Program evaluation device and teaching device

Abstract

A program evaluation device evaluates a motion program for a robot. The motion program is a program for causing the robot to perform processing of a workpiece using a tool, and the robot has a function of correcting a position of the tool according to an amount of wear of the tool. The program evaluation device includes a motion confirmation section (5) that confirms whether or not the robot normally operates according to the motion program at each of a plurality of amounts of wear within a predetermined range.

Description

Technical Field

[0001] This invention relates to a program evaluation device and a teaching device. Background Technology

[0002] In robots that perform predetermined tasks such as welding or machining of workpieces, the following function is provided: the robot's position is corrected, thereby correcting the position of the tool (for example, see Patent Documents 1 and 2). For example, during repeated welding, the electrode tip of a spot welding gun wears down, resulting in a displacement at the tip of the electrode tip corresponding to the amount of wear. Patent Document 1 describes measuring the amount of wear and correcting the positions of the robot and the spot welding gun based on the amount of wear.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2005-125427

[0006] Patent Document 2: Japanese Patent Application Publication No. 8-328632 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] When the robot's position changes due to calibration, the robot may malfunction. For example, if the calibrated position is outside the robot's range of motion, an error may occur and the robot may stop. If the calibrated position is a singularity point for the robot, its movements cannot be controlled.

[0009] Solution for solving the problem

[0010] One aspect of the present invention is a program evaluation device that evaluates the motion program used by a robot. The motion program is a program for causing the robot to perform machining of a workpiece using a tool. The robot has the function of correcting the position of the tool based on the wear amount of the tool. The program evaluation device includes a motion confirmation unit that confirms whether the robot operates normally according to the motion program at each of a plurality of wear amounts within a predetermined range. Attached Figure Description

[0011] Figure 1 This is a structural diagram of an example robot.

[0012] Figure 2 This is a block diagram illustrating the function of a teaching device in one embodiment.

[0013] Figure 3 This is a diagram illustrating the method for correcting parameters.

[0014] Figure 4 This is a diagram illustrating other methods for correcting parameters.

[0015] Figure 5 This is a diagram illustrating other methods for correcting parameters.

[0016] Figure 6 This is a flowchart of the processes performed by the teaching device.

[0017] Figure 7 This is a partial structural diagram of a robot showing the state of the tool's position being corrected based on the amount of wear.

[0018] Figure 8 This is a partial structural diagram of the robot showing the state of the tool's posture after correction.

[0019] Figure 9 This is a partial structural diagram of the robot showing the state of the tool's angle after correction.

[0020] Figure 10 This is a flowchart of a variation of the processing performed by the teaching device.

[0021] Figure 11A It is a top view illustrating the correction of the radial position of the cutting tool.

[0022] Figure 11B It is a side view illustrating the correction of the position of the cutting tool along its length. Detailed Implementation

[0023] Hereinafter, a program evaluation device and a teaching device according to one embodiment will be described with reference to the accompanying drawings.

[0024] The teaching device 1 in this embodiment is a device for creating, evaluating, and correcting motion programs for the robot 10 offline.

[0025] like Figure 1 As shown, the robot 10 includes: a robot body 13 having a multi-jointed robot arm 11 and a tool 12; and a control device 14 that controls the robot body 13. The teaching device 1 creates an action program that causes the robot 10 to perform machining of a workpiece W using the tool 12. Figure 1 The robot body 13 shown is a six-axis vertical joint robot. The robot body 13 can also be any other industrial robot generally used for machining workpiece W.

[0026] Tool 12 is a spot welding gun that allows current to flow between two opposing electrode heads 15 and 16, and is mounted on the front end of robot arm 11. One electrode head 15 is a fixed-side electrode head fixed relative to the front end of robot arm 11. The other electrode head 16 is a movable-side electrode head that can move relative to the fixed-side electrode head 15 along the central axis A of electrode heads 15 and 16. By moving the movable-side electrode head 16, the workpiece W can be held between electrode heads 15 and 16.

[0027] The fixed-side electrode head 15 wears down and gradually shortens during repeated welding. The motion program is designed such that when the fixed-side electrode head 15 has a predetermined length and the wear is zero, the tip of the fixed-side electrode head 15 is positioned at the welding point (processing point) P. The welding point P is the position on the workpiece W to be welded using the electrode heads 15 and 16. The robot 10 has an automatic correction function that corrects the position of the tool 12 at the welding point P based on the wear of the fixed-side electrode head 15, ensuring that the tip of the fixed-side electrode head 15 is positioned at the welding point P on the workpiece W regardless of the wear level. As the position of the tool 12 is corrected, the position and orientation of the robot arm 11 are also corrected. Thus, the position and orientation of the robot arm 11 at the welding point P differ according to each wear level.

[0028] For example, the wear amount is input to the control device 14 by the operator, thereby setting the wear amount on the control device 14. The control device 14 then corrects the tool 12 at the welding point P in the opposite direction to the wear direction by an amount equal to the set wear amount. Because in Figure 1 In the example where the wear direction of the fixed-side electrode head 15 is downward, the control device 14 corrects the position of the tool 12 in the upward direction. This allows the tip of the fixed-side electrode head 15, which has shortened due to wear, to contact the workpiece W at the welding point P, and enables reliable welding of the workpiece W.

[0029] like Figure 2 As shown, the teaching pendant 1 includes: a storage unit 2 that stores data required for creating the motion program; an input unit 3 for inputting data into the teaching pendant 1; a program creation unit 4 that creates the motion program; a motion confirmation unit 5 that confirms the motion of the robot 10 based on the motion program; a program correction unit 6 that corrects the motion program if it is found that the robot 10's motion has a problem; and a display unit 7. A program evaluation device is implemented as part of the teaching pendant 1 and is composed of at least the motion confirmation unit 5 and the program correction unit 6.

[0030] Storage unit 2 is a non-volatile recording medium such as ROM (read-only memory) or hard disk drive. Teaching device 1 includes at least one processor, such as a central processing unit, and memory. Storage unit 2 stores a program for causing the processor to perform the processes described later. The functions of program creation unit 4, action confirmation unit 5, and program correction unit 6, as described later, are implemented by loading the program into memory and executing it by the processor.

[0031] The input unit 3 has at least one input device, such as a keyboard, mouse, and touch panel. Operators can input the data required for creating the action program into the teaching pendant 1 using the input unit 3.

[0032] Storage unit 2 stores: data of a three-dimensional virtual space; and data of the respective three-dimensional models of the robot 10, the workpiece W, and surrounding objects arranged around the robot 10. This data is, for example, CAD data.

[0033] In addition, the storage unit 2 stores the teaching data input to the teaching device 1 by the operator using the input unit 3. The teaching data includes: the teaching position of one or more teaching points including the welding point P; and the teaching posture and teaching angle of the tool 12 at the welding point P.

[0034] The teaching posture is the posture of tool 12 around a predetermined axis passing through the welding point P and parallel to the wear direction; in this embodiment, it is the posture around the central axis A. The teaching angle of tool 12 is the tilt angle of tool 12 relative to a predetermined direction; in this embodiment, it is the tilt angle relative to the vertical central axis A.

[0035] The program creation unit 4 creates an action program offline based on the teaching data stored in the storage unit 2. This action program is used to enable the robot 10 to perform spot welding on the workpiece W.

[0036] That is, the program creation unit 4 reads data from the storage unit 2, including data on the virtual space, the 3D models of the robot 10, the workpiece W, and the surrounding objects, and arranges the models of the robot 10, the workpiece W, and the surrounding objects in the virtual space. The virtual space with the models arranged can also be displayed on a display unit 7 such as an LCD screen. Then, the program creation unit 4 sets motion paths that sequentially pass through one or more teaching points in the virtual space, and creates a motion program that moves the tool 12 along the motion paths.

[0037] The created motion program is stored at least temporarily in storage unit 2. In the motion program, parameters related to the configuration of tool 12 at welding point P include the teaching position of welding point P (i.e., the front end of fixed side electrode head 15), the teaching posture of tool 12 at welding point P, and the teaching angle.

[0038] The motion confirmation unit 5 verifies offline whether the robot 10 is operating normally according to the motion program by simulating the motion of the robot 10 based on the motion program created by the program creation unit 4. At this time, the motion confirmation unit 5 changes the wear amount step by step and verifies the motion of the robot 10 at each of the multiple wear amounts within a predetermined range. The predetermined range and multiple wear amounts are determined by the operator based on the length of the wear amount of the fixed side electrode head 15, and are set by the operator by inputting the settings into the teaching pendant 1 using the input unit 3.

[0039] Specifically, similar to the program creation unit 4, the motion confirmation unit 5 configures the respective 3D models of the robot 10, the workpiece W, and surrounding objects in a 3D virtual space. Then, similar to the automatic correction function of the actual robot 10, the motion confirmation unit 5 corrects the position and orientation of the robot arm 11 based on the position of the wear correction tool 12 at the welding point P. Then, the motion confirmation unit 5 causes the model of the robot 10 to move according to the motion program in the virtual space and confirms whether the robot body 13 moves normally in the corrected position and orientation.

[0040] If a predetermined problem occurs during the operation of robot 10, the motion confirmation unit 5 determines that robot 10 cannot operate normally. On the other hand, if no predetermined problem occurs during the operation of robot 10, the motion confirmation unit 5 determines that robot 10 operates normally. The predetermined problems include: the corrected position of at least one of tool 12 and robot arm 11 is outside the predetermined range of motion of robot body 13; robot arm 11 is configured in an unusual posture; and robot body 13 interferes with surrounding objects.

[0041] If it is determined that the robot 10 is operating normally under all wear conditions, the motion confirmation unit 5 ends the motion confirmation.

[0042] On the other hand, if it is determined that a problem has occurred under at least one wear level and the robot 10 cannot operate normally, the motion confirmation unit 5 confirms whether the robot 10 operates normally according to the corrected motion program after the program correction unit 6 corrects the motion program. The motion program correction and motion confirmation are repeated until it is determined that the robot 10 operates normally under all wear levels.

[0043] If the motion confirmation unit 5 determines that the robot 10 cannot move normally, the program correction unit 6, such as... Figures 3 to 5As shown, to resolve the problem under the wear level that causes the issue, at least one parameter related to the configuration of tool 12 at welding point P is corrected. As described above, the parameters are the teaching position of welding point P, and the teaching posture and teaching angle of tool 12 at welding point P. The operator can also specify the adjustable range of each of the teaching position, teaching posture, and teaching angle. Furthermore, the operator can also specify the correction amount and correction direction for each of the teaching position, teaching posture, and teaching angle.

[0044] Figure 3 This section explains the correction of the taught position of weld point P. The taught position of weld point P is corrected to a position near the surface of workpiece W, specifically, a position that intersects the wear direction and runs along the surface of workpiece W. Figure 3 In the example, the teaching position is corrected along the horizontal direction. As a result, the position of tool 12 is corrected along the horizontal direction, and the position and orientation of robot arm 11 are also corrected.

[0045] Figure 4 This section explains the correction of the teaching posture of tool 12. By correcting the teaching posture, tool 12 maintains the position of the front end of the fixed-side electrode head 15 at the welding point P, while rotating it around the central axis A of the fixed-side electrode head 15. As a result, the position and posture of the robot arm 11 are also corrected.

[0046] Figure 5 This section explains the correction of the teaching angle of tool 12. By correcting the teaching angle, tool 12 maintains the position of the front end of the fixed-side electrode head 15 at the welding point P, while tilting it relative to a predetermined direction. Figure 5 In the example, the teaching angle is corrected to a direction tilted relative to the vertical direction. As a result, the position and orientation of the robot arm 11 are also corrected.

[0047] Below, refer to Figure 6 The functions of the program evaluation device and the teaching device 1 are explained.

[0048] After the operator inputs the data required for creating the motion program into the teaching pendant 1 using the input unit 3 (step S1), the creation of the motion program begins using the teaching pendant 1. The input data includes teaching data, the range of wear amount, and the wear amount.

[0049] First, the program creation unit 4 creates an action program for the robot 10 to perform spot welding (step S2).

[0050] Then, using the motion confirmation unit 5, the motion confirmation of the robot 10 is performed under each of multiple wear amounts within a predetermined range through simulation, and the motion program is evaluated (steps S3 to S7). Specifically, the wear amount is set (step S3), and based on the position of the wear amount correction tool 12 at the welding point P, the position of the robot arm 11, and its posture (step S4), the model of the robot body 13 performs motion in virtual space according to the motion program (step S5). After the motion confirmation under one wear amount is completed, the wear amount is changed (step S7), and steps S4 and S5 are executed again.

[0051] For example, in the first motion verification, the wear amount is zero, and the correction amount of tool 12 and robot arm 11 is also zero. In subsequent motion verifications, the wear amount is a value other than zero, and the position and orientation of tool 12 and robot arm 11 are corrected by adjusting the upward displacement of tool 12 to equal the wear amount.

[0052] After the operation confirmation under all wear levels is completed (step S6), and if no predetermined problems occur during the operation confirmation under all wear levels (step S8), the creation of the operation program is completed, and the created operation program is saved in the storage unit 2 (step S10).

[0053] On the other hand, if a predetermined problem occurs during the operation verification at at least one wear level (No in step S8), then the program correction unit 6 corrects the parameters in the operation program related to the configuration of tool 12 at welding point P (step S9). Next, the operation verification for all wear levels is performed again using the corrected operation program (steps S3 to S8).

[0054] Figure 7 Examples illustrating problems that occur as the amount of wear changes. Figure 7 In this case, correcting the position of tool 12 upwards results in tool 12 interfering with the surrounding object B, and the robot arm 11 being configured in a singular posture where the fourth axis J4 and the sixth axis J6 are approximately aligned in a straight line. In this situation, for example, as... Figure 8 As shown, by correcting the teaching posture of tool 12, the position of the front end of the fixed-side electrode head 15 is maintained at the welding point P, while simultaneously releasing the singular posture of the robot arm 11. If the teaching position of welding point P can be changed to a nearby position, the teaching position can be corrected instead of the teaching posture, or based on this, the teaching position can also be corrected. Furthermore, as... Figure 9 As shown, by adjusting the teaching angle of tool 12, the position of the front end of the fixed side electrode head 15 is kept at the welding point P, while eliminating the interference between tool 12 and the surrounding object B.

[0055] Repeatedly perform the correction of the action program in step S9 and the action confirmation of robot 10 in steps S3 to S7 until no predetermined problems occur in the action confirmation under all wear levels (step S8 is correct).

[0056] In order to enable operators to confirm what corrections were made in step S9, the program correction unit 6 can also store the corrected parameters and their correction amounts in the storage unit 2.

[0057] Thus, according to this embodiment, it is confirmed at each of a plurality of wear amounts within a predetermined range whether the robot body 13, after position and attitude correction, operates normally according to the motion program. Therefore, before actually processing the workpiece W using the actual robot 10, it is possible to evaluate in advance whether the motion program can enable the robot 10 to operate without problems under any wear amount.

[0058] Furthermore, if a problem is confirmed at at least one wear level, the parameters related to the configuration of tool 12 at welding point P within the motion program are corrected, and the robot 10 is reconfirmed to operate normally according to the corrected motion program. This process of correcting the motion program and confirming the robot 10's operation is repeated until the robot 10 operates normally under all wear levels. Thus, a motion program that ensures the robot 10 operates normally under all wear levels can be created.

[0059] The motion program ultimately created by the teaching pendant 1 is assembled into the control device 14 of the actual robot 10. During the process of the control device 14 repeatedly performing spot welding on the actual robot body 13 according to the motion program, the fixed-side electrode head 15 wears down. The operator inputs the wear amount of the fixed-side electrode head 15 into the control device 14 for setting. Based on the set wear amount, the control device 14 corrects the position of the tool 12 at the welding point P, and subsequently corrects the position and posture of the robot arm 11. At this time, after correcting the position of the tool 12, the robot body 13 can also move normally. In actual spot welding sites such as factories where workpiece W is spot welded, problems can be prevented from occurring in the movement of the robot body 13 due to changes in the set value of the wear amount.

[0060] In spot welding, to achieve high weld quality, the teaching angle of tool 12 at the welding point P is typically set to an angle where the electrode tips 15 and 16 are perpendicular to the surface of the workpiece W. That is, in Figure 3 , Figure 4 as well as Figure 5 Among the three parameters, the correction of the teaching angle may affect the welding quality. Therefore, by setting a priority order for the three parameters, the program correction unit 6 can also correct the parameters sequentially starting with the parameter with the highest priority.

[0061] For example, if a problem occurs at a certain wear level, the program correction unit 6 initially corrects the teaching posture of the tool 12. If the problem recurs during subsequent operation confirmation, the program correction unit 6 then corrects the position of the welding point P. If the problem recurs during subsequent operation confirmation, the program correction unit 6 then corrects the teaching angle of the tool 12.

[0062] In the above embodiment, if the robot 10 interferes with the surrounding objects during the action confirmation process, the action confirmation unit 5 may also store the position and posture of the robot 10 at the time of the interference in the storage unit 2.

[0063] After the motion program is created, the operator identifies the location of the interference and the current posture of the robot body 13, and investigates whether the interference can be avoided by modifying the design of the surrounding objects and the robot body 13. Design modifications include, for example, altering the shape and configuration of the surrounding object B and the robot body 13. If the interference can be avoided by design modifications, the operator modifies the design of at least one of the surrounding objects and the robot body 13. This allows the motion program, in which the teaching position, teaching posture, and teaching angle are not modified, to be used for the actual movement of the robot 10.

[0064] In the above embodiments, the teaching device 1 creates action programs offline, but instead, action programs can also be created online.

[0065] For example, operators can input the teaching data required for creating the motion program into the teaching pendant 1 using either external teaching via a mobile teaching pendant or direct teaching by holding a part of the robot and directly operating it. The motion verification unit 5 causes the actual robot 10 to move according to the motion program created by the program creation unit 4, and verifies online whether the robot 10 moves normally under various wear levels. If a problem occurs during motion verification, the operator can also manually correct the motion program. Alternatively, similar to the offline case, the program correction unit 6 can automatically correct the motion program.

[0066] In the above embodiment, the program evaluation device is assembled on the teaching device 1. However, instead, the program evaluation device can also be assembled on the control device 14 of the robot 10 and implemented as part of the control device 14.

[0067] In this case, at least the action confirmation unit 5 is mounted on the control device 14. The operator removes the electrode heads 15 and 16 from the tool 12 as needed and instructs the control device 14 to perform action confirmation.

[0068] The motion verification unit 5 causes the actual robot 10 to operate according to the motion program assembled in the control device 14, and verifies online whether the robot 10 operates normally under various wear levels. In case of problems during motion verification, the operator can manually correct the motion program. Alternatively, the program correction unit 6 mounted in the control device 14 can automatically correct the motion program.

[0069] According to this structure, even in factory settings, it is possible to confirm in advance that the robot 10 will operate normally under all wear conditions, and then enable the robot 10 to perform the machining of workpiece W.

[0070] In the above embodiment, in order to use the same motion program to make the robot body 13 move regardless of the amount of wear, the teaching device 1 creates a motion program for the normal movement of the robot body 13 under all wear conditions, but instead, as Figure 10 As shown, the teaching device 1 can also create an action program for each wear amount.

[0071] That is, after the action confirmation under a certain wear amount is completed (steps S4 and S5), if no predetermined problem occurs in the action confirmation under that wear amount (yes in step S11), the creation of an action program for a certain wear amount is completed, and the created action program is saved in the storage unit 2 corresponding to the wear amount (step S12).

[0072] On the other hand, if a predetermined problem occurs (No in step S11), the parameters in the action program are corrected (step S9), and the action confirmation under the same wear amount is performed again using the corrected action program (step S5). The action confirmation and action program correction under the same wear amount are repeated until no problem occurs.

[0073] After the creation of the action program for a certain wear amount is completed (step S12), the wear amount is changed (step S7), and steps S4, S5, S9, S11, and S12 are executed again. Steps S4 to S12 are repeated until the action confirmation for all wear amounts is completed and the creation of all action programs for wear amounts is completed (step S6). In this way, multiple action programs corresponding to multiple wear amounts within a predetermined range are created and saved in the storage unit 2.

[0074] In the above embodiments, the program evaluation device is implemented as part of the teaching device 1 or the control device 14, but alternatively, it can also be implemented as a separate device from the teaching device 1 and the control device 14.

[0075] For example, the program evaluation device can also be connected to the teaching device 1, receive the action program created by the program creation unit 4 from the teaching device 1, and verify the action of the robot 10 offline or online according to the action program, and modify the action program as needed.

[0076] In the above embodiment, a negative wear value can also be input to the control device 14. When a fixed-side electrode head 15 that is longer than the standard fixed-side electrode head 15 is installed on the tool 12, by inputting a negative wear value, the position of the tool 12 can be corrected in the same direction as the wear direction, and the front end of the longer fixed-side electrode head 15 can be positioned at the welding point P on the workpiece W.

[0077] In the above embodiments, the movements of the robot body 13 sometimes change as the teaching posture and teaching angle are corrected, and the cycle also changes. Thus, it can be configured such that the operator can set an allowable range for the cycle.

[0078] In the above embodiment, tool 12 is a spot welding gun, but tool 12 is not limited to this, and can be any tool that wears down with use. For example, tool 12 can also be a drill bit whose tip wears down due to contact with the workpiece W.

[0079] The parameters to be corrected are selected according to the type of tool 12. For example, if tool 12 is a drill bit, the program correction unit 6 may only correct the teaching posture at the machining point.

[0080] In the above embodiment, the case of tool 12 wearing along the length direction was described, but the program evaluation device can also be applied to the case of tool 12 wearing along the radial direction.

[0081] For example, when tool 12 is a cutting tool, the cutting tool 12 gradually becomes shorter due to wear in the length direction of the front end, and gradually becomes thinner due to wear in the radial direction of the outer peripheral surface. Figure 11A as well as Figure 11B Explanation: This describes the automatic position correction of the cutting tool 12 performed by the robot 10 while the cutting tool 12 moves along path C and processes the cutting surface D. The double-dotted line indicates an unworn tool, while the solid line indicates a tool worn along its length and radially. Figure 11A As shown, in order to maintain the profile of the cutting surface D regardless of radial wear, the position of the cutting tool 12 is corrected radially towards the direction of the widening path C, i.e., towards the cutting surface D, based on the amount of radial wear. Furthermore, as... Figure 11B As shown, the position of the cutting tool 12 is corrected forward along the length direction according to the amount of wear in the length direction.

[0082] As the position of the cutting tool 12 is corrected radially, the position and posture of the robot arm 11 are also corrected. Thus, predetermined ranges and wear amounts are set for both the radial and longitudinal directions, and the motion verification unit 5 verifies whether the robot body 13 operates normally in each combination of radial and longitudinal wear amounts. Therefore, it is possible to pre-evaluate whether the motion program can cause the robot 10 to move without problems under any wear amount in the longitudinal and radial directions.

[0083] Explanation of reference numerals in the attached figures:

[0084] 1: Teaching device

[0085] 4: Program Creation Department

[0086] 5: Action Confirmation Department

[0087] 6: Program Correction Department

[0088] 10: Robot

[0089] 11: Robotic Arm

[0090] 12: Tools

[0091] 14: Control device

[0092] 15: Fixed side electrode head

[0093] A: Central axis

[0094] B: Surrounding objects

[0095] P: Welding point (machining point)

[0096] W: Workpiece

Claims

1. A program evaluation device that evaluates a motion program for a robot, characterized by the motion program being a program for causing the robot to perform processing of a workpiece using a tool, the motion program including a plurality of parameters set with a priority order in relation to a configuration of the tool at a processing point of the workpiece, the robot having a function of correcting a position of the tool in accordance with an amount of wear of the tool, the program evaluation device comprising: a motion confirmation section that confirms whether or not the robot normally operates in accordance with the motion program at each of a plurality of amounts of wear within a predetermined range; and a program correction section that, in a case where it is confirmed by the motion confirmation section that the robot does not normally operate at at least one of the amounts of wear, sequentially corrects the parameters starting from the parameter of the high priority order.

2. The program evaluation device according to claim 1, characterized in that the motion confirmation section determines that the robot does not normally operate in a case where a predetermined problem occurs in the operation of the robot at at least one of the amounts of wear, the predetermined problem including at least one of a position of the robot being outside an operating range of the robot, the robot being configured in a singular posture, and the robot interfering with a surrounding object.

3. The program evaluation device according to claim 1, characterized in that the parameters are a position of the processing point and a posture and an angle of the tool at the processing point, the program correction section corrects at least one of the position of the processing point and the posture and the angle of the tool at the processing point.

4. The program evaluation device according to any one of claims 1 to 3, characterized in that the tool is a spot welding gun, and the amount of wear is an amount of wear of a fixed-side electrode tip of the spot welding gun.

5. The program evaluation device according to any one of claims 1 to 3, characterized in that the motion confirmation section confirms whether or not the robot normally operates offline by simulating the operation of the robot at each of the amounts of wear.

6. A teaching device that teaches a motion of a robot, characterized by the teaching device comprising the program evaluation device according to any one of claims 1 to 5.

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