Simulation device and program

Abstract

A simulation device according to one embodiment of the present disclosure is provided with: a storage unit in which a three-dimensional model relating to a workpiece to be quenched is stored; a receiving unit that receives a user operation for specifying a target value for the quenching range and the quenching depth of the three-dimensional model of the workpiece; a display three-dimensional model creation unit that creates, from the three-dimensional model of the workpiece, a display three-dimensional model that expresses the quenching range in a form corresponding to the target value of the quenching depth; and a display unit that displays the created display three-dimensional model.

Description

Technical Field

[0001] This disclosure relates to a simulation device and program with simulation functions related to quenching. Background Technology

[0002] Quenching is a known technique for hardening the surface of metal by heating and cooling it (e.g., Patent Document 1). In recent years, localized quenching techniques utilizing lasers, high frequencies, etc., have attracted attention because they can suppress workpiece deformation. Among these, there is an increasing trend of using quenching robots equipped with laser-generating devices as end effectors to perform quenching.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2010-52023 Summary of the Invention The problem the invention aims to solve To enable a robotic device to perform quenching, a quenching program needs to be created. This program must appropriately set various parameters, such as laser irradiation conditions and robot motion conditions. However, from a safety perspective or considering the need for actual workpieces, it is impractical to teach the quenching program while simultaneously operating the actual robotic device. Therefore, it is desirable to utilize simulation to improve the environment for teaching the quenching program to the robotic device, and this paper proposes a technique for reproducing the quenching process through simulation.

[0004] means for solving problems One aspect of the simulation apparatus disclosed herein includes: a storage unit storing a three-dimensional model related to a workpiece to be quenched; a receiving unit receiving user operations for specifying target values ​​for the quenching range and quenching depth of the three-dimensional model of the workpiece; a display three-dimensional model creation unit creating a display three-dimensional model based on the three-dimensional model of the workpiece, representing the quenching range in a form corresponding to the target value of the quenching depth; and a display unit displaying the created display three-dimensional model. Attached Figure Description

[0005] Figure 1 This is a diagram illustrating an example of a quenching robot system including the simulation apparatus of this embodiment.

[0006] Figure 2 This is a hardware structure diagram of the simulation device in this embodiment.

[0007] Figure 3 This is a functional block diagram of the simulation device in this embodiment.

[0008] Figure 4 It is shown Figure 3 A diagram showing an example of the material tables stored in the storage department.

[0009] Figure 5 This is a flowchart illustrating an example of the steps involved in creating a quenching procedure for a simulation apparatus based on this embodiment.

[0010] Figure 6 It is shown Figure 5 The flowchart shows an example of the steps in process S11, which involves creating a 3D model.

[0011] Figure 7 This is an example of a settings screen that shows how the quenching range and quenching depth are displayed.

[0012] Figure 8 This is a diagram showing an example of how quenching range and quenching depth can be represented.

[0013] Figure 9 This is an example image showing the settings screen for quenching conditions.

[0014] Figure 10 This is an example diagram showing the settings for laser irradiation conditions.

[0015] Figure 11 This is an example diagram showing a simulated scene.

[0016] Figure 12 These are diagrams showing other examples of simulated visuals.

[0017] Figure 13 It is shown Figure 5 A flowchart of an example of the registration process for the teaching point in process S15. Detailed Implementation

[0018] The following is a reference to the appendix. Figure 1 The simulation device of this embodiment will be described below. In the following description, the same reference numerals are used to refer to components that have substantially the same function and structure, and the description will be repeated only where necessary.

[0019] Figure 1 This is a diagram illustrating an example of a quenching robot system 1 including the simulation device 10 of this embodiment. Figure 1 As shown, the quenching robot system 1 includes a robot device 5 for quenching a workpiece 9 and a simulation device 10. The robot device 5 consists of a laser generating device 6 that generates laser light, a robotic arm mechanism 7 equipped with the laser generating device 6 as an end effector, and a control device 8 that controls the laser generating device 6 and the robotic arm mechanism 7. In this embodiment, the simulation device 10 is communicatively connected to the control device 8.

[0020] The simulation device 10 in this embodiment is a computer device that has the function of creating a quenching program that can be executed by the robot device 5 using simulation. Typically, the simulation device 10 in this embodiment is configured as follows.

[0021] Figure 2 This is a hardware structure diagram of the simulation device 10 in this embodiment. (As shown...) Figure 2 As shown, the simulation device 10 of this embodiment is composed of hardware such as an operation device 12, a display device 13, a communication device 14, and a storage device 15 connected to a processor 11 (CPU, etc.). The simulation device 10 is implemented by a general information processing terminal such as a personal computer, tablet computer, or smartphone.

[0022] The operating device 12 is implemented using a keyboard, mouse, joystick, etc. The operating device 12 can also be implemented using a touch panel that also serves as a display device 13. The user can input various information into the simulation device 10 via the operating device 12. The display device 13 is implemented using an LCD, etc. Various screens are displayed on the display device 13 under the control of the processor 11. The communication device 14 is implemented using a communication module based on any communication standard. The communication device 14, under the control of the processor 11, sends and receives various data between the communication device 14 and external devices such as the robot device 5. The storage device 15 is implemented using an HDD (Hard Disk Drive), SSD (Solid State Drive), etc. The simulation program is stored in the storage device 15.

[0023] By executing the simulation program stored in the storage device 15 by the processor 11, such as Figure 3 As shown, the simulation device 10 functions as a receiving unit 21, a display unit 22, a transceiver unit 23, a storage unit 24, a screen creation unit 25, a performance method setting unit 26, a quenching condition setting unit 27, a display three-dimensional model creation unit 28, a virtual space creation unit 29, an illumination condition setting unit 30, an action condition setting unit 31, a teaching point registration unit 32, a program creation unit 33, a model motion control unit 34, a trajectory calculation unit 35, and a quenching depth calculation unit 36.

[0024] The receiving unit 21 accepts user operations via the operating device 12. Specifically, the receiving unit 21 accepts user operations on the workpiece to be quenched, the three-dimensional model of the workpiece to be quenched, quenching conditions (quenching range, quenching depth), laser irradiation conditions, and the action conditions of the robotic arm mechanism 7.

[0025] Display unit 22 consists of Figure 2 The display device 13 shown is functional. The display unit 22 displays various screens related to the quenching simulation created by the screen creation unit 25.

[0026] Receiving and Dispatch Department 23 Figure 2The communication device 14 shown implements its functions. The transceiver unit 23 sends and receives data with the robot device 5. Furthermore, the analog device 10 can receive user operations from an external information processing terminal or the like via a network such as the Internet. In this case, the transceiver unit 23 functions as a receiving unit 21.

[0027] Storage unit 24 consists of Figure 2 The storage device 15 shown implements its functions. The storage unit 24 pre-stores data related to the quenching simulation, data of the material table that associates thermal conductivity with the material of the workpiece, and data of the quenching program.

[0028] The 3D models associated with the quenching simulation include a 3D model of the workpiece 9 to be quenched, and a 3D model of the robot device 5, including the laser generating device 6 and the robotic arm mechanism 7 (referred to as the robot model). Typically, the data for the 3D models is provided by CAD data.

[0029] The quenching program records the action instructions of the robot device 5 in sequence. These instructions include movement instructions for the robotic arm mechanism 7 and laser generation instructions for the laser generating device 6. Additionally, the quenching program also records the action conditions of the robotic arm mechanism 7 and the irradiation conditions based on the laser generated by the laser generating device 6.

[0030] The screen creation unit 25 creates various screens related to the creation of the quenching program. These screens include a setting screen for setting the display method of quenching range and quenching depth, a setting screen for setting quenching conditions, a setting screen for setting laser irradiation conditions, a setting screen for setting action conditions, and a simulation screen for creating the quenching program.

[0031] The display method setting unit 26 sets the display method for the quenching range and quenching depth based on user operations on the setting screen for setting the display method for the quenching range and quenching depth. Details of the display method for the quenching range and quenching depth will be described later.

[0032] The quenching condition setting unit 27 sets the quenching conditions based on user operations on the setting screen used to set quenching conditions. The quenching conditions include target values ​​for the quenching range and quenching depth of the workpiece 9 to be quenched. Details of the quenching conditions will be described later.

[0033] The display 3D model creation unit 28 creates a display 3D model that represents the quenching range in a form corresponding to the target value of the quenching depth, based on the data of the 3D model of the workpiece 9. Furthermore, the display 3D model creation unit 28 changes at least the form of the quenching range based on the simulation results. Specifically, it changes the quenching range in a form corresponding to the target value of the quenching depth, based on the calculated value of the quenching depth.

[0034] The virtual space creation unit 29 creates a virtual space on software that represents the motion space of the robot device 5 in three dimensions, and configures the robot model and the 3D model for display within the created virtual space. The virtual space created by the virtual space creation unit 29 is displayed on a simulation screen or similar surface used to create the quenching program. The robot model and the 3D model for display are configured in the virtual space in a manner that corresponds to the positional relationship between the robot device 5 and the workpiece 9 in the actual motion space.

[0035] The irradiation condition setting unit 30 sets the irradiation conditions of the laser based on user operation on the setting screen for setting the irradiation conditions of the laser generated by the laser generating device 6. Details of the laser irradiation conditions will be described later.

[0036] The motion condition setting unit 31 sets the motion conditions of the robotic arm mechanism 7 based on user operations on the setting screen used to set the motion conditions of the robotic arm mechanism 7. The motion conditions include known parameters such as acceleration, motion speed, interpolation form, and movement form.

[0037] The teaching point registration unit 32 registers the position and fingertip posture of the robot model as teaching points through user operation in a virtual space configured with a robot model and a display 3D model. For example, the position of the robot model's fingertip reference point is set as the position of the laser illumination window of the 3D model of the laser generating device 6.

[0038] The program creation unit 33 creates a quenching program based on the motion conditions of the robotic arm mechanism 7 set by the motion condition setting unit 31, the laser irradiation conditions set by the irradiation condition setting unit 30, and multiple teaching points registered by the teaching point registration unit 32.

[0039] The model motion control unit 34 causes the robot model positioned in the virtual space on the display unit 22 to simulate movements according to the quenching program. Through the processing of the model motion control unit 34, the robot model moves, thereby moving from the irradiation point of the laser irradiating the robot model.

[0040] The trajectory calculation unit 35 calculates the movement path of the laser irradiation point on the display 3D model. For example, the trajectory calculation unit 35 can calculate the movement path of the irradiation point based on multiple teaching points specified by the quenching program and the laser irradiation conditions.

[0041] The quenching depth calculation unit 36 ​​calculates the quenching depth per unit area along the moving path based on the moving speed of the irradiation point and the laser irradiation conditions. Specifically, the quenching depth calculation unit 36 ​​calculates the quenching depth per unit time per unit area along the moving path based on the thermal conductivity of the object (the object irradiated by the laser) along the moving path of the irradiation point (the thermal conductivity of the quenching range when the irradiation point moves within the quenching range), the laser output, and the distance from the light source to the object (the distance from the light source to the quenching range when the irradiation point moves within the quenching range). Additionally, the quenching depth calculation unit 36 ​​calculates the laser irradiation time per unit area along the moving path based on the moving speed of the irradiation point. Then, the quenching depth calculation unit 36 ​​calculates the quenching depth per unit area along the moving path based on the quenching depth per unit time calculated per unit area along the moving path and the laser irradiation time.

[0042] Through the processing of the model motion control unit 34, the track calculation unit 35 and the quenching depth calculation unit 36, the robot model configured in the virtual space performs actions in a simulated manner according to the quenching program, simulating the quenching of the three-dimensional model for display.

[0043] The following is for reference Figure 4 The material tables stored in storage unit 24 will be explained. Figure 4 This is a diagram showing an example of the material tables stored in storage unit 24. (See diagram for example.) Figure 4 As shown, the material table is a mapping table that associates the inherent thermal conductivity λ of a material with various materials individually. Here, only the thermal conductivity is associated with each material, but the recommended quenching depth can also be associated with each material.

[0044] The following is for reference Figure 5 The steps for creating the quenching program of the simulation device 10 based on this embodiment will be explained. Figure 5 This is a flowchart illustrating an example of the steps for creating a quenching process based on the simulation device 10 of this embodiment.

[0045] like Figure 5As shown, the simulation device 10 creates a display 3D model based on the 3D model of the workpiece 9 to be quenched, according to user operation (S11), and configures it in a virtual space together with the robot model (S12). The virtual space containing the robot model and the display 3D model is displayed on the simulation screen. Next, the simulation device 10 sets the laser irradiation conditions and the motion conditions of the robotic arm mechanism 7 based on user operation (S13, S14). Next, the simulation device 10 registers multiple teaching points based on user operation on the simulation screen (S15). The simulation device 10 creates a quenching program based on the laser irradiation conditions set in step S13, the motion conditions of the robotic arm mechanism 7 set in step S14, and the multiple teaching points registered in step S15 (S16). Then, the simulation device 10 executes the simulation. Specifically, based on the quenching program created in step S16, the robot model configured in the virtual space simulates the motion (S17). Through step S17, the shape of the quenching range in the display 3D model changes according to the calculated value of the quenching depth. The user confirms the shape of the quenching range displayed in the 3D model, thereby determining whether the quenching program has been created appropriately. Processes S13 to S17 are repeated until the user completes the creation of the quenching program (S18; No). Based on the user's completion of the quenching program creation, the quenching program creation process ends (S18; Yes).

[0046] The following is for reference Figure 6 ,right Figure 5 The process S11 is illustrated using the steps of creating a 3D model. Figure 6 It is shown Figure 5 The flowchart shows an example of the steps in process S11, which involves creating a 3D model.

[0047] like Figure 6As shown, the simulation device 10 accepts the workpiece 9 to be quenched based on user operation (S111), and sets the representation method of quenching (quenching range and quenching depth) in the three-dimensional model of the accepted workpiece 9 (S112). Next, the simulation device 10 sets the quenching range and quenching depth based on user operation on the three-dimensional model of the workpiece 9 (S113, S114). Then, the simulation device 10 creates a display three-dimensional model based on the three-dimensional model of the workpiece 9, using the representation method set in process S112 to represent the quenching range set in process S113 in a form corresponding to the quenching depth set in process S114 (S115), and displays it (S116). By viewing the display three-dimensional model displayed through the processing of process S116, the user can confirm whether the predetermined quenching range has been set for the workpiece 9 and whether the target value of the quenching depth has been correctly set within the quenching range. Processes S112 to S116 are repeated until the user completes the creation of the 3D model for display, in other words, until the quenching range and quenching depth of the 3D model of workpiece 9 are set (S117; No). Based on the user's completion of the creation of the 3D model for display, the creation process of the 3D model for display ends (S117; Yes).

[0048] The following is for reference Figure 7 , Figure 8 ,against Figure 6 The expression method of the quenching range and quenching depth of process S112 based on the expression method setting unit 26 will be explained. Figure 7 This is an example diagram of a setting screen 100 that shows the method of displaying the quenching range and quenching depth. Figure 8 This is a diagram showing an example of how quenching range and quenching depth can be represented.

[0049] like Figure 7 As shown, the user selects the representation method of the quenching range from multiple options, including "add block model to the 3D model of the workpiece" and "change the surface morphology of the 3D model of the workpiece".

[0050] "Adding block models to the 3D model of the workpiece" is a method of representing the quenching range by overlapping and configuring block models representing quenching on the surface of the 3D model of workpiece 9. The shape of the block model can be selected from multiple options, including "spherical" and "cube." The shape of the block model is not limited to these; any shape such as a cuboid, ellipsoid, or oblong can be used. Furthermore, the method of representing the quenching depth can be selected from multiple options, including "block model color," "numerical annotation," and "number of block models." The method of representing the quenching depth is not limited to these; patterns, etc., can also be used.

[0051] like Figure 8As shown, when the shape of block model 95 is selected as "cube shape" and the method for representing the quenching depth is "block model color", block models 95a and 95b are configured in the quenching range of the 3D model 91. The size of one block model 95 (the area of ​​one surface of the cube) corresponds to the unit area of ​​the quenching range. Therefore, a number of block models 95 corresponding to the area of ​​the quenching range are configured in the quenching range. The shape of the quenching range can be set per unit area. Block models 95a and 95b with different colors represent quenching depths of "0.5mm" and "1.0mm", respectively. When the shape of block model 95 is selected as "cube shape" and the method for representing the quenching depth is "numerical annotation", block models 95c and 95d are configured in the quenching range of the 3D model 91. Block models 95c and 95d with different numerical annotations represent quenching depths of "0.5mm" and "1.0mm", respectively. When the shape of block model 95 is selected as "cube shape" and the method for representing the quenching depth is "number of block models", block models 95e and 95f are configured in the display of the quenching range of 3D model 91. Block model 95e is a model with one unit block model 97 configured in a square frame 96 corresponding to the unit area, indicating a quenching depth of "0.5mm". Block model 95f is a model with two unit block models 97 configured in a square frame 96 corresponding to the unit area, indicating a quenching depth of "1.0mm".

[0052] like Figure 7 As shown, "changing the surface of the cleaning object model" is not done using a block model like 95 (see reference). Figure 8 Instead of using an object to represent quenching, the method of representing the quenching range is achieved by changing the surface morphology of the three-dimensional model of workpiece 9. The user can select the method of representing the quenching depth from multiple options, including "color" and "numerical annotation." The method of representing the quenching depth is not limited to this; patterns and other methods can also be used.

[0053] like Figure 8 As shown, when the method for representing the quenching depth is "color," the color of the quenching range displayed in the 3D model 91 changes as in quenching ranges 91a and 91b. The size of the square frame represented by quenching ranges 91a and 91b corresponds to the unit area of ​​the quenching range. That is, the shape of the quenching range can be set per unit area. Quenching ranges 91a and 91b with different colors represent quenching depths of "0.5mm" and "1.0mm," respectively. When the method for representing the quenching depth is "numerical annotation," as in quenching ranges 91c and 91d, the numerical annotation of the quenching depth in the 3D model 91 represents the quenching depth. Quenching ranges 91c and 91d with different numerical annotations represent quenching depths of "0.5mm" and "1.0mm," respectively.

[0054] The following is for reference Figure 9 ,against Figure 6 The method for setting the quenching conditions based on the quenching condition setting unit 27 in processes S113 and S114 will be explained. Figure 9 This is an example diagram showing a quenching condition setting screen 200. The quenching condition setting screen 200 is configured to allow setting at least the quenching range and quenching depth as quenching conditions.

[0055] like Figure 9 As shown in (a), the 3D model 90 of the workpiece 9 and the input form 210 for the quenching depth are displayed in the quenching condition setting screen 200. The user zooms in and out of the strip graphic 220 while placing it on the surface of the 3D model 90 of the workpiece 9, thereby specifying the area enclosed by the graphic 220 as the quenching range. Figure 9 As shown in (b), the user enters a value in the text box corresponding to the "Quenching Depth" item displayed in the input form 210, thereby allowing the user to input the quenching depth of the quenching range enclosed by the graphic 220. If both the quenching range and quenching depth are entered, a 3D model 91 for displaying the quenching range is created based on the 3D model 90 of the workpiece 9, representing the quenching range in a form corresponding to the quenching depth, and then displayed. The quenching range and quenching depth are determined by the user clicking the OK button.

[0056] In this way, users can specify the quenching range on the 3D model 90 of workpiece 9 through intuitive manipulation. Furthermore, the method for specifying the quenching range is not limited to this, such as... Figure 9 As shown, the quenching range can be specified using coordinate values ​​in a coordinate system common to the 3D model 90 of workpiece 9, or by configuring arbitrary shapes such as circles on the surface of the 3D model 90 of workpiece 9. Of course, the entire surface of workpiece 9 can be specified as the quenching range, or the quenching range can be specified on a per-component basis (in terms of surfaces). Furthermore, the quenching depth can be automatically set to a recommended quenching depth corresponding to the material.

[0057] Users can confirm the quenching range and quenching depth simply by viewing the 3D model 91, thus enabling them to efficiently perform additional or corrective quenching operations and set quenching conditions.

[0058] The following is for reference Figure 10 ,right Figure 5 The method for setting the laser irradiation conditions based on the irradiation condition setting unit 30 in process S13 will be described. Figure 10This is an example diagram showing a screen for setting laser irradiation conditions. The irradiation condition setting screen 300 is configured to allow setting laser irradiation conditions such as laser output, distance from the light source (irradiation window) to the 3D model of the workpiece, irradiation angle, dot shape, and dot diameter. Figure 10 As shown, the irradiation condition setting screen 300 displays an input form 310 for irradiation conditions, a two-dimensional simplified laser irradiation model 60, and an irradiation point 61. The irradiation point 61 varies depending on its shape and diameter. The user sets the irradiation conditions by entering characters, quantities, etc., in multiple text boxes corresponding to the various items displayed in the irradiation condition input form 310, and then clicking the OK button.

[0059] The following is for reference Figure 11 , Figure 12 ,right Figure 5 The simulated execution process of process S17 will be explained. Figure 11 This is an example diagram showing a simulated scene. Figure 12 These are diagrams showing other examples of simulated visuals. Figure 11 (a) shows the simulation before execution. Figure 11 (b) Figure 12 (a) Figure 12 (b) in the figure shows the result after the simulation was executed.

[0060] When creating a quenching program, a simulation screen 400 is displayed. The simulation screen 400 displays a virtual space configured with a 3D display model 91 and a robot model 50. When a laser is applied to the 3D display model 91, the irradiation point 61 is overlaid on the 3D display model 91. For example, a user can manually register teach points while moving the robot model 50 displayed on the simulation screen 400 using cursor operations, etc.

[0061] If a simulation based on the quenching procedure is performed, multiple teaching points P1 to P4, defined by the quenching procedure, are displayed in the virtual space. Additionally, a diagram 410 is displayed to illustrate the morphology of the quenching depth shown in the 3D model 91. Here, the coordinate system of the virtual space is defined as follows: the width direction (left-right direction of the robot model 50) of the displayed 3D model 91 is defined as the X direction, the depth direction (front-back direction of the robot model 50) is defined as the Y direction, and the height direction (up-down direction of the robot model 50) is defined as the Z direction. For example... Figure 11 , Figure 12 As shown, the irradiation point 61 is preferably displayed when performing a quenching simulation or registering a teaching point. This allows for immediate assessment of whether the laser is irradiating the quenching range 91s of the displayed 3D model 91, enabling efficient registration of teaching points and correction of the quenching program.

[0062] like Figure 11 As shown in (a), in the display 3D model 91, a target value of 1.0 mm for the quenching depth is set within the quenching range 91s. When a simulation is performed, the fingertip reference point of the robot model 50 moves sequentially from the teaching point P1 to P4. During the movement of the fingertip reference point of the robot model 50 from the teaching point P1 to P2 and from the teaching point P3 to P4, a laser is irradiated, and as the robot model 50 moves, the irradiation point 61 moves on the display 3D model 91.

[0063] like Figure 11 As shown in (b), the simulation result is that when the calculated quenching depth within the quenching range 91s is 1.0mm, the shape of the quenching range 91s changes from the shape corresponding to the target quenching depth of 1.0mm to the shape corresponding to "quenching complete," indicating that quenching has been performed according to the target. By using colors, patterns, etc., to represent the quenching complete range, the location of the quenching range can be determined even after the simulation has been performed. By confirming that the display shape of the overall quenching range 91s has changed to the shape indicating that quenching has been performed according to the target, the user can confirm that a quenching program that can be performed according to the target has been created. In addition, "quenching complete" can be represented by returning the shape of the quenching range to its original state before the quenching range was set.

[0064] like Figure 12 As shown in (a), the simulation results are as follows: when the calculated quenching depth of the two first portions 91s1, which are dispersed vertically within the quenching range 91s, is 1.0 mm, the shape of the first portion 91s1 changes from the shape corresponding to the target quenching depth of 1.0 mm to the shape corresponding to "quenching complete," indicating that quenching has been performed according to the target. When the calculated quenching depth of the second portion 91s2, which is centrally located vertically within the quenching range 91s, is 2.0 mm, the shape of the second portion 91s2 changes from the shape corresponding to the target quenching depth of 1.0 mm to the shape corresponding to "quenching over-quenching," indicating that quenching is deeper than the target. At this time, the calculated quenching depth can be displayed, as well as the difference between the calculated quenching depth and the target value. (By viewing...) Figure 12 The simulation results in (a) allow the user to confirm that quenching was repeatedly performed in the central portion above and below the quenching range of 91s. This enables corrections to the quenching procedure, such as changing the point diameter or the position of the teaching point.

[0065] like Figure 12As shown in (b), the simulation result is that when the calculated quenching depth for the entire quenching range of 91s is 0.8mm, the shape of the quenching range of 91s changes from the shape corresponding to the target quenching depth of 1.0mm to the shape corresponding to "insufficient quenching," indicating that the quenching is shallower than the target. At this time, the calculated quenching depth can be displayed, as well as the difference between the calculated quenching depth and the target value. (By viewing...) Figure 12 The simulation results in (b) allow the user to confirm that quenching within the 91s quenching range is insufficient across the entire range. Therefore, corrections to the quenching process can be made, such as increasing the laser output or slowing down the movement speed from teach point P1 to teach point P2 and from teach point P3 to teach point P4.

[0066] According to the simulation device 10 of this embodiment, a display 3D model 91 representing the quenching range in a form corresponding to the quenching depth can be created and displayed based on the 3D model 90 of the workpiece 9 to be quenched. Thus, by simply viewing the display 3D model 91, the user can intuitively understand which area of ​​the workpiece 9's 3D model 90 is set as the quenching range, and the quenching depth of the quenching range, enabling efficient operation of setting quenching conditions such as deleting, adding, or modifying the quenching range or the quenching depth. This is one of the useful techniques for quenching simulation.

[0067] In the quenching simulation, the calculated value and target value of the quenching depth of the quenching range displayed by the 3D model 91 can be compared, and the shape of the quenching range can be changed according to the comparison result. For example, when the calculated value of the quenching depth of the quenching range is consistent with the target value, the shape of the quenching range changes to indicate that quenching has been performed according to the target. When the calculated value of the quenching depth of the quenching range is deeper than the target value, the shape of the quenching range changes to indicate that quenching is deeper than the target. When the calculated value of the quenching depth of the quenching range is shallower than the target value, the shape of the quenching range changes to indicate that quenching is shallower than the target. At least, the shape of the quenching range when the calculated value reaches the target value of the quenching depth is different from the shape of the quenching range when the calculated value does not reach the target value of the quenching depth.

[0068] Users can intuitively understand whether the 3D model 91 has been quenched according to the target simply by viewing the 3D model 91 after the simulation. In addition, since the morphological changes of the 3D model 91 after the simulation can be used to determine the range of quenching shallower than the target, the range of quenching deeper than the target, the range of no quenching, and the range of unintended quenching, it becomes easier to study how to correct the quenching program and to efficiently implement the correction of the quenching program.

[0069] Thus, the simulation device 10 of this embodiment can create and display a 3D model 91 representing the quenching range in a form corresponding to the quenching depth based on the 3D model 90 of the workpiece 9 to be quenched. This is a useful technique for simulating the reproduction of quenching, which helps to improve the efficiency of the user's work in setting the quenching range and quenching depth, as well as in correcting the quenching program.

[0070] In reference Figure 5 In the quenching program creation process described herein, the tasks of setting irradiation conditions (step S13), setting motion conditions (step S14), registering teaching points (step S15), and confirming and correcting the quenching program (step S18) are performed manually by the user. However, all or part of these steps can also be performed automatically. By automating all or part of these steps, the burden of creating quenching programs by the user can be reduced.

[0071] For example, Figure 5 The registration process for the teaching point in process S15 can be automated according to the following steps. See below for reference. Figure 13 ,right Figure 5 The automatic registration process of the teaching point in process S15 will be explained. Figure 13 It is shown Figure 5 A flowchart illustrating an example of the registration process for the teaching point in process S15. Furthermore, it is assumed that robot model 50 is configured in a pre-set standby position.

[0072] like Figure 13 As shown, if automatic registration of the teaching point begins, the system searches for the quenching range portion located closest to the current position (S151). When an incomplete quenching range portion exists (S152; Yes), the robot model 50 is moved to a position where the quenching range portion can be irradiated with laser (S153), and the moved position and posture are registered as a teaching point (S154). Then, the simulation device 10 changes the shape of the quenching range portion irradiated by the laser from the robot model 50 to a shape indicating that quenching is complete (S155). Processes S151 to S155 are repeated until there are no incomplete quenching range portions, that is, until quenching is complete. Figure 13 The automatic registration process for teaching points automatically registers multiple teaching points that can be used to quench the entire quenching range, according to the movement sequence. Similar to manual registration of teaching points, the simulation device 10 creates a quenching program based on the automatically registered multiple teaching points.

[0073] Furthermore, the simulation device 10 can automatically set the laser irradiation conditions based on the size, material, and irradiation depth of the quenching range of the display 3D model 91. Similarly, the simulation device 10 can automatically set the conditions according to the laser irradiation conditions, the material of the quenching range, and the quenching depth.

[0074] In this embodiment, laser quenching is used. However, the quenching method is not limited to laser as long as quenching can be performed locally. For example, high-frequency quenching can be used. In this case, the laser generating device 6 is replaced by a high-frequency coil.

[0075] In this embodiment, a quenching depth is set for the quenching range, causing the shape of the quenching range to change according to the quenching depth. However, other parameters can also be set for the quenching range. For example, the quenching range can be set to absorb energy, and its shape can change according to the amount of energy absorbed.

[0076] The simulation device 1 of this embodiment has the function of creating and displaying a 3D model representing the quenching range in a shape corresponding to the quenching depth, based on a 3D model of the workpiece to be quenched. This function can be applied not only to quenching but also to coating peeling or rust removal. In this case, the 3D model of the workpiece to be quenched is converted into a 3D model of the workpiece to be peeled off or rust removed, the quenching range is converted into the range of coating peeling or rust removal, and the quenching depth is converted into the coating thickness or rust thickness. Thus, simulation of coating peeling and rust removal can be achieved.

[0077] The various data, such as simulation programs, stored in the storage device 15 can be recorded on a removable medium and distributed to users, or downloaded to the simulation device 10 via a network for distribution.

[0078] The following notes further disclose the embodiments and variations thereof.

[0079] (Note 1) The simulation device 10 includes: a storage unit 24 that stores a three-dimensional model 90 related to the workpiece 9 to be quenched; a receiving unit 21 that receives user operations for specifying target values ​​for the quenching range and quenching depth of the three-dimensional model 90 of the workpiece 9; a display three-dimensional model creation unit 28 that creates a display three-dimensional model 91 based on the three-dimensional model 90 of the workpiece 9, representing the quenching range in a form corresponding to the target value of the quenching depth; and a display unit 22 that displays the created display three-dimensional model 91.

[0080] (Note 2) According to the simulation device 10 described in Appendix 1, the surface of the quenching range in the three-dimensional model 90 of the workpiece 9 is displayed in a shape corresponding to the target value of the quenching depth in the three-dimensional model 91.

[0081] (Note 3) According to the simulation device 10 described in Appendix 1, a block model with a shape corresponding to the target value of the quenching depth is added to the quenching range of the three-dimensional model 90 of the workpiece 9 in the three-dimensional model 91.

[0082] (Note 4) According to the simulation device 10 described in Appendix 3, the block model is represented in a spherical or cubic shape.

[0083] (Note 5) The simulation device 10 described in any of Appendix 1 to Appendix 4 further includes: a track calculation unit 35, which calculates the movement path of the irradiation point of the quenching laser on the display 3D model 91; and a quenching depth calculation unit 36, which calculates the quenching depth per unit area on the movement path based on the irradiation conditions of the quenching laser and the movement speed of the irradiation point on the movement path. The display 3D model creation unit 28 changes the shape corresponding to the target value of the quenching depth based on the calculated value of the quenching depth.

[0084] (Note 6) According to the simulation device 10 described in Appendix 5, the form when the calculated value of the quenching depth reaches the target value of the quenching depth is different from the form when the calculated value of the quenching depth does not reach the target value of the quenching depth.

[0085] (Note 7) The simulation device 10 described in any of Notes 1 to 6 also has a program creation unit 33 that creates a quenching program based on multiple positions of a quenching robot model 50 that can irradiate the quenching range of the display 3D model 91 with a quenching laser.

[0086] (Note 8) A program enables a computer storing a three-dimensional model related to a workpiece 9 to be quenched to implement the following units: a unit for accepting user operations specifying target values ​​for the quenching range and quenching depth of the three-dimensional model 90 of the workpiece 9; a unit for creating a display three-dimensional model 91 representing the quenching range in a form corresponding to the target value of the quenching depth based on the three-dimensional model 90 of the workpiece 9; and a unit for displaying the created display three-dimensional model 91.

[0087] While embodiments of this disclosure have been described in detail, this disclosure is not limited to the embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit and essence of the invention as described in the claims and their equivalents. For example, in the embodiments described above, the order of actions or processes is shown as an example and is not limited thereto. Furthermore, the same applies to the use of numerical values ​​or formulas in the description of the embodiments.

[0088] Explanation of reference numerals in the attached figures 1: Quenching robot system; 5: Robot device; 6: Laser generating device; 7: Robotic arm mechanism; 8: Control device; 9: Workpiece; 10: Simulation device; 11: Processor; 12: Operating device; 13: Display device; 14: Communication device; 15: Storage device; 21: Receiving unit; 22: Display unit; 23: Transceiver unit; 24: Storage unit; 25: Screen creation unit; 26: Presentation method setting unit; 27: Quenching condition setting unit; 28: Display 3D model creation unit; 29: Virtual space creation unit; 30: Irradiation condition setting unit; 31: Action condition setting unit; 32: Teaching point registration unit; 33: Program creation unit; 34: Model motion control unit; 35: Track calculation unit; 36: Quenching depth calculation unit; 50: Robot model; 90: 3D model of workpiece; 91: 3D model for display.

Claims

1. A simulation device, wherein, have: The storage section stores three-dimensional models related to the workpiece to be quenched; The receiving unit accepts user operations that specify target values ​​for the quenching range and quenching depth of the three-dimensional model of the workpiece. The display 3D model creation unit creates a display 3D model based on the 3D model of the workpiece, representing the quenching range in a shape corresponding to the target value of the quenching depth; and The display section shows the created 3D model for display purposes.

2. The simulation device according to claim 1, wherein, In the three-dimensional model for display, the surface of the quenching range in the three-dimensional model of the workpiece is represented in a shape corresponding to the target value of the quenching depth.

3. The simulation device according to claim 1, wherein, In the three-dimensional model for display, a block model with a shape corresponding to the target value of the quenching depth is added to the quenching range on the three-dimensional model of the workpiece.

4. The simulation device according to claim 3, wherein, The block model is represented in spherical or cubic shape.

5. The simulation apparatus according to any one of claims 1 to 4, wherein, It also has: The track calculation unit calculates the movement path of the irradiation point of the quenching laser on the displayed three-dimensional model; as well as The quenching depth calculation unit calculates the quenching depth per unit area based on the irradiation conditions of the quenching laser and the moving speed of the irradiation point on the moving path. The display uses a 3D model creation unit to change the shape corresponding to the target value of the quenching depth based on the calculated value of the quenching depth.

6. The simulation apparatus according to claim 5, wherein, The form when the calculated value of the quenching depth reaches the target value of the quenching depth is different from the form when the calculated value of the quenching depth does not reach the target value of the quenching depth.

7. The simulation apparatus according to any one of claims 1 to 6, wherein, It also has a program creation unit that creates a quenching program based on multiple positions of the quenching robot model that can irradiate the quenching range of the display 3D model with a quenching laser.

8. A program in which, Computer implementation for creating a three-dimensional model of a workpiece that is being quenched: A unit that accepts user operations to specify target values ​​for the quenching range and quenching depth of the three-dimensional model of the workpiece. Based on the three-dimensional model of the workpiece, create a unit for displaying a three-dimensional model that represents the quenching range in a form corresponding to the target value of the quenching depth; as well as Displays the units of the created 3D model.

Images