used.

[0068] [Wiring Operation] Figure 8 is a flowchart showing the flow of the wiring operation in the wiring system 1 according to this embodiment. This processing flow is realized, for example, by the processor 20 of the control device 3 reading and executing various data and programs stored in the memory 21. In this embodiment, it is assumed that the wiring planning processing shown in Figures 5 to 7 has already been performed when the following wiring operation begins. This processing may be started based on instructions from an operator. Before the wiring work (operation) of Figure 8, guide pins are installed by a person or a robot.

[0069] The control device 3 acquires operation data based on the wiring data (step S801). The operation data here may include information on the operation path generated in step S505 of Fig. 5, information on the wiring order determined in step S505, etc. Furthermore, one piece of operation data may include instructions corresponding to one or more wirings.

[0070] Based on the operation data acquired in step S801 and the management table 400 as shown in FIG. 4, the control device 3 controls the robot 5 to attach the actuator 6 corresponding to the lead wire used in the wiring of interest (step S802).

[0071] Based on the operation data acquired in step S801, the control device 3 controls the robot 5 to grip the end of the lead wire via the attached actuator 6 on the holding jig 7, which is the starting point of the wiring (step S803).

[0072] The control device 3 executes wiring by moving the robot 5 along the movement path indicated by the operation data (step S804).

[0073] Based on the operation data acquired in step S801, the control device 3 controls the robot 5 so that the cutting jig 8, which is the end point of the wiring, grips the lead wire and cuts it (step S805).

[0074] The control device 3 determines whether all wiring indicated in the operation data acquired in step S801 has been completed (step S806). If all wiring has been completed (step S806: YES), the process by the control device 3 proceeds to step S807. On the other hand, if wiring has not been completed (step S806: NO), the process by the control device 3 proceeds to step S809.

[0075] The control device 3 controls the robot 5 to return the attached actuator 6 to the stocker 14 (step S807).

[0076] The control device 3 notifies the worker via the input / output device 22 that the wiring has been completed (step S808), and then ends this processing flow.

[0077] The control device 3 determines whether or not replacement of the actuator 6 is required for the next wiring (step S809). Replacement may be required when it is necessary to use lead wires of a different type for the next wiring, or when the lead wires of the currently installed actuator 6 are insufficient for the next wiring. If replacement of the actuator 6 is required (step S809: YES), the control device 3 proceeds to step S810. If replacement of the actuator 6 is not required (step S809: NO), the control device 3 returns to step S803 and repeats the operation corresponding to the next wiring.

[0078] The control device 3 controls the robot 5 to return the attached actuator 6 to the stocker 14 (step S810).

[0079] The control device 3 determines whether a notification to replenish leads is necessary (step S811). This determination may be based on the timing of replacement or replenishment identified when determining the wiring order in step S506 of FIG. 5 . Alternatively, a notification to replenish leads may be sent each time a single lead becomes insufficient, or a notification to replenish multiple missing leads may be sent collectively. Even if a lead becomes insufficient, if the lead will not be used for a certain period of time, it may be determined that a notification to replenish leads is unnecessary at this timing. If a notification to replenish leads is necessary (step S811: YES), the control device 3 proceeds to step S812. On the other hand, if a notification to replenish leads is not necessary (step S811: NO), the control device 3 proceeds to step S802, where the control device 3 repeats the operation for the next wiring.

[0080] The control device 3 notifies the worker via the input / output device 22 about the replenishment of lead wires (step S812). The notification may include information about the lead wires to be replenished, their positions in the stocker 14, and so on. The control device 3 then returns to step S802 and repeats the operation for the next wiring. At this time, the control device 3 may wait until the lead wires have been replenished and proceed to step S802 when it detects that they have been replenished. Alternatively, if the lead wires to be replenished will not be used in the next wiring, the control device 3 may proceed to step S802 for the operation for the next wiring without waiting for the lead wires to be replenished.

[0081] As described above, the wiring planning system (e.g., 3) according to this embodiment includes a generating unit (e.g., 3, 20) that generates a movement path for a robot (e.g., 5) for each of a plurality of wirings based on wiring data (e.g., 300) in which a plurality of wirings are set; a predicting unit (e.g., 3, 20) that predicts the lead wire usage for each of the plurality of wirings based on the movement path generated by the generating unit; and a determining unit (e.g., 3, 20) that determines the order of the plurality of wirings based on the lead wire usage predicted by the predicting unit. This configuration can improve the efficiency of wiring work by taking into account lead wire replacement during wiring work. In particular, by rearranging the order of wiring based on the robot movement path for wiring and the lead wire usage for wiring, it is possible to achieve efficient lead wire utilization and appropriate timing for lead wire replenishment.

[0082] In addition, in the wiring planning system according to this embodiment, the determination unit compares the lead usage predicted by the prediction unit for a plurality of wirings with the remaining number of installed lead wires, and if there is a shortage of the lead wires, determines the order of the plurality of wirings so that the remaining number of installed lead wires is minimized when the plurality of wirings are executed in order. With this configuration, when there is a shortage of lead wires for a plurality of wirings, it is possible to determine the order of wirings taking the remaining lead wires into consideration.

[0083] In addition, in the wiring planning system according to this embodiment, when there is a shortage of leads and the remaining number of installed leads is equal to or less than a predetermined value, the determination unit determines the order of the multiple wirings so that the remaining number of installed leads is minimized when the multiple wirings are executed in order, and when there is a shortage of leads and the remaining number of installed leads is not equal to or less than the predetermined value, the determination unit determines the order of the multiple wirings based on a first rule that is defined in advance. With this configuration, when there is a shortage of leads in multiple wirings, it is possible to determine the order of wiring taking into account the remaining number of leads.

[0084] In addition, in the wiring planning system according to this embodiment, the determination unit compares the lead usage predicted by the prediction unit for the plurality of wirings with the remaining number of installed leads, and if there is no shortage of leads, determines the order of the plurality of wirings based on a second rule defined in advance. This configuration makes it possible to determine the order of wiring based on different rules when there is a shortage of leads and when there is no shortage of leads.

[0085] In addition, in the wiring planning system according to this embodiment, when multiple types of lead wires are specified for multiple wirings, the determination unit compares the usage amounts of each of the multiple types of lead wires predicted by the prediction unit for the multiple wirings with the remaining amounts of each of the multiple types of lead wires that are installed, and when there are shortages of lead wires, determines the order of the multiple wirings so that when the multiple wirings are executed in order, the remaining amounts of installed lead wires for all of the shortages are minimized. With this configuration, when there are shortages of multiple lead wires, it is possible to determine the order of wiring taking into account the remaining amounts of all of the lead wires.

[0086] In addition, in the wiring planning system according to this embodiment, the determination unit recalculates the usage amounts of the plurality of types of lead wires based on the wire diameters of the lead wires when the order of the plurality of wires is rearranged, and determines the order of the plurality of wires based on the results of the recalculation. With this configuration, when there is a shortage of the plurality of lead wires, it is possible to determine the order of the wiring, taking into account the change in usage amounts due to the rearrangement.

[0087] The wiring planning system according to the present embodiment further includes a notification unit (e.g., 3 or 20) that notifies the worker of information related to the wiring order determined by the determination unit, the information including at least one of the amount of lead wires used in the wiring, the lead wires that need to be replenished, the timing of replenishment of the lead wires, and a video image showing the movement of the robot based on the movement path. With this configuration, it is possible to notify the worker of various information based on the determined wiring order before the wiring is performed.

[0088] In addition, in the wiring planning system according to this embodiment, the generation unit determines the positions of guide pins (e.g., P1 to P12) on a wiring board (e.g., 4) based on the wiring data, identifies the start point, end point, and type of lead wire for each of the multiple wirings, and generates a movement path for the robot for each of the multiple wirings based on the positions of the guide pins, the start point, end point, and type of lead wire for each of the multiple wirings. With this configuration, it is possible to generate a movement path for the robot based on the positions of the guide pins, the start point, end point, and type of lead wire for wiring when performing wiring.

[0089] (Other embodiments) The present disclosure also applies to programs and storage media that realize the functions of the devices of the above-mentioned embodiments, which are supplied to the device via a network or various storage media and that are read and executed by a computer within the device.

[0090] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to these examples. It is clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents may be made within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention.

[0091] (Additional Notes) The above description of the embodiments discloses the following techniques.

[0092] (Technology 1) A wiring planning system comprising: a generating unit that generates a movement path for a robot for each of a plurality of wirings based on wiring data in which a plurality of wirings are set; a predicting unit that predicts a usage amount of lead wires for each of the plurality of wirings based on the movement path generated by the generating unit; and a determining unit that determines an order of the plurality of wirings based on the usage amount of lead wires predicted by the predicting unit.

[0093] This configuration makes it possible to improve the efficiency of the wiring work by taking into account the replacement of lead wires during the wiring work. In particular, by rearranging the order of the wires based on the robot's movement path during wiring and the amount of lead wires used during wiring, it is possible to achieve efficient use of lead wires and appropriate timing for replenishing lead wires.

[0094] (Technology 2) In the wiring planning system according to Technology 1, the determination unit compares the lead wire usage predicted by the prediction unit for the plurality of wirings with the remaining amount of installed lead wires, and if there is a shortage of lead wires, determines the order of the plurality of wirings so that the remaining amount of installed lead wires is reduced when the plurality of wirings are executed in sequence.

[0095] With this configuration, when there is a shortage of lead wires in multiple wiring arrangements, it is possible to determine the wiring order taking into account the remaining lead wires.

[0096] (Technology 3) The wiring planning system according to Technology 2, wherein the determination unit, when there is a shortage of lead wires and the remaining amount of the installed lead wires is equal to or less than a predetermined value, determines an order of the plurality of wiring arrangements so that the remaining amount of the installed lead wires is reduced when the plurality of wiring arrangements are executed in order, and when there is a shortage of lead wires and the remaining amount of the installed lead wires is not equal to or less than a predetermined value, the determination unit determines the order of the plurality of wiring arrangements based on a first rule defined in advance.

[0097] With this configuration, when there is a shortage of lead wires in multiple wiring arrangements, it is possible to determine the wiring order taking into account the remaining lead wires.

[0098] (Technology 4) The wiring planning system according to any one of Technology 1 to Technology 3, wherein the determination unit compares the lead wire usage predicted by the prediction unit for the plurality of wirings with the remaining amount of installed lead wires, and if there is no shortage of the lead wires, determines the order of the plurality of wirings based on a second rule defined in advance.

[0099] This configuration makes it possible to determine the order of wiring based on different rules depending on whether there is a shortage of leads or not.

[0100] (Technology 5) The wiring planning system according to any one of Technology 1 to Technology 4, wherein the determination unit, when multiple types of lead wires are specified for the multiple wiring arrangements, compares the usage amounts of each of the multiple types of lead wires predicted by the prediction unit for the multiple wiring arrangements with the remaining amounts of each of the multiple types of lead wires that are installed, and when there are shortages of lead wires, determines the order of the multiple wiring arrangements so that when the multiple wiring arrangements are executed in order, the surplus of the installed lead wires is reduced for the shortages of lead wires.

[0101] With this configuration, when a plurality of lead wires are insufficient, it is possible to determine the order of wiring in consideration of the remaining amount of all of the lead wires.

[0102] (Technology 6) The wiring planning system according to Technology 5, wherein the determination unit recalculates usage amounts of the plurality of types of lead wires based on wire diameters of the lead wires in response to rearrangement of the order of the plurality of wiring arrangements, and determines the order of the plurality of wiring arrangements based on a result of the recalculation.

[0103] With this configuration, when there is a shortage of multiple lead wires, it is possible to determine the order of wiring, taking into consideration the change in usage due to rearrangement.

[0104] (Technology 7) The wiring planning system according to any one of Technology 1 to Technology 6, further comprising a notification unit that notifies information related to the order of the plurality of wirings determined by the determination unit, wherein the information includes at least any of an amount of lead wires used for wiring, lead wires that need to be replenished, timing of replenishment of lead wires, and a moving image showing a movement of the robot based on the movement path.

[0105] This configuration makes it possible to notify the worker of various information based on the determined wiring order before wiring is performed.

[0106] (Technology 8) The wiring planning system according to any one of Technology 1 to Technology 7, wherein the generation unit determines the position of a guide pin on a wiring board based on the wiring data, identifies a start point, an end point, and a type of lead wire for each of the plurality of wirings, and generates a movement path of the robot for each of the plurality of wirings based on the position of the guide pin, the start point, the end point, and the type of lead wire for each of the plurality of wirings.

[0107] This configuration makes it possible to generate a robot movement path based on the positions of the guide pins, the start and end points of wiring, and the type of lead wire when wiring is performed.

[0108] (Technology 9) A wiring planning method executed by a processor and a memory in cooperation with each other, the wiring planning method comprising: a generating step of generating a movement path for a robot for each of a plurality of wirings based on wiring data in which the plurality of wirings are set; a predicting step of predicting a lead wire usage amount for each of the plurality of wirings based on the movement path generated in the generating step; and a determining step of determining an order of the plurality of wirings based on the lead wire usage amount predicted in the predicting step.

[0109] This configuration makes it possible to improve the efficiency of the wiring work by taking into account the replacement of lead wires during the wiring work. In particular, by rearranging the order of the wires based on the robot's movement path during wiring and the amount of lead wires used during wiring, it is possible to achieve efficient use of lead wires and appropriate timing for replenishing lead wires.

[0110] The present disclosure is useful as a wiring planning system and a wiring planning method.

[0111] REFERENCE SIGNS LIST 1...Wiring system 2...Wiring device 3...Control device 4...Wiring board 5...Robot 6...Actuator 7...Holding jig 8...Cutting jig 10...Reel 11...Shaft 12...Motor 13...Lead wire supply mechanism 14...Storage container 16...Guide roller 20...Processor 21...Memory 22...Input / output device 23...Communication device P1 to P12...Guide pins W1 to W5...Lead wires

Claims

1. A wiring planning system comprising: a generation unit that generates a robot movement path for each of a plurality of wirings based on wiring data in which the plurality of wirings are set; a prediction unit that predicts the lead wire usage amount for each of the plurality of wirings based on the movement path generated by the generation unit; and a determination unit that determines the order of the plurality of wirings based on the lead wire usage amount predicted by the prediction unit.

2. The wiring planning system of claim 1, wherein the determination unit compares the lead wire usage predicted by the prediction unit for the plurality of wirings with the remaining amount of installed lead wires, and if there is a shortage of lead wires, determines the order of the plurality of wirings so that the remaining amount of installed lead wires is reduced when the plurality of wirings are executed in sequence.

3. The wiring planning system of claim 2, wherein the determination unit, when there is a shortage of lead wires and the remaining amount of installed lead wires is equal to or less than a predetermined value, determines the order of the multiple wiring so that the remaining amount of installed lead wires is reduced when the multiple wirings are executed in sequence, and when there is a shortage of lead wires and the remaining amount of installed lead wires is not equal to or less than a predetermined value, the determination unit determines the order of the multiple wiring based on a first rule defined in advance.

4. The wiring planning system of claim 1, wherein the determination unit compares the lead wire usage predicted by the prediction unit for the plurality of wirings with the remaining amount of installed lead wires, and if there is no shortage of lead wires, determines the order of the plurality of wirings based on a second rule defined in advance.

5. The wiring planning system of claim 1, wherein the determination unit, when multiple types of lead wires are specified for the multiple wirings, compares the usage amount of each of the multiple types of lead wires predicted by the prediction unit for the multiple wirings with the remaining amount of each of the multiple types of lead wires that are installed, and, when there are shortages of lead wires, determines the order of the multiple wirings so that when the multiple wirings are executed in sequence, the remaining amount of the installed lead wires is reduced for the shortages of lead wires.

6. The wiring planning system according to claim 5, wherein the determination unit recalculates the usage amounts of the plurality of types of lead wires based on the wire diameters of the lead wires when rearranging the order of the plurality of wirings, and determines the order of the plurality of wirings based on the results of the recalculation.

7. A wiring planning system as described in claim 1, further comprising a notification unit that notifies information related to the order of the multiple wirings determined by the determination unit, wherein the information includes at least one of the amount of lead wire used for wiring, lead wires that need to be replenished, timing for replenishment of lead wires, and a moving image showing the movement of the robot based on the movement path.

8. The wiring planning system of claim 1, wherein the generation unit determines the position of a guide pin on a wiring board based on the wiring data, identifies the start point, end point, and type of lead wire for each of the plurality of wiring lines, and generates a movement path for the robot for each of the plurality of wiring lines based on the position of the guide pin, the start point, end point, and type of lead wire for each of the plurality of wiring lines.

9. A wiring planning method executed by a processor and a memory in cooperation with each other, comprising: a generating step of generating a movement path for a robot for each of a plurality of wirings based on wiring data in which the plurality of wirings are set; a predicting step of predicting the amount of lead wire usage for each of the plurality of wirings based on the movement path generated in the generating step; and a determining step of determining the order of the plurality of wirings based on the amount of lead wire usage predicted in the predicting step.

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