Interference avoiding system of multi robot arms

Claim 1

An interference avoiding system of multi arms in a robot system equipped with a plurality of robots comprising: robot controllers for controlling respective robots; and a checking device which communicates with the each robot controller, wherein each robot controller is provided with a storing means; a control means for controlling an operation of the robot in accordance with a code string stored in the storing means; means for communicating with the checking device; means for transferring the code string stored in the storing means to the checking device through communication; and means for storing the code string transferred from the checking device in the storing means through the communication, while the checking device is provided with: means for setting an interference area of the operation of the plurality of robots; means for reading the code string in the storing means of each robot controller through the communication; means for automatically correcting the read code string; means for transferring the corrected code string to the robot controller through the communication; and means for discriminating whether or not the robots interfere with each other based on the communication with the robot controller thereby to transmit an operation permission signal when it discriminates that the robots do not interfere, the correcting means finding the operation of the robots in the read code string, and communicating with the discriminating means immediately before the robot starts operating, thereby to insert a processing code into the code string to suspend a next start of operation until an operation permission signal is received from the checking device.