Robotic simulation device

Abstract

In the execution of the simulation or after the execution, it is easy to compare the changes in the robot's actions or cycle times before and after the correction of the robot program, or to easily compare the differences in the robot's actions or cycle times between a plurality of robot programs that differ in part. A robot simulation device includes a three-dimensional model arrangement unit that arranges a robot model that represents a robot in three dimensions on a virtual space; a simulation execution unit that performs simulation of a robot program to cause the robot model to act; an action log storage unit that stores the position and posture of the robot model at each time during the simulation of the robot program as an action log; and an action log reproduction unit that selects one or more of a plurality of action logs, further arranges an action log reproduction robot model that represents the robot in three dimensions on the virtual space, and causes the action log reproduction robot model to act in accordance with the time stored in the selected action log.

Description

Technical Field

[0001] This invention relates to a robot simulation device. Background Technology

[0002] The following technique is proposed: a 3D model of a robot system, including a robot equipped with tools, a workpiece, and peripheral equipment, is configured on a screen and displayed simultaneously, and the robot's actions are simulated on a computer. For example, see Patent Document 1.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-129915 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, it can be difficult to compare changes in robot motion or cycle time before and after modifications to the robot program, such as the taught position, during or after simulation, or to compare differences in robot motion or cycle time between multiple robot programs with different content.

[0008] Therefore, it is desirable to be able to easily compare the changes in robot actions or cycle times before and after the modification of the robot program during or after the simulation, or to easily compare the differences in robot actions or cycle times between multiple robot programs with different contents.

[0009] Methods for solving problems

[0010] One aspect of the robot simulation apparatus disclosed herein is a robot simulation apparatus for simulating robot programs in a robot system including a robot. The robot simulation apparatus comprises: a three-dimensional model configuration unit that configures a robot model representing the robot in a three-dimensional manner in a virtual space; a simulation execution unit that simulates the robot program and causes the robot model to move; an action log storage unit that stores the position and posture of the robot model at each moment as an action log during the simulation of the robot program; and an action log regeneration unit that selects one or more action logs from a plurality of action logs stored in the action log storage unit, configures a robot model representing the robot in a three-dimensional manner for action log regeneration in the virtual space, and causes the robot model for action log regeneration to move according to the moment stored in the selected action log.

[0011] Invention Effects

[0012] According to one method, it is easy to compare the changes in robot actions or cycle times before and after the modification of the robot program during or after the simulation, or it is easy to compare the differences in robot actions or cycle times between multiple robot programs with different contents. Attached Figure Description

[0013] Figure 1 This is a functional block diagram illustrating an example of the functional configuration of a robot simulation device according to one embodiment.

[0014] Figure 2 This is an example of an image showing a robot system configured using a 3D model configuration unit.

[0015] Figure 3A This is a diagram representing an example of an image of the generated robotic system.

[0016] Figure 3B This is a diagram representing an example of an image of the generated robotic system.

[0017] Figure 3C This is a diagram representing an example of an image of the generated robotic system.

[0018] Figure 4A This is an example of a diagram showing a robot system in which the simulation execution unit performs another simulation of a robot program or other robot programs.

[0019] Figure 4B This is an example of a diagram showing a robot system in which the simulation execution unit performs another simulation of a robot program or other robot programs.

[0020] Figure 4C This is an example of a diagram showing a robot system in which the simulation execution unit performs another simulation of a robot program or other robot programs.

[0021] Figure 5A This is an example of a diagram showing a robot system in which the simulation execution unit does not perform a robot program or other robot program simulation.

[0022] Figure 5B This is an example of a diagram showing a robot system in which the simulation execution unit does not perform a robot program or other robot program simulation.

[0023] Figure 5C This is an example of a diagram showing a robot system in which the simulation execution unit does not perform a robot program or other robot program simulation.

[0024] Figure 6This is a flowchart illustrating the simulation process of the robot simulation device.

[0025] Figure 7A This is a diagram illustrating an example of a robot's motion trajectory when its speed is increased.

[0026] Figure 7B This is a diagram illustrating an example of a robot's motion trajectory when its speed is increased.

[0027] Figure 7C This is a diagram illustrating an example of a robot's motion trajectory when its speed is increased.

[0028] Figure 8A This is a diagram illustrating an example of a motion trajectory when all body parts are positioned.

[0029] Figure 8B This is a diagram illustrating an example of a motion trajectory when all body parts are positioned.

[0030] Figure 8C This is a diagram illustrating an example of a motion trajectory when all body parts are positioned.

[0031] Figure 9A This diagram illustrates an example of a motion trajectory when the starting and ending points of the travel axle are changed.

[0032] Figure 9B This diagram illustrates an example of a motion trajectory when the starting and ending points of the travel axle are changed.

[0033] Figure 9C This diagram illustrates an example of a motion trajectory when the starting and ending points of the travel axle are changed. Detailed Implementation

[0034] <One Implementation Method>

[0035] The structure of this embodiment will be described in detail with reference to the accompanying drawings. An example is illustrated where a robot equipped with a hand is mounted on a peripheral device attached to a travel axis within a virtual workspace, and moves by holding a workpiece. Furthermore, this invention can also be applied to situations where a robot holds and moves a workpiece without being mounted on a travel axis, or where the robot processes a workpiece.

[0036] Figure 1 This is a functional block diagram illustrating an example of the functional configuration of a robot simulation device according to one embodiment.

[0037] like Figure 1As shown, the robot simulation device 1 is a known computer, including a control unit 10, an input unit 11, a display unit 12, and a storage unit 13. The control unit 10 includes a virtual space generation unit 101, a 3D model configuration unit 102, a simulation execution unit 103, and an action log generation unit 104. Furthermore, the storage unit 13 includes an action log storage unit 131 and a model storage unit 132.

[0038] Furthermore, the robot simulation device 1 can also be interconnected with a robot control device (not shown) that controls the movement of the robot (not shown) and a control device (not shown) that controls the movement of the travel axis (not shown) via a network such as a LAN (Local Area Network) or the Internet. Alternatively, the robot simulation device 1 can also be directly interconnected with the robot control device (not shown) and the control device (not shown) via a connection interface (not shown).

[0039] <Input Section 11>

[0040] The input unit 11 is, for example, a keyboard or a touch panel configured on the display unit 12 as described later, and accepts input from the operator.

[0041] <Display Section 12>

[0042] The display unit 12 is, for example, a liquid crystal display. As described below, the display unit 12 displays, for example, 3D CAD data (hereinafter also referred to as "robot model") of a robot (not shown) equipped with hands and the like, which is input (selected) in a three-dimensional manner by a user such as an operator via the input unit 11, and displays 3D CAD data (hereinafter also referred to as "peripheral device model") of peripheral equipment that carries the robot's travel axis in a three-dimensional manner, as well as 3D CAD data of workpieces and fixtures held by the robot (not shown).

[0043] <Storage Department 13>

[0044] Storage unit 13 can be an SSD (Solid State Drive) or HDD (Hard Disk Drive), etc., and can also store various robot programs that cause unlabeled robots or peripheral devices to move and hold workpieces.

[0045] As described below, the simulation execution unit 103 simulates the robot program, causing the robot model and peripheral equipment model to move. In the simulation of the robot program, the action log storage unit 131 stores the position and posture of the robot model and peripheral equipment model at each moment as an action log for each robot program.

[0046] As described above, the model storage unit 132 stores, for example, 3D CAD data (robot model) of a robot (not labeled), 3D CAD models (peripheral device model) of peripheral devices (not labeled), 3D CAD data of unlabeled workpieces and fixtures, etc., which are input (selected) by the user via the input unit 11 and displayed on the display unit 12.

[0047] <Control Unit 10>

[0048] The control unit 10 is configured to include a CPU (Central Processing Unit), ROM (Read-Only Memory), RAM (Random Access Memory), CMOS (Complementary Metal-Oxide-Semiconductor) memory, etc. These components can communicate with each other via a bus, which is well known to those skilled in the art.

[0049] The CPU is a processor that performs overall control of the robot simulation device 1. The CPU reads the system program and application program stored in ROM via the bus, and controls the robot simulation device 1 as a whole according to the system program and application program. Thus, as... Figure 1 As shown, the control unit 10 is configured to perform the functions of the virtual space generation unit 101, the 3D model configuration unit 102, the simulation execution unit 103, and the action log regeneration unit 104. Various data, such as temporary calculation data and display data, are stored in the RAM. Furthermore, the CMOS memory is configured as a non-volatile memory that maintains its stored state even when the power supply to the robot simulation device 1 is disconnected, thanks to a battery backup (not shown).

[0050] The virtual space generation unit 101 generates a virtual space that represents the work space in a three-dimensional manner. The work space is equipped with robots (not marked), peripheral equipment (not marked), workpieces (not marked), and fixtures.

[0051] The 3D model configuration unit 102, for example, configures robot models (not shown), peripheral equipment models (not shown), and models (3D CAD data, etc.) of workpieces or fixtures in a 3D virtual space generated by the virtual space generation unit 101, within the 3D virtual space generated by the user input unit 11, based on the input operation of the user input unit 11.

[0052] Specifically, in order to configure an unmarked robot in the virtual space, the 3D model configuration unit 102 reads the robot model from the model storage unit 132. The 3D model configuration unit 102 then configures the read robot model in the virtual space.

[0053] In addition, the 3D model configuration unit 102 reads the peripheral device model of the driving axle from the model storage unit 132 in order to configure the peripheral device model of the driving axle (which is not labeled) in the virtual space. The 3D model configuration unit 102 then configures the read peripheral device model of the driving axle in the virtual space.

[0054] In addition, the 3D model configuration unit 102 reads the models (3D CAD models) of unlabeled workpieces and fixtures from the model storage unit 132 in order to configure the models (3D CAD models) of unlabeled workpieces and fixtures in the virtual space. The 3D model configuration unit 102 then configures the read-in models (3D CAD models) of workpieces and fixtures in the virtual space.

[0055] Figure 2 This is an example of an image showing a robot system configured by the three-dimensional model configuration unit 102.

[0056] like Figure 2 As shown, within the virtual space of the generated image, there are robot model 200, peripheral equipment model 210, workpiece model 220, and fixture models 230a and 230b.

[0057] The robot model 200 is a three-dimensional model of a vertical multi-joint robot that holds and moves a workpiece. It is mounted on the travel axis, i.e., the peripheral equipment model 210, and includes a robot base model 201, a rotating body model 202, a robotic arm model 203, and a wrist model 204.

[0058] The robotic arm model 203 has: an upper arm model 203a, which is rotatably connected to the rotating body model 202; and a forearm model 203b, which is rotatably connected to the front end of the upper arm model 203a.

[0059] Within the virtual space, the wrist model 204 has a 3D CAD model of a hand (hereinafter also referred to as the "hand model") 205 placed at the front end of the forearm model 203b.

[0060] In addition, the robot's robot program has virtual robot motion parameters for making the robot model 200 and the peripheral device model 210 move. The virtual robot motion parameters include the origin and axis direction of the robot coordinate system Σr, the origin and axis direction of the peripheral device coordinate system Σm and the workpiece coordinate system Σw, the origin and axis direction of the fixture coordinate systems Σj1 and Σj2, the maximum drive speed of the robot and the travel axis, and the virtual movable range, etc.

[0061] The robot coordinate system Σr is a coordinate system that serves as the reference for the robot model 200 to move in virtual space. It is defined in virtual space by the origin and axis direction of the robot coordinate system Σr, which are included in the virtual robot motion parameters.

[0062] like Figure 2 As shown, the origin of the robot coordinate system Σr is located at the center of the robot base model 201, and the rotating body model 202 rotates around the Z-axis of the robot coordinate system Σr.

[0063] The peripheral device coordinate system Σm is a coordinate system that defines the position and orientation of the peripheral device model 210 in the virtual space. It is defined in the virtual space by the origin and axis of the peripheral device coordinate system Σm, which is included in the motion parameters of the virtual robot.

[0064] The workpiece coordinate system Σw is a coordinate system that specifies the position and orientation of the workpiece model 220 in the virtual space. It is defined in the virtual space by the origin and axis direction of the workpiece coordinate system Σw, which is included in the motion parameters of the virtual robot.

[0065] The fixture coordinate systems Σj1 and Σj2 are coordinate systems that define the position and orientation of the fixture models 230a and 230b in the virtual space. They are defined in the virtual space by the origin and axis direction of the fixture coordinate systems Σj1 and Σj2, which are included in the motion parameters of the virtual robot.

[0066] like Figure 2 As shown, the origin of the peripheral device coordinate system Σm is configured to coincide with the endpoint of the peripheral device model 210 of the travel axis, and the peripheral device model 210 moves in the X-axis direction of the peripheral device coordinate system Σm.

[0067] Furthermore, the origin of the workpiece coordinate system Σw is, for example, located on the upper surface of the workpiece model 220. The axis direction of the workpiece coordinate system Σw is set so that the direction of movement of the travel axis is the X-axis, and the vertical direction of the upper surface of the workpiece model 220 is the Z-axis. Additionally, the origins of the fixture coordinate systems Σj1 and Σj2 are located on the upper surfaces of the fixture models 230a and 230b. The axis directions of the fixture coordinate systems Σj1 and Σj2 are set so that the direction of movement of the travel axis is the X-axis, and the vertical direction of the upper surface of the fixture models 230a and 230b is the Z-axis.

[0068] Therefore, the robot simulation device 1 can control the position of the tool tip of the hand model 205 by executing the robot program, so as to move the workpiece model 220 from the fixture model 230a to the fixture model 230b, for example.

[0069] The simulation execution unit 103 simulates the robot program, causing the robot model 200 and the peripheral device model 210 to move. The simulation execution unit 103 stores the position and posture of the robot model 200 and the peripheral device model 210 at each moment in the robot program simulation as an action log in the action log storage unit 131 according to the robot program.

[0070] In addition, the simulation execution unit 103 can also generate an image of the robot system moving on the robot simulation device 1 according to the robot program.

[0071] Figures 3A to 3C This is a diagram representing an example of an image of the generated robotic system. Figures 3A to 3C The image represents the situation where the peripheral device model 210 of the travel axis is moved while the hand model 205 of the robot model 200 handles the workpiece model 220.

[0072] Furthermore, the simulation execution unit 103 can also generate... Figures 3A to 3C The image is displayed on display unit 12.

[0073] Alternatively, the simulation execution unit 103 can end the simulation by moving the workpiece model 220 to the fixture model 230b, or by returning the robot model 200 and the peripheral equipment model 210 to the start position of the action.

[0074] The motion log regeneration unit 104 selects one or more motion logs from the multiple motion logs stored in the motion log storage unit 131, further configures the motion log regeneration robot model and the motion log regeneration peripheral device model, which represent the robot (not shown) in a three-dimensional manner, in a virtual space, and makes the motion log regeneration robot model and the motion log regeneration peripheral device model move according to the time stored in the selected motion log.

[0075] The following describes the operation of the action log regeneration unit 104 in the following cases: (a) the simulation execution unit 103 performs the simulation of the robot program or other robot programs again; and (b) the simulation execution unit 103 does not perform the simulation of the robot program or other robot programs.

[0076] (a) When the simulation execution unit 103 performs another simulation of the robot program or other robot programs.

[0077] The motion log regeneration unit 104, for example, when the simulation execution unit 103 re-simulates a robot program or other robot programs, selects one of the multiple motion logs stored in the motion log storage unit 131 based on the input operation of the user input unit 11. For example, such as Figures 4A to 4CAs shown, the motion log regeneration unit 104 configures the motion log regeneration robot model 300 (represented by dashed lines) and the motion log regeneration peripheral device model 310 together with the robot model 200 (represented by solid lines) configured by the 3D model configuration unit 102 and operated by the simulation execution unit 103 in a virtual space. Figures 4A to 4C An image of the robot system is displayed on display unit 12. Furthermore, as... Figures 4A to 4C As shown, in the simulated robot program, the movement positions of robot model 200 and peripheral device model 210 are changed to be closer to the +X axis than robot model 300 and peripheral device model 310 for action log regeneration, and the position (processing position) of workpiece model 220 is changed to be closer to the +X axis than the selected action log.

[0078] The motion log regeneration unit 104 synchronizes the time in the simulation performed by the simulation execution unit 103 with the time stored in the selected motion log, thereby enabling the robot model 200, peripheral device model 210, motion log regeneration robot model 300, and motion log regeneration peripheral device model 310 to operate.

[0079] In this way, during simulation, the robot simulation device 1 can include peripheral equipment to compare changes in the robot's motion or cycle time before and after corrections to the robot program's taught position, or differences in the robot's motion or cycle time between multiple robot programs with different components. That is, within the robot system, it is possible to compare changes in the robot's motion or cycle time before and after corrections to the robot program's taught position, or differences in the robot's motion or cycle time between multiple robot programs with different components. Furthermore, the user can select the optimal robot program with short cycle times, minimal wasted motion, and no interference with peripheral equipment.

[0080] Furthermore, although the motion log regeneration unit 104 selects one motion log, it can also select two or more motion logs. In this case, the motion log regeneration unit 104 can also configure the motion log regeneration robot model 300 and the motion log regeneration peripheral device model 310 corresponding to the number of selected motion logs in the virtual space.

[0081] (b) Case where the simulation execution unit 103 does not perform simulation of robot programs or other robot programs.

[0082] The motion log regeneration unit 104, for example, selects two motion logs from a plurality of motion logs stored in the motion log storage unit 131 based on input operations from the user input unit 11 when the simulation execution unit 103 is not simulating a robot program or other robot programs. For example, Figures 5A to 5C As shown, the motion log regeneration unit 104 configures the motion log regeneration robot model 300a and motion log regeneration peripheral device model 310a corresponding to one selected motion log, and the motion log regeneration robot model 300b and motion log regeneration peripheral device model 310b corresponding to another motion log in the virtual space. The motion log regeneration unit 104 will... Figures 5A to 5C The image of the robot system is displayed on the display unit 12. Furthermore, since the motion log regeneration unit 104 only regenerates the selected motion log, it can also... Figures 5A to 5C As shown, a slider 400 indicates the progress of regeneration. Additionally, as... Figures 5A to 5C As shown, with Figures 4A to 4C Similarly, the motion position of the robot model 300a and peripheral device model 310a for motion log regeneration of one motion log is located on the +X axis side more than the robot model 300b and peripheral device model 310b for motion log regeneration of another motion log, and the position (processing position) of the workpiece model 220 of one motion log is located on the +X axis side more than the other motion log.

[0083] The motion log regeneration unit 104, for example, based on the user's operation on the slider 400, synchronously causes the motion log regeneration robot model 300a, motion log regeneration peripheral device model 310a, motion log regeneration robot model 300b, and motion log regeneration peripheral device model 310b to operate at the time stored in the selected motion log.

[0084] In this way, during or after the simulation, the robot simulation device 1 can include peripheral equipment to compare changes in the robot's motion or cycle time before and after the correction of the robot program's taught position, or differences in the robot's motion or cycle time between multiple robot programs with different components. That is, within the robot system, it is possible to compare changes in the robot's motion or cycle time before and after the correction of the robot program's taught position, or differences in the robot's motion or cycle time between multiple robot programs with different components. Furthermore, the user can select the optimal robot program with short cycle times, minimal wasted motion, and no interference with peripheral equipment.

[0085] Furthermore, although the motion log regeneration unit 104 selects two motion logs, it can also select three or more motion logs. In this case, the motion log regeneration unit 104 can also configure the motion log regeneration robot model 300 and the motion log regeneration peripheral device model 310 corresponding to the number of selected motion logs in the virtual space.

[0086] <Simulation Processing of Robot Simulation Device 1>

[0087] Next, refer to Figure 6 Explain the simulation process of robot simulation device 1.

[0088] Figure 6 This is a flowchart illustrating the simulation processing of robot simulation device 1. The process shown here is executed each time the robot's action program is run.

[0089] In step S1, the virtual space generation unit 101 generates a virtual space that represents the work space in a three-dimensional manner, wherein the work space is configured with a robot, peripheral equipment, workpieces and fixtures.

[0090] In step S2, the three-dimensional model configuration unit 102 configures the robot model 200 of the robot, the peripheral equipment model 210 of the travel axis, the workpiece model 220 of the workpiece, and the fixture models 230a and 230b of the fixture in the three-dimensional virtual space generated in step S1.

[0091] In step S3, the simulation execution unit 103 simulates the robot program, causing the robot model 200 and the peripheral device model 210 to move. The simulation execution unit 103 stores the position and posture of the robot model 200 and the peripheral device model 210 at each moment in the robot program simulation as an action log in the action log storage unit 131 according to the robot program.

[0092] In step S4, during motion log regeneration, the motion log regeneration unit 104 determines whether the simulation execution unit 103 is simulating a robot program or other robot programs. If the robot program or other robot programs are being simulated, the process proceeds to step S5. Otherwise, if the robot program or other robot programs are not being simulated, the process proceeds to step S7.

[0093] In step S5, the action log regeneration unit 104 selects one or more action logs from the plurality of action logs stored in the action log storage unit 131 based on the input operation of the user's input unit 11.

[0094] In step S6, the motion log regeneration unit 104 configures the selected motion log regeneration robot model 300 and motion log regeneration peripheral device model 310 together with the robot model 200 and peripheral device model 210 configured by the 3D model configuration unit 102 and operated by the simulation execution unit 103 in a virtual space. The motion log regeneration unit 104 synchronizes the time in the simulation with the time stored in the selected motion log, and enables the robot model 200 and peripheral device model 210, as well as the motion log regeneration robot model 300 and motion log regeneration peripheral device model 310, to operate.

[0095] In step S7, the action log regeneration unit 104 selects two or more action logs from the plurality of action logs stored in the action log storage unit 131 based on the input operation of the user's input unit 11.

[0096] In step S8, the motion log regeneration unit 104 configures the motion log regeneration robot model 300 and motion log regeneration peripheral device model 310 of each motion log in the virtual space, and synchronizes the motion log regeneration robot model 300 and motion log regeneration peripheral device model 310 of each motion log at the time stored in the selected motion log according to the user's operation on the slider 400.

[0097] As described above, the robot simulation device 1 of one embodiment can easily compare the changes in robot actions or cycle times before and after the modification of the robot program during or after the simulation, or easily compare the differences in robot actions or cycle times between multiple robot programs with different contents.

[0098] While the above description pertains to one embodiment, the robot simulation device 1 is not limited to the above embodiment and includes variations and improvements within the scope of achieving the objective.

[0099] <Variation Example 1>

[0100] In one embodiment described above, although the robot simulation device 1 is configured as a different device from the robot control device (not shown), it is not limited to this. For example, the robot simulation device 1 may also be included in the robot control device (not shown).

[0101] <Variation Example 2>

[0102] Additionally, for example, in the above-described embodiment, although the robot simulation device 1 causes the robot model 200 to... Figures 3A to 3CThe motion trajectory shown moves the workpiece model 220 from the fixture model 230a to the fixture model 230b, but is not limited to this. For example, the robot simulation device 1 can also change the virtual robot motion parameters such as the start and end points of the travel axis, the movement speed, the path and speed of the robot's tool tip, so that the robot model 200 moves the workpiece model 220 from the fixture model 230a to the fixture model 230b with various motion trajectories.

[0103] Figures 7A to 7C This is a diagram illustrating an example of a robot's motion trajectory when its speed is increased. For example... Figures 7A to 7C As shown, if the robot's speed increases, it can quickly jump to the smoothest moving parts (shortcut).

[0104] Figures 8A to 8C This is a diagram illustrating an example of a motion trajectory when all body parts are positioned.

[0105] like Figures 8A to 8C As shown, the robot positions and moves in all its parts.

[0106] Figures 9A to 9C This diagram illustrates an example of a motion trajectory when the starting and ending points of the travel axle are changed.

[0107] like Figures 9A to 9C As shown, if the starting point and ending point of the travel axis are different, even if the motion trajectory of the robot's tool tip is the same, the speed of the travel axis will be different.

[0108] Furthermore, the various functions of the robot simulation device 1 included in one embodiment can be implemented separately by hardware, software, or a combination thereof. Here, implementation by software means that it is implemented by loading a program into a computer and executing it.

[0109] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), optical-magnetic recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAM). Alternatively, programs can also be supplied to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can supply programs to a computer via wired communication paths such as wires and optical fibers, or via wireless communication paths.

[0110] Furthermore, the steps of a program recorded on a recording medium certainly include processing performed sequentially in time, but also include processing that is not necessarily performed in time, but is executed in parallel or individually.

[0111] In other words, the robot simulation device disclosed herein can be implemented in a variety of ways with the following structure.

[0112] (1) The robot simulation device 1 disclosed herein is a robot simulation device for simulating robot programs in a robot system containing a robot. The robot simulation device includes: a three-dimensional model configuration unit 102, which configures a robot model 200 representing the robot in a three-dimensional manner on a virtual space; a simulation execution unit 103, which performs robot program simulation and causes the robot model 200 to move; an action log storage unit 131, which stores the position and posture of the robot model 200 at each moment as an action log during the simulation of the robot program; and an action log regeneration unit 104, which selects one or more action logs from a plurality of action logs stored in the action log storage unit 131, configures a robot model 300 representing the robot in a three-dimensional manner for regenerating the action log on a virtual space, and causes the robot model 300 for regenerating the action log to move according to the moment stored in the selected action log.

[0113] According to the robot simulation device 1, it is easy to compare the changes in robot actions or cycle times before and after the modification of the robot program during or after the simulation, or to easily compare the differences in robot actions or cycle times between multiple robot programs with different contents.

[0114] (2) In the robot simulation device 1 described in (1), when the simulation execution unit 103 executes the simulation of a robot program or other robot program, the motion log regeneration unit 104 synchronizes the time in the simulation with the time stored in the selected motion log, thereby causing the motion log regeneration robot model 300 to move.

[0115] In this way, the robot simulation device 1 can compare the changes in the robot's motion or cycle time before and after the correction when the robot program has been modified, such as the teaching position, or compare the differences in the robot's motion or cycle time between multiple robot programs with different contents during the simulation execution.

[0116] (3) In the robot simulation device 1 described in (1) or (2), the robot system also includes peripheral devices. The three-dimensional model configuration unit 102 configures the peripheral device model 210, which represents the peripheral devices in a three-dimensional manner, in a virtual space. The simulation execution unit 103 also performs a robot program simulation to make the peripheral device model 210 move. The action log storage unit 131 stores the position and posture of the peripheral device model 210 at each moment in the simulation of the robot program as an action log. The action log regeneration unit 104 further configures the action log regeneration peripheral device model 310, which represents the peripheral device model 210 in a three-dimensional manner, in a virtual space, and makes the action log regeneration robot model 300 and the action log regeneration peripheral device model 310 move according to the moment stored in the selected action log.

[0117] In this way, the robot simulation device 1 can include peripheral equipment during the simulation to compare the changes in the robot's motion or cycle time before and after the correction when the robot program's teaching position or other modifications have been made, or to compare the differences in the robot's motion or cycle time between multiple robot programs with different contents.

[0118] Symbol Explanation

[0119] 1 Robot Simulation Device

[0120] 10 Control Department

[0121] 101 Virtual Space Generation Department

[0122] 102 3D Model Configuration Department

[0123] 103 Simulation Execution Department

[0124] 104 Action Log Regeneration Department

[0125] 11 Input Section

[0126] 12 Display Units

[0127] 13 Storage Department

[0128] 131 Action Log Storage Department

[0129] Model 132 storage unit.

Claims

1. A robot simulation device for simulating multiple robot programs related to a robot, characterized in that, The robot simulation device includes: The three-dimensional model configuration unit configures a robot model representing the robot in a three-dimensional manner in a virtual space; The simulation execution unit simulates at least one robot program included in the plurality of robot programs, causing the robot model to move. An action log storage unit stores the position and pose of the robot model at each moment as an action log during the simulation of the robot program, according to the robot program. as well as The motion log regeneration unit selects one or more motion logs from a plurality of motion logs stored in the motion log storage unit, and configures a robot model for motion log regeneration that represents the robot in a three-dimensional manner in a virtual space. It then causes the robot model for motion log regeneration to move according to the time of the selected motion log. When the simulation execution unit executes the robot program, the modified robot program, or other robot program simulation, the motion log regeneration unit synchronizes the time in the simulation with the time stored in the selected motion log, thereby enabling the motion log regeneration to use the robot model to perform actions.

2. The robot simulation device according to claim 1, characterized in that, The robotic system including the robot also has peripheral equipment. The 3D model configuration unit will also configure the peripheral device model, which represents the peripheral device in 3D, in the virtual space. The simulation execution unit also simulates the robot program, causing the peripheral equipment model to move. The action log storage unit also stores the position and posture of the peripheral device model at each moment in the simulation of the robot program as an action log. The action log regeneration unit will further represent the peripheral device model in a three-dimensional manner. The peripheral device model for action log regeneration is configured in a virtual space, and the robot model for action log regeneration and the peripheral device model for action log regeneration will move according to the time stored in the selected action log.

Images