Robot simulation device

Abstract

The robot simulation device includes: a three-dimensional model arrangement unit that arranges, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a manipulator mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the supply device; a workpiece gripping number specifying unit that receives an input for specifying the number of three-dimensional models in which workpieces are gripped together by the three-dimensional model of the robot; a reference workpiece designation unit that receives an input for designating a three-dimensional model of a reference workpiece when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the robot; and a gripping position setting unit that sets a gripping position on the basis of the specified number of three-dimensional models of workpieces to be gripped together, the three-dimensional model of the workpiece serving as a reference, the interval between the three-dimensional models of the workpieces on the three-dimensional model of the supply device, and the position and orientation of the three-dimensional model of the robot when moved onto the three-dimensional model of the supply device. A gripping position of a three-dimensional model of a workpiece with respect to a three-dimensional model of a robot is set when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the robot.

Description

Technical Field

[0001] The present disclosure relates to a robot simulation device. Background Art

[0002] A robot system is known in which a robot takes out a workpiece conveyed on a conveying device such as a belt conveyor, and sequentially moves and places the workpiece on another conveying device, a workbench, etc. In addition, a robot simulator capable of simulating the operation of such a robot system is also known.

[0003] Patent document 1 describes a real robot system that arranges and transfers articles by a robot. Patent document 2 describes a programming device that simulates the operation of loading goods that have arrived on a conveyor onto a pallet using a robot having an adsorption manipulator. Patent document 3 describes a simulation device that simulates the operation of a robot moving a workpiece from a conveying surface of a supply device to a receiving surface of a receiving device.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2016-026899

[0007] Patent Document 2: Japanese Patent Application Publication No. 2009-070078

[0008] Patent Document 3: Japanese Patent Application Publication No. 2020-199625 Summary of the invention

[0009] Problems to be solved by the invention

[0010] In a robot system in which a robot arm mounted on the robot takes out a workpiece, the robot arm may take out a plurality of workpieces at once. It is also desirable to simulate the operation of holding a plurality of workpieces at once by the robot arm in a simulation device.

[0011] Means for solving problems

[0012] One method of the present disclosure is a robot simulation device, comprising: a three-dimensional model configuration unit, which configures a three-dimensional model of a robot, a three-dimensional model of a manipulator mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device for detecting the workpiece on the supply device in a virtual space; a workpiece holding quantity designation unit, which accepts an input for designating the number of three-dimensional models of the workpieces to be held together by the three-dimensional model of the manipulator; a reference workpiece designation unit, which accepts an input for designating a three-dimensional model of a workpiece that serves as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the manipulator; and a holding position setting unit, which sets the holding position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator when the three-dimensional model of the workpiece is held together by the three-dimensional model of the manipulator, based on the designated number of three-dimensional models of the workpieces to be held together, the three-dimensional model of the workpiece that serves as the reference, the interval between the three-dimensional models of the workpiece on the three-dimensional model of the supply device, and the position and posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device.

[0013] These and other objects, features and advantages of the present invention will become more apparent from the detailed description of typical embodiments of the present invention as shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing a specific example of a robot simulation device according to an embodiment.

[0015] Figure 2 This is a functional block diagram of a robot simulation device.

[0016] Figure 3 This is a flowchart of a simulation of a workpiece removal operation that simultaneously grasps and transfers a three-dimensional model of the workpiece.

[0017] Figure 4 This is a diagram showing a three-dimensional model of the robot system displayed on the display screen by the three-dimensional model arrangement unit.

[0018] Figure 5 This is a diagram for explaining a first example regarding the number of workpiece models to be collectively grasped and the designation of a reference workpiece model.

[0019] Figure 6 This is a diagram for explaining a second example regarding the number of workpiece models to be collectively grasped and the designation of a reference workpiece model.

[0020] Figure 7 This is a diagram for explaining a third example regarding the number of workpiece models to be collectively grasped and the designation of a reference workpiece model.

[0021] Figure 8 This is a diagram for explaining the setting of the interval between the three-dimensional models of the workpieces arranged on the conveying device.

[0022] Fig. 9 This is a diagram showing a simulation screen of a state in which the three-dimensional model of the robot is moved to the three-dimensional model of the supply device.

[0023] Fig.10 This is a diagram showing a simulation screen showing a state in which three-dimensional models of a plurality of workpieces are collectively grasped by a three-dimensional model of a robot.

[0024] Fig.11 This is a diagram showing a simulation screen showing a state in which the three-dimensional model of the robot is moved to the three-dimensional model of the discharge device.

[0025] Fig.12 This is a diagram showing a simulation screen of a state in which the three-dimensional models of a plurality of workpieces are placed on the three-dimensional model of the discharge device by the three-dimensional model of the robot.

[0026] Fig.13 This is a diagram showing a simulation screen of a state in which a plurality of workpieces are placed on a fixed table as a discharge device using a three-dimensional model of the robot.

[0027] Fig.14 This is a diagram showing a simulation screen of a state in which a three-dimensional model of a plurality of workpieces is collectively grasped from a fixed table as a supply device by a three-dimensional model of a robot. DETAILED DESCRIPTION

[0028] Next, the embodiments of the present disclosure are described with reference to the accompanying drawings. In the referenced drawings, the same structural parts or functional parts are marked with the same reference symbols. For easy understanding, the scales of these drawings are appropriately changed. In addition, the method shown in the drawings is an example for implementing the present invention, and the present invention is not limited to the method shown in the drawings.

[0029] Figure 1 It is a diagram showing an example of the robot simulation device 10 according to one embodiment. Figure 2 This is a functional block diagram of a robot simulation device 10. The robot simulation device 10 is composed of an information processing device such as a personal computer or a tablet terminal. The robot simulation device 10 provides a function of simulating the motion of holding a plurality of three-dimensional models of workpieces on a supply device that supplies the workpieces together by a three-dimensional model of a manipulator mounted on a three-dimensional model of a robot.

[0030] In this specification, the device that supplies workpieces to the robot is called a supply device, and the device that transfers the workpieces taken out by the robot is called a discharge device. The supply device may be a conveying device such as a belt conveyor or a fixed table such as a workbench. Regarding the discharge device, it may be a conveying device such as a belt conveyor or a fixed table such as a workbench.

[0031] In this specification, simulation includes not only causing the three-dimensional model of each device to perform simulated operations on a display screen (virtual space), but also numerical calculations of the positions and postures of the robot and other devices.

[0032] like Figure 1 As shown, the robot simulation device 10 includes a display unit 12 for displaying various images related to the simulation, and an operation unit 13 for performing various operation inputs by the operator. The display unit 12 includes, for example, a liquid crystal display. The operation unit 13 includes, for example, an input device such as a keyboard, a mouse, and a touch panel. The three-dimensional model of the robot, etc. is stored in a storage device 14 ( Figure 2 The robot simulation device 10 may also include a memory (ROM, RAM, non-volatile memory, etc.), a display unit 12, an operation unit 13, a storage device (HDD, etc.), a network interface, various input and output interfaces, etc., and the CPU 11 ( Figure 2 ) is connected as a general computer structure.

[0033] like Figure 2 As shown, the robot simulation device 10 includes: a virtual space generation unit 111, a three-dimensional model configuration unit 112, a simulation execution unit 113, a workpiece holding number designation unit 114, a reference workpiece designation unit 115, a robot hand workpiece holding position setting unit 116, a supply device workpiece non-display unit 117, a robot hand workpiece display unit 118, a discharge device workpiece display unit 119, and a robot hand workpiece non-display unit 120. The robot simulation device 10 may further include a fixed table workpiece configuration position setting unit 121. In addition, the robot simulation device 10 may further include a workpiece interval designation unit 123. These functional blocks may also be implemented by the CPU 11 of the robot simulation device 10 executing software.

[0034] The robot simulation device 10 includes a storage unit 122. The storage unit 122 may be formed of a storage device such as a nonvolatile memory or HDD. The storage unit 122 stores three-dimensional models of objects constituting the robot system model, arrangement information, various setting information required for simulation, and the like.

[0035] The virtual space generation unit 111 generates a virtual space for arranging three-dimensional models of various objects constituting the robot system model in the storage space of the robot simulation device 10 .

[0036] The three-dimensional model configuration unit 112 configures the three-dimensional model of the robot, the three-dimensional model of the transport device, the three-dimensional model of the workpiece, the three-dimensional model of the detection device, and the three-dimensional model of the fixing table in the virtual space according to the configuration information of various objects constituting the robot system model.

[0037] The simulation execution unit 113 is responsible for simulating the action of taking out the workpiece on the supply device through the three-dimensional model of the robot and transferring it to the discharge device. The functions of the simulation execution unit 113 include the function of numerically calculating the position and posture of the three-dimensional models of the robot and various objects, and the function of making the three-dimensional models of the robot and various objects perform simulated actions. The simulation execution unit 113 can also be configured to uniformly control various functional blocks related to the execution of the simulation (the robot workpiece holding position setting unit 116, the supply device workpiece non-display unit 117, the robot workpiece display unit 118, the discharge device workpiece display unit 119, the robot workpiece non-display unit 120, and the fixed table workpiece configuration position setting unit 121).

[0038] The workpiece holding number designation unit 114 provides a function for designating the number of workpieces to be held together by the three-dimensional model of the robot. The workpiece holding number designation unit 114 may also be configured to accept input for setting the number of workpieces to be held together by the three-dimensional model of the robot via a setting screen (user interface). Alternatively, the workpiece holding number designation unit 114 may also accept input of the number of workpieces to be held together from an external device.

[0039] The reference workpiece designation unit 115 provides a function for designating a workpiece that serves as a reference when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the robot. The reference workpiece designation unit 115 may also be configured to accept input for designating a workpiece that serves as a reference when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the robot via a setting screen (user interface). Alternatively, the reference workpiece designation unit 115 may also accept input for designating the three-dimensional model of the workpiece that serves as a reference from an external device.

[0040] The robot workpiece gripping position setting unit 116 provides a function of setting the position of the three-dimensional model of the workpiece relative to the three-dimensional model of the robot when the three-dimensional model of the robot grips the three-dimensional model of the workpiece.

[0041] The supply device workpiece non-display unit 117 provides a function of non-displaying the three-dimensional model of the workpiece on the three-dimensional model of the supply device.

[0042] The robot workpiece display unit 118 provides a function of displaying a three-dimensional model of a workpiece on a three-dimensional model of the robot.

[0043] The discharge device workpiece display unit 119 has a function of displaying a three-dimensional model of the workpiece on the three-dimensional model of the discharge device.

[0044] The robot workpiece non-display unit 120 has a function of non-displaying the three-dimensional model of the workpiece on the three-dimensional model of the robot.

[0045] The supply device workpiece non-display unit 117 , the robot workpiece display unit 118 , the discharge device workpiece display unit 119 , and the robot workpiece non-display unit 120 may be configured to cooperate with the simulation execution unit 113 and provide their functions according to instructions from the simulation execution unit 113 .

[0046] The fixed table workpiece arrangement position setting unit 121 provides a function of setting the arrangement position of the three-dimensional model of the workpiece relative to the three-dimensional model of the fixed table when the fixed table is used as the discharge device.

[0047] The workpiece spacing designation unit 123 provides a function for designating the spacing of the three-dimensional models of the plurality of workpieces arranged on the supply device. The workpiece spacing designation unit 123 may also be configured to accept input of the spacing of the three-dimensional models of the designated workpieces via a setting screen (user interface). Alternatively, the workpiece spacing designation unit 123 may also accept input of the spacing of the three-dimensional models of the designated workpieces from an external device.

[0048] Figure 3 This is a flowchart of a simulation of an operation of collectively grasping and transferring a three-dimensional model of a workpiece (hereinafter referred to as a workpiece picking operation) executed on the robot simulation device 10 . Figure 3 The workpiece taking-out operation shown is executed under the control of the CPU 11 of the robot simulation device 10 .

[0049] First, the 3D model arranging unit 112 arranges the 3D model of the robot system including the 3D model of the robot in the virtual space (step S1 ). Then, the 3D model arranging unit 112 displays the 3D model of the robot system arranged in the virtual space on the display screen of the display unit 12 (step S2 ). Figure 4 The three-dimensional model of the robot system (hereinafter referred to as the robot system model 100M) displayed on the display screen by the three-dimensional model configuration unit 112 is represented. The robot system model 100M includes: a three-dimensional model of a robot (hereinafter referred to as the robot model 20M), a three-dimensional model of a manipulator (hereinafter referred to as the manipulator model 30M), a three-dimensional model of a conveying device as a supply device (hereinafter referred to as a conveying device model 80M), a three-dimensional model of a workpiece (hereinafter referred to as a workpiece model WM), three-dimensional models of two detection devices (hereinafter referred to as detection device models 70M and 71M), and a three-dimensional model of a conveying device as a discharge device (hereinafter referred to as a conveying device model 90M). The conveying device is, for example, a belt conveyor.

[0050] In this example, a model of a vertical multi-joint robot is used as the robot model 20M, but models of other types of robots such as a horizontal multi-joint robot and a parallel link robot may also be used.

[0051] As an example, the robot model 30M is a model of a suction-type robot having a plurality of suction parts for collectively grasping a plurality of workpieces. As the robot model 30M, a three-dimensional model of another type of robot device capable of collectively grasping a plurality of workpieces may be used.

[0052] The conveying device model 80M conveys the workpiece model WM from upstream to downstream at a constant speed within the workpiece supply range between the upstream end 80a and the downstream end 80b. The robot model 20M moves within the virtually defined following action range (indicated by the dotted arrow 81) on the conveying device model 80M, following the movement of the workpiece model WM conveyed by the conveying device model 80M and holding the workpiece model WM.

[0053] The conveying device model 90M can convey the workpiece model WM from upstream to downstream at a certain speed within the workpiece supply range between the upstream end 90a and the downstream end 90b. The robot model 20M moves in a virtually defined following action range (indicated by a dotted arrow 91) on the conveying device model 90M, following the movement of the conveying device model 90M and placing the workpiece model WM on the conveying device model 90M.

[0054] The setting information such as the transport speed and transport direction related to the transport device models 80M and 90M may be preset in the storage unit 122, or may be set by the operator in the robot simulator 10. The robot simulator 10 transports the workpiece model WM according to the setting information related to the transport device models 80M and 90M.

[0055] The detection device models 70M and 71M are models of visual sensors, respectively. The visual sensor may be a camera that captures grayscale images or color images, or a stereo camera or a three-dimensional sensor that can obtain distance images or three-dimensional point groups. The positional relationship between the detection device models 70M and 71M and the robot model 20M is known. The detection device model 70M is configured in such a way that the capturing range includes the vicinity of the upstream end of the conveying device model 80M. The detection device model 70M provides a function of detecting the position of the workpiece model WM at the end on the upstream side of the conveying device model 80M by image processing of the captured image. The detection device model 71M may also have a function of detecting and inspecting the workpiece model WM flowing on the conveying device model 90M. The detection results of the detection device models 70M and 71M can be used in the simulation of the simulation execution unit 113.

[0056] Return to Figure 3 Next, the workpiece holding quantity designation unit 114 receives the designation of the number of workpiece models WM to be held by the robot model 30M (step S3). The reference workpiece designation unit 115 receives the designation of the workpiece model to be used as the reference when the workpiece model is held by the robot model 30M (step S4). The reference workpiece model is a workpiece model used as the reference when detecting the workpiece model to be held, calculating the position, etc. The operator can designate a specific workpiece model transported to the transport device model 80M as the "reference workpiece model".

[0057] Figure 5 FIG. 2 is a diagram for explaining a first example related to the number of workpiece models to be held together and the designation of a workpiece model to be a reference. Figure 5 As shown in FIG. 1 , when the robot model 30M is a type having five suction parts ( 30a , 30b , 30c , 30d , and 30e ), the number of workpiece models to be collectively grasped by the robot model 30M may be designated as five. Figure 5 (as well as Figure 6-Figure 8 ), arrow C indicates the upstream side of the conveying direction of the conveying device model 80M. As an example, the operator may designate the nth workpiece model from the upstream among a plurality of workpiece models WM continuously conveyed on the conveying device model 80M as the reference workpiece model. Figure 5 , a case is shown in which the third workpiece model (workpiece model WM3) from the upstream among the five workpiece models WM1 to WM5 flowing on the conveyor model 80M is designated as a reference workpiece model.

[0058] For example, the robot model 20M may operate so as to grip the workpiece model WM3 serving as a reference at the position of the tool tip point T set in the hand model 30M.

[0059] Figure 6 FIG. 2 is a diagram for explaining a second example related to the number of workpiece models to be held together and the designation of a workpiece to be used as a reference. Figure 6 As shown in FIG. 1 , when the robot model 30M is a type having three suction parts, the number of workpiece models to be collectively grasped by the robot model 30M may be specified as three. Figure 6 , a case is shown in which the second workpiece model WM12 from the upstream among the three workpiece models WM11 to WM13 that flow continuously on the conveying device model 80M is designated as a reference workpiece model.

[0060] In this case, for example, the robot model 20M may operate so as to grip the workpiece model WM12 serving as a reference at the position of the tool tip point T set in the manipulator model 30M.

[0061] Figure 7 FIG. 2 is a diagram for explaining a third example related to the number of workpiece models to be held together and the designation of a workpiece to be used as a reference. Figure 7 As shown in FIG. 1 , when the robot model 30M is a type having five suction parts, the number of workpiece models to be collectively grasped by the robot model 30M may be designated as five. Figure 7 , a case where the fourth workpiece model WM24 from the upstream among the five workpiece models WM21 to WM25 that continuously flow on the conveying device model 80M is used as a reference workpiece model.

[0062] In this case, for example, the robot model 20M may operate so as to grip the workpiece model WM24 serving as a reference at the position of the tool tip point T set in the manipulator model 30M.

[0063] Return to Figure 3 Then, the robot workpiece holding position setting unit 116 is based on the following information, namely:

[0064] (a1) The number of workpiece models WM held together;

[0065] (a2) Workpiece model WM that becomes the benchmark;

[0066] (a3) intervals between workpiece models WM transported along the transport device model 80M; and

[0067] (a4) the position and posture of the robot model 20M when it moves to the transport device model 80M,

[0068] The “position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M” is set (step S5 ).

[0069] Here, "(a1) the number of workpiece models WM held together" and "(a2) the workpiece model WM used as the reference" are set in the above steps S3 and S4. "(a3) the interval between the workpiece models WM transported along the transport device model 80M" is as follows: Figure 8As shown in FIG. 1 , the interval d in the conveying direction of the workpiece models WM arranged continuously in the conveying direction on the conveying device model 80M is specified. The plurality of workpiece models are conveyed at equal intervals. The operator can also set the interval equal to the interval of the plurality of suction parts of the robot model 30M as the interval d through the setting function provided by the workpiece interval specifying unit 123. The interval d can be used to determine the workpiece model WM (in the reference) as the reference. Figure 8 The position of the workpiece model WM3) is used as the reference for other workpiece models WM (in Figure 8 : In the figure, the positions of the workpiece models WM1-2 and WM4-5) on the conveying device model 80M.

[0070] “(a3) The intervals between the workpiece models WM transported along the transport device model 80M” may be set in advance in the storage unit 122 .

[0071] The simulation execution unit 113 can obtain “(a4) the position and posture of the robot model 20M when moving onto the transport device model 80M” based on, for example, the following motion model.

[0072] (k1) The robot model 20M starts to operate from a predetermined standby position in response to receiving a detection signal from the detection device model 70M, which detects that the reference workpiece model WM is placed on the transport device model 80M.

[0073] (k2) The robot model 20M is in the following motion range ( Figure 4 The workpiece model WM moves within the range indicated by the arrow 81 so as to follow the movement of the workpiece model WM serving as the reference in the conveying direction (ie, the conveying speed of the conveying device model 80M).

[0074] (k3) When the robot model 20M follows the movement of the workpiece model WM within the following action range, the relative speed between them is zero. In this state, assuming a dynamic coordinate system moving at the conveying speed, the robot model 20M can move by descending from above relative to the stationary workpiece model and approaching and grasping it.

[0075] (k4) In the above-mentioned operation, the robot model 20M may operate so as to grip the workpiece model WM serving as a reference by the suction unit located at the position of the tool tip point T of the manipulator model 30M.

[0076] By executing numerical simulations of the above-mentioned action models (k1) to (k4), the robot workpiece gripping position setting unit 116 can obtain the position posture of the robot model 20M when it is positioned at a position where it can grip multiple workpiece models including the reference workpiece model WM, as "(a4) the position posture of the robot model 20M when moving to the conveying device model 80M".

[0077] The robot workpiece gripping position setting unit 116 calculates “the position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M” based on the “(a4) position and posture of the robot model 20M when it moves to the conveying device model 80M” obtained as described above. The position of the tool tip point T is known. In addition, the position in the virtual space of the workpiece model WM that serves as a reference when the robot model 20M is in the “(a4) position and posture of the robot model 20M when it moves to the conveying device model 80M” can be obtained based on information such as the detection result of the detection device model 70M and the conveying speed of the conveying device model 80M. In addition, as described above, the interval d of the workpiece model WM is known. Therefore, the robot workpiece gripping position setting unit 116 can calculate “the position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M” based on the above-mentioned information (a1) to (a4). Furthermore, “the position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M” can also be expressed as “the gripping position of the workpiece model WM relative to the robot model 30M”.

[0078] Through the above actions (steps S1 to S5), the "positions of the workpiece models WM relative to the robot model 30M when the robot model 30M holds the workpiece models WM" are calculated and set in the robot simulation device 10. As a result, the actions of the robot model 20M holding a plurality of workpiece models WM can be displayed on the simulation screen. The operator can confirm whether the robot model 20M can correctly reach the position where the workpiece models WM can be held together, and can correct various setting contents as needed to create an appropriate program.

[0079] In addition, according to the above-mentioned actions (steps S1 to S5), the user can make the robot simulation device 10 perform a simulation of the height of holding a plurality of workpiece models at a time by inputting the setting items (a1) to (a3) ​​described above in a simple setting operation. That is, according to this embodiment, a setting method that is useful to the user for simulating the action of the robot model 20M holding a plurality of workpiece models WM at a time is established.

[0080] like Figure 3As shown, the robot simulation device 10 can further perform the operations shown in steps S6 to S7 by using “the positions of the workpiece models WM relative to the manipulator model 30M when the manipulator model 30M grasps the workpiece model WM”.

[0081] In step S6, the robot simulation device 10 moves the robot model 20M to the conveying device model 80M and performs the action of holding the workpiece model WM together with the robot model 30M based on "(a4) the position and posture of the robot model 20M when moving to the conveying device model 80M" and "the position of each workpiece model WM relative to the robot model 30M when the robot model 30M holds the workpiece model WM". Specifically, Fig. 9 As shown on the simulation screen of , the simulation execution unit 113 moves the robot model 20M so as to take the “(a4) position and posture of the robot model 20M when moving onto the transport device model 80M”.

[0082] Then, the supply device workpiece non-display unit 117 sets the workpiece model WM held by the robot model 30M to non-display on the conveying device model 80M. In addition, the robot workpiece display unit 118 displays the workpiece model WM on the robot model 30M. The robot workpiece display unit 118 can display the workpiece model WM on the robot model 30M according to the "position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is held by the robot model 30M". Fig.10 This is a simulation screen showing the state where the workpiece model WM is moved to the robot model 30M side after these processes. Fig.10 , the robot model 20M is shown in a state where it is slightly moved upward from the position where it grips the workpiece model WM.

[0083] Through the above-described operations, the operation of the robot model 20M that collectively grasps the plurality of workpiece models WM being transported by the transport device model 80M through the manipulator model 30M is expressed in the virtual space (display screen).

[0084] Next, in step S7, the robot simulation device 10 moves the robot model 20M to the conveying device model 90M and performs the action of placing the workpiece model WM on the conveying device model 90M based on “(a4) the position and posture of the robot model 20M when moving to the conveying device model 80M” and “the position of each workpiece model WM relative to the manipulator model 30M when the manipulator model 30M holds the workpiece model WM”. Specifically, Fig.11As shown, the simulation execution unit 113 moves the robot model 20M to the conveying device model 90M according to "(a4) the position and posture of the robot model 20M when moving to the conveying device model 80M". In this case, the simulation execution unit 113 moves the robot model 20M, for example, so as to perform the following actions.

[0085] (k11) From the robot model 20M Fig. 9 By holding the position and posture of the workpiece model WM,

[0086] (k12) The workpiece model WM is placed on the conveying surface while following the conveying speed of the conveying device model 90M within the following operation range (arrow 91) of the conveying device model 90M.

[0087] Next, the discharge device workpiece display unit 119 displays the workpiece model WM placed on the conveying device model 90M on the discharge side. The discharge device workpiece display unit 119 can arrange the workpiece model WM on the conveying device model 90M according to the "position of each workpiece model WM relative to the robot model 30M when the robot model 30M holds the workpiece model WM". In addition, the robot workpiece non-display unit 120 sets the workpiece model WM on the robot model 30M to non-display. Fig.12 This is a simulation screen showing a state where the workpiece model WM has moved to the conveying device model 90 side after these processes.

[0088] Through the above-described operation, the operation of the robot system model 100M that moves the plurality of workpiece models WM from the supply-side conveying device model 80M to the discharge-side conveying device model 90M can be expressed in the virtual space (display screen) by the robot model 30M.

[0089] Therefore, according to the above-mentioned workpiece picking operation, it is possible to simulate a robot system in which a plurality of workpiece models conveyed by a conveying device model are collectively grasped by a robot arm model.

[0090] Hereinafter, two examples of modifications of the above-described embodiment will be described.

[0091] (Variant 1)

[0092] Modification 1 described here is a configuration example in which the discharge device is a fixed table. Fig.13 The structure of the robot system model 200M of the modification example 1 is shown. The robot system model 200M has a fixed table model 190M as a discharge device. Fig.13 In the present invention, the same components as those of the robot system model 100M in the above-described embodiment are denoted by the same reference numerals, and descriptions thereof are omitted or simplified.

[0093] The robot simulation device 10 performs the above-mentioned workpiece removal operation ( Figure 3 ) is performed through the processing of steps S1 to S5, calculating and setting "the position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M".

[0094] The fixed table workpiece configuration position setting unit 121 is based on:

[0095] The position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is grasped by the robot model 30M; and

[0096] The position and posture of the robot model 20M when it moves to the fixed platform model 190M,

[0097] The arrangement position of the workpiece model WM relative to the fixed table model 190M is set.

[0098] In this case, the simulation execution unit 113 can obtain “the position and posture of the robot model 20M when moving onto the fixed base model 190M” based on, for example, the following motion model.

[0099] The robot model 20M is moved so as to perform the following actions.

[0100] (k21) From robot model 20M Fig. 9 By holding the position and posture of the workpiece model WM,

[0101] (k22) The machine moves to a standby position above the mounting surface 191 of the fixed table model 190M, and descends therefrom to approach the mounting surface 191 to place all the workpiece models WM.

[0102] Thus, the fixed table workpiece configuration position setting unit 121 can obtain the "position and posture of the robot model 20M when it moves onto the fixed table model 190M". Based on the "position and posture of the robot model 20M when it moves onto the fixed table model 190M" and the "position of each workpiece model WM relative to the robot model 30M when the robot model 30M holds the workpiece model WM", the "configuration position of the workpiece model WM relative to the fixed table model 190M" is obtained.

[0103] Therefore, if Fig.13 As shown, the fixed table workpiece arrangement position setting unit 121 can express the operation until the workpiece model WM held by the robot model 20M is placed on the fixed table model 190M as a simulation image.

[0104] In addition, in the case of this example, the robot simulation device 10 can also perform actions equivalent to steps S6 and S7 in the above-mentioned workpiece removal action. That is, when the robot model 30M reaches the position where the workpiece model WM is held on the conveying device model 80M, the supply device workpiece non-display unit 117 sets the workpiece model WM to non-display on the conveying device model 80M. In addition, the robot workpiece display unit 118 displays the workpiece model WM on the robot model 30M.

[0105] Next, when the robot model 20M (manipulator model 30M) reaches the position where the workpiece model WM is placed on the fixed table model 190M, the manipulator workpiece non-display unit 120 sets the workpiece model WM on the manipulator model 30M to non-display. In addition, the ejector workpiece display unit 119 displays the workpiece model WM at the arrangement position of the workpiece model WM.

[0106] Thereby, the state of the workpiece model WM which is gripped on the conveying device model 80M and moved onto the fixed table model 190M is provided as a simulation image.

[0107] (Variant 2)

[0108] Next, as a modification 2, refer to Fig.14 A configuration in which the supply device is a fixed table and the discharge device is a conveying device will be described. Fig.14 The structure of the robot system model 300M of Modification 2 is shown. The robot system model 300M includes a fixed table model 180M as a supply device. Fig.14 In the robot simulation device 100 , the same components as those of the robot system model 100M in the above-described embodiment are denoted by the same reference numerals, and their descriptions are omitted or simplified. The robot simulation device 10 can also simulate the operation when the supply device is a fixed table and the discharge device is a conveying device.

[0109] The three-dimensional model placement unit 112 places the robot system model 300M including the robot model 20M in the virtual space and displays it on the display screen.

[0110] Next, the workpiece gripping number designation unit 114 receives designation of the number of workpiece models to be gripped collectively.

[0111] In addition, the designation of the workpiece model serving as the reference is received by the reference workpiece designation unit 115. In this case, the user may designate a specific workpiece model placed on the fixed table model 180M as the workpiece model serving as the reference.

[0112] The robot simulator 10 is based on:

[0113] (b1) The number of workpiece models held together;

[0114] (b2) the workpiece model that becomes the benchmark;

[0115] (b3) the spacing between workpiece models;

[0116] (b4) the position and posture of the robot model 20M when it moves to the fixed platform model 190M,

[0117] The “position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M” is set.

[0118] Regarding "(b3) the distance between workpiece models", it is also possible to refer to Figure 8 As in the case described above, the values ​​of the intervals between the plurality of suction pads of the robot model 30M are set.

[0119] The simulation execution unit 113 can obtain “(b4) the position and posture of the robot model 20M when moving to the fixed platform model 190M” using, for example, the following motion model.

[0120] (k31) The robot model 20M moves from a predetermined standby position to an approach start position above the workpiece model WM on the fixed table model 190M.

[0121] (k32) The robot model 20M descends from the approach start position and moves to a position where it can grip the workpiece model WM.

[0122] (k33) In the above-mentioned operation, the robot model 20M may operate so as to grip the workpiece model WM serving as a reference by the suction portion located at the position of the tool tip point T of the manipulator model 30M.

[0123] By executing the numerical simulation of the above-mentioned motion model, the robot workpiece gripping position setting unit 116 can obtain the position and posture of the robot model 20M when it is positioned at a position capable of gripping the workpiece model WM on the fixed table model 190M as "(b4) the position and posture of the robot model 20M when moving to the fixed table model 190M".

[0124] The robot workpiece gripping position setting unit 116 calculates "the position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M" based on the "(b4) position and posture of the robot model 20M when it moves to the fixed table model 190M" obtained as described above. The position of the tool tip point T is known. In addition, the position of the workpiece model WM in the virtual space that serves as a reference when the robot model 20M is in the above-mentioned position and posture (b4) is known. In addition, as described above, the interval of the workpiece models WM is known. Therefore, the robot workpiece gripping position setting unit 116 can calculate "the position of each workpiece model WM relative to the robot model 30M when the workpiece model WM is gripped by the robot model 30M" based on the above-mentioned information (b1) to (b4).

[0125] The robot simulation device 10 (simulation execution unit 113) can also simulate the action of moving the robot model 20M to the conveying device model 90M based on "(b4) the position and posture of the robot model 20M when moving to the fixed table model 190M" and "the position of each workpiece model WM relative to the manipulator model 30M when the manipulator model 30M holds the workpiece model WM". In this case, the simulation execution unit 113 moves the robot model 20M so as to perform the following action, for example.

[0126] (k41) From the robot model 20M Fig.14 By holding the position and posture of the workpiece model WM,

[0127] (k42) The workpiece model WM is placed on the conveying surface while following the conveying speed of the conveying device model 90M within the following operation range (arrow 91) of the conveying device model 90M.

[0128] Through the above, the simulation of the operation of collectively grasping the plurality of workpiece models WM on the fixed table model 190M by the robot model 30M and moving them to the discharge device is realized.

[0129] Reference Figure 2 The functional blocks of the robot simulation device described above may be realized by the CPU of the robot simulation device executing various software stored in a storage device, or may be realized by a configuration mainly based on hardware such as an ASIC (Application Specific Integrated Circuit).

[0130] Execute the workpiece removal operation in the above-mentioned embodiment ( Figure 3 ) and other processing programs can be recorded in various computer-readable recording media (for example, semiconductor memories such as ROM, EEPROM, and flash memory, magnetic recording media, and optical disks such as CD-ROM and DVD-ROM).

[0131] As described above, according to this embodiment, the action of a robot system that holds three-dimensional models of a plurality of workpieces on a three-dimensional model of a supply device together with a three-dimensional model of a robot arm can be displayed in a virtual space (display screen). In addition, a setting method that is useful to the user and is used to simulate the robot system that holds three-dimensional models of a plurality of workpieces on a three-dimensional model of a supply device together with a three-dimensional model of a robot arm can be established.

[0132] The present disclosure has been described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the present disclosure, or without departing from the scope of the main purpose of the present disclosure derived from the contents recorded in the claims and their equivalents. In addition, these embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example and are not limited to this. In addition, the same is true for the case where numerical values ​​or mathematical formulas are used in the description of the above-mentioned embodiments.

[0133] The following supplementary notes are further described with respect to the above-mentioned embodiment and modified examples.

[0134] (Note 1)

[0135] A robot simulation device (10), comprising:

[0136] A three-dimensional model configuration unit (112) which configures in a virtual space a three-dimensional model of a robot, a three-dimensional model of a manipulator mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device for detecting the workpiece on the supply device; a workpiece holding quantity designation unit (114) which accepts input for designating the number of three-dimensional models of the workpieces to be held together by the three-dimensional model of the manipulator; a reference workpiece designation unit (115) which accepts input for designating the three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is held together by the three-dimensional model of the manipulator; and a holding position setting unit (116) which sets the holding position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator when the three-dimensional model of the workpiece is held together by the three-dimensional model of the manipulator, based on the designated number of three-dimensional models of the workpieces to be held together, the three-dimensional model of the workpiece that serves as the reference, the interval between the three-dimensional models of the workpiece on the three-dimensional model of the supply device, and the position and posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device.

[0137] (Note 2)

[0138] The robot simulation device (10) according to Supplement 1, wherein:

[0139] The robot simulation device (10) also has: a simulation execution unit (113), which moves the three-dimensional model of the robot to the three-dimensional model of the supply device based on the position posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator, and executes the action of gripping the three-dimensional model of the workpiece together with the three-dimensional model of the manipulator.

[0140] (Note 3)

[0141] The robot simulation device (10) according to Supplement 2, wherein:

[0142] The simulation execution unit (113) moves the three-dimensional model of the robot to the three-dimensional model of the supply device, sets the three-dimensional model of the workpiece to be non-displayed on the three-dimensional model of the supply device, and displays the three-dimensional model of the workpiece on the three-dimensional model of the manipulator.

[0143] (Note 4)

[0144] The robot simulation device (10) according to Note 2 or 3, wherein:

[0145] The simulation execution unit (113) moves the three-dimensional model of the robot to the three-dimensional model of the discharge device based on the position posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator, and performs the action of placing the three-dimensional model of the workpiece on the discharge device.

[0146] (Note 5)

[0147] The robot simulation device (10) according to Supplement 4, wherein:

[0148] The simulation execution unit (113) moves the three-dimensional model of the robot to the three-dimensional model of the discharge device, displays the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and sets the three-dimensional model of the workpiece to be non-displayed on the three-dimensional model of the manipulator.

[0149] (Note 6)

[0150] The robot simulation device (10) according to any one of Supplementary Notes 1 to 5, wherein:

[0151] The workpiece grasping quantity designation unit (114) receives a user input for designating the quantity to be grasped collectively.

[0152] (Note 7)

[0153] The robot simulation device (10) according to any one of Supplementary Notes 1 to 6, wherein:

[0154] The reference workpiece designating unit (115) receives a user input for designating a workpiece serving as the reference.

[0155] (Note 8)

[0156] The robot simulation device (10) according to any one of Supplementary Notes 1 to 7, wherein:

[0157] The robot simulation device (10) further includes: a workpiece interval designating unit (123) that receives an input designating the interval of the three-dimensional model of the workpiece on the three-dimensional model of the supply device.

[0158] (Note 9)

[0159] The robot simulation device (10) according to any one of Supplementary Notes 1 to 8, wherein:

[0160] The supply device is a conveying device, and the discharge device is a conveying device.

[0161] (Note 10)

[0162] The robot simulation device (10) according to any one of Supplementary Notes 1 to 8, wherein:

[0163] The supply device is a conveying device, and the discharge device is a fixing table.

[0164] (Note 11)

[0165] The robot simulation device (10) according to any one of Supplementary Notes 1 to 8, wherein:

[0166] The supply device is a fixed table, and the discharge device is a conveying device.

[0167] (Note 12)

[0168] A robot simulation device (10), comprising:

[0169] A three-dimensional model configuration unit (112) which configures in a virtual space a three-dimensional model of a robot, a three-dimensional model of a manipulator mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device for detecting the workpiece on the supply device; and a simulation execution unit (113) which performs simulation based on the number of three-dimensional models of the workpieces grasped together by the three-dimensional model of the manipulator, the three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is grasped by the three-dimensional model of the manipulator, the interval between the three-dimensional models of the workpieces on the three-dimensional model of the supply device, and the three-dimensional model of the workpiece when moved to the three-dimensional model of the supply device. The three-dimensional model of the robot is configured to determine the position and posture of the three-dimensional model of the robot, and the holding position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator when the three-dimensional model of the workpiece is held by the three-dimensional model of the manipulator; the three-dimensional model of the robot is moved to the three-dimensional model of the supply device, and the three-dimensional model of the workpiece is set to be non-displayed on the three-dimensional model of the supply device, and the three-dimensional model of the workpiece is displayed on the three-dimensional model of the manipulator; the three-dimensional model of the robot is moved to the three-dimensional model of the discharge device, and the three-dimensional model of the workpiece is displayed on the three-dimensional model of the discharge device, and the three-dimensional model of the workpiece is set to be non-displayed on the three-dimensional model of the manipulator.

[0170] Description of Reference Numerals

[0171] 10Robot Simulator

[0172] 11CPU

[0173] 12 Display unit

[0174] 13 Operation section

[0175] 111 Virtual Space Generation Department

[0176] 112 3D Model Configuration Department

[0177] 113 Simulation Execution Department

[0178] 114 Workpiece holding quantity designation unit

[0179] 115 Reference workpiece designation unit

[0180] 116 Robot workpiece holding position setting unit

[0181] 117 Supply device workpiece non-display part

[0182] 118 Robot workpiece display unit

[0183] 119 Ejector workpiece display unit

[0184] 120 Robot workpiece non-display part

[0185] 121 Fixed table workpiece configuration position setting unit

[0186] 122 Storage

[0187] 123 Workpiece interval designation unit

[0188] 20M Robot Model

[0189] 30M Robot Model

[0190] 70M, 71M detection device model

[0191] 80M, 90M conveyor model

[0192] WM Artifact Model

[0193] 180M, 190M fixed platform model

[0194] 191 Loading surface

[0195] 100M, 200M, 300M robot system models.

Claims

1. A robot simulation device, characterized in that: The robot simulation device comprises: a three-dimensional model configuration unit that configures, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a manipulator mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device for detecting the workpiece on the supply device; a workpiece holding number designation unit that receives an input designating the number of three-dimensional models of the workpieces to be held collectively by the three-dimensional model of the robot; a reference workpiece designating unit that receives an input for designating a three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the robot; as well as A holding position setting unit sets the holding position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator when the three-dimensional model of the workpiece is held by the three-dimensional model of the manipulator, based on the specified number of three-dimensional models of the workpieces to be held together, the three-dimensional model of the workpiece serving as the reference, the interval between the three-dimensional models of the workpieces on the three-dimensional model of the supply device, and the position posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device.

2. The robot simulation device according to claim 1, characterized in that: The robot simulation device also includes: a simulation execution unit, which moves the three-dimensional model of the robot to the three-dimensional model of the supply device based on the position posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator, and executes the action of gripping the three-dimensional model of the workpiece through the three-dimensional model of the manipulator.

3. The robot simulation device according to claim 2, characterized in that: The simulation execution unit moves the three-dimensional model of the robot to the three-dimensional model of the supply device, hides the three-dimensional model of the workpiece on the three-dimensional model of the supply device, and displays the three-dimensional model of the workpiece on the three-dimensional model of the manipulator.

4. The robot simulation device according to claim 2 or 3, characterized in that: The simulation execution unit moves the three-dimensional model of the robot to the three-dimensional model of the discharge device based on the position posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator, and performs the action of placing the three-dimensional model of the workpiece on the discharge device.

5. The robot simulation device according to claim 4, characterized in that: The simulation execution unit moves the three-dimensional model of the robot to the three-dimensional model of the discharge device, displays the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and hides the three-dimensional model of the workpiece on the three-dimensional model of the manipulator.

6. The robot simulation device according to any one of claims 1 to 5, characterized in that: The workpiece grasping number designation unit receives a user input for designating the number to be grasped collectively.

7. The robot simulation device according to any one of claims 1 to 6, characterized in that: The reference workpiece designating unit receives a user input for designating a workpiece serving as the reference.

8. The robot simulation device according to any one of claims 1 to 7, characterized in that: The robot simulation device further includes a workpiece interval designating unit that receives an input for designating an interval between the three-dimensional models of the workpieces on the three-dimensional model of the supply device.

9. The robot simulation device according to any one of claims 1 to 8, characterized in that: The supply device is a conveying device, and the discharge device is a conveying device.

10. The robot simulation device according to any one of claims 1 to 8, characterized in that: The supply device is a conveying device, and the discharge device is a fixing table.

11. The robot simulation device according to any one of claims 1 to 8, characterized in that: The supply device is a fixed table, and the discharge device is a conveying device.

12. A robot simulation device, characterized in that: The robot simulation device comprises: a three-dimensional model configuration unit that configures, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a manipulator mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device for detecting the workpiece on the supply device; as well as A simulation execution unit, which moves the three-dimensional model of the robot to the three-dimensional model of the supply device, sets the three-dimensional model of the workpiece to be non-displayed on the three-dimensional model of the supply device, and displays the three-dimensional model of the workpiece on the three-dimensional model of the manipulator, based on the number of three-dimensional models of the workpiece gripped together by the three-dimensional model of the manipulator, the three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the manipulator, the interval between the three-dimensional models of the workpiece on the three-dimensional model of the supply device, the position and posture of the three-dimensional model of the robot when moving to the three-dimensional model of the supply device, and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the manipulator when the three-dimensional model of the workpiece is gripped by the three-dimensional model of the manipulator. It also moves the three-dimensional model of the robot to the three-dimensional model of the discharge device, displays the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and sets the three-dimensional model of the workpiece to be non-displayed on the three-dimensional model of the manipulator.

Images