ROBOT PROGRAMMING DEVICE

Abstract

A robot programming device (100) for creating an operation program for an application operation in which a spray material sprayed from nozzles of a spray device is applied to a member to which the application is to be carried out while the spray device is moved by a robot (110) to which the spray device is attached, the robot programming device (100) comprising an operation pattern storage unit (25) which stores a plurality of types of operation patterns showing the operation of the spray device and consisting of a continuous path containing a periodic repetition of a specific pattern;and a step distance determining unit (28) which, for one of the plurality of types of operation patterns stored in the operation pattern storage unit (25), determines step distances of the periodic repetition of the determined pattern in this one operation pattern based on spray parameters indicating the spraying characteristics of the spray material by the nozzles of the spraying device;

Description

[0001] The present invention relates to a robot programming device for performing programming of a robot.

[0002] When machining a workpiece using a tool equipped with a robot, it is necessary to teach the robot's operation in advance. So-called offline programming is often used when teaching the robot. Regarding offline programming, JP 4 870 831 B2 describes an "application operation simulation device, wherein a simulation of an application operation in which a spray device comprising at least one nozzle is moved by a robot to which the spray device is attached, based on an operation program of the robot, and a spray material ejected from the nozzle is applied to a member to which application is to be performed, is carried out while a three-dimensional model of the robot and a three-dimensional model of the member to which application is to be performed are simultaneously displayed on a screen."The device is characterized in that it comprises a determination unit that determines the position of the nozzle with respect to the spraying device and the spray shape of the spray material ejected from the nozzle; an overlapping position calculation unit that executes an operating program of the robot containing commands for dispensing and stopping the spray material, simulates moving the three-dimensional model of the robot, and calculates, at a specific time, overlapping positions between a three-dimensional model of the spray shape and a three-dimensional model of the element to which the application is to be made; an overlapping number calculation unit that calculates the overlapping number at each specific time at each of the overlapping positions calculated by the overlapping position calculation unit on the surface of the three-dimensional model of the element to which the application is to be made,calculated; an application time calculation unit that multiplies the overlay number calculated by the overlay number calculation unit by the determined time and calculates the application time at each of the overlay locations; and a display unit that displays a surface of the three-dimensional model of the element to which the application is to be performed, color-coded according to the application time calculated by the application time calculation unit," described (patent claim 1).

[0003] JP 5 340 455 B1 describes an "offline programming device (10) comprising a 3D shape arrangement unit (27) that paints a selected operation pattern over one curved surface or a plurality of continuous flat surfaces of a selected three-dimensional shape and arranges the three-dimensional shape in a virtual space such that the operation pattern is projected onto at least one surface of a workpiece model; a machining path generation unit (28) that projects the operation pattern onto at least one surface of the workpiece model and generates a machining path of a tool; and a tool position / attitude determination unit (29) that automatically determines the position or attitude of the tool based on the generated machining path and the normal direction of the at least one surface of the workpiece model" (abstract).

[0004] DE 10 2013 008 755 B4 discloses a programming system for a robot which creates programs for robots to machine workpieces in a three-dimensional workspace.

[0005] DE 10 2006 026 051 A1 relates to a method for determining the required amount of paint for the painting process of a painting robot.

[0006] Furthermore, US 2012 / 0 123 590 A1 describes a method for a robot that is carried out at two different locations. At a teaching station, training data is created to teach the robot movements, and at an application station, the robot is programmed with this data.

[0007] Furthermore, US 5 645 884 A shows a method for automatically digitizing the surface of a 3D object.

[0008] JP H03 - 135 464 A discloses a method for a coating robot in which the temperature of the coating solution is detected, relevant atomization data is read from the memory and, based on this data, optimal spray parameters and the coating path are automatically calculated and adjusted.

[0009] By determining the machining path based on a pre-established operation pattern, as in JP 5 340 455 B1, the working time during offline programming is reduced. However, since the programming of an application operation using the programming device described in JP 5 340 455 B1 does not perform teaching that takes into account the completed application of the spray material to a target element in advance, teaching the application operation must be repeated through trial and error until the desired application state is achieved. A robot programming device capable of accurately simulating the application state of the spray material is desired.

[0010] The invention is therefore based on the object of providing a robot programming device in which the precise simulation of application processes can be achieved.

[0011] According to the invention, the above-mentioned object is achieved by the subject matter of claim 1.

[0012] Specifically, the object is achieved by a robot programming device for creating an operating program for an application operation in which a spray material sprayed from nozzles of a spray device is applied to an element to which the application is to be carried out while the spray device is moved by a robot to which the spray device is attached, wherein the robot programming device comprises an operating pattern storage unit which stores a plurality of types of operating patterns showing the operation of the spray device and consisting of a continuous path containing a periodic repetition of a specific pattern;and a step distance determining unit that determines, for one of the plural types of operation patterns stored in the operation pattern storage unit, step distances of periodic repetition of the determined pattern in that one operation pattern based on spray parameters that indicate the spraying characteristics of the spray material by the nozzles of the spraying device;

[0013] The objects, features and advantages of the present invention will become clearer from the following explanation of embodiments in conjunction with the accompanying drawings. In the accompanying drawings is Fig. 1 is a functional block diagram of a robot programming device according to an embodiment; is Fig. 2 is a flowchart showing the step distance determination processing; is Fig. 3 is a view showing a state in which a robot model, a spray device model, and a workpiece model have been arranged in a virtual space; is Fig. 4 is a view for explaining the determination of a nozzle position with respect to the spray device model; is Fig. 5 a view explaining spray parameters; is Fig. 6 is a view showing various types of operation patterns stored in an operation pattern storage unit; is Fig. 7 is a view showing the step pitch and the movement path in an operation pattern; is Fig. 8 is a view showing the distribution of the spray amount in the X-axis direction for the direction along the step distance in Fig. 7 shows; is Fig. 9 is a flowchart showing machining path determination processing; is Fig. 10 is a view showing a state in which a robot model, a spray device model, and a workpiece model have been arranged in a virtual space; is Fig. 11 is a view showing a plurality of types of 3D shapes stored in a 3D shape storage unit; is Fig. 12 is a view for explaining the positioning of a 3D shape with respect to the workpiece model and the projection of an operation pattern; is Fig. 13 is a view for explaining the positioning of the 3D shape with respect to the workpiece model and the projection of the operation pattern; is Fig. 14 is a view for explaining the positioning of the 3D shape with respect to the workpiece model and the projection of the operation pattern; is Fig. 15 is a view for explaining the positioning of the 3D shape with respect to the workpiece model and the projection of the operation pattern; is Fig. 16 is a view for explaining the determination of the position of the spray device model with respect to the workpiece model; are Fig. 17A to 17D are views showing four types of sprayers stored in a sprayer unit; is Fig. 18 is a view showing a state in which the spray device model has been attached to the robot model; and is Fig. 19 a view showing the result of the simulation of the application activity.

[0014] An embodiment of the present disclosure will be explained below with reference to the accompanying drawings. Throughout the drawings, corresponding structural elements are designated by common reference numerals. For ease of understanding, the scale of these drawings has been arbitrarily changed. Furthermore, the embodiment shown in the drawings is merely an example of carrying out the present invention, and the present invention is not limited to the illustrated form.

[0015] Fig. 1 is a functional block diagram of a robot programming device 100 according to one embodiment. The robot programming device 100 is a so-called offline programming device that generates an operation program for a robot offline. The robot programming device 100 is used as an example of offline teaching of an operation program, whereby, as shown in Fig. 3, a robot 110 provided with a spraying device 120 as a tool performs a spraying operation on a workpiece W1. Fig. 3 shows a state in which three-dimensional model data of the spray device 120, the robot 110, and the workpiece W1 are displayed on a display unit 60. However, in this description, these model data may be referred to by objective terms such as spray device 120, robot 110, workpiece W1, and the like for convenience of explanation. The robot programming device 100 may be configured as a general computer including a CPU, a ROM, a RAM, a storage device, an operation unit, an input / output interface, a network interface, and the like. Fig. 1 also shows the display unit 60 and an operating unit 70.

[0016] Here, the "application activity" includes, in addition to the application of a spray material such as a paint or a mold release agent to an element (workpiece) to which the application is to be carried out, also various types of activities in which a spray material is blasted onto a workpiece, such as a blasting treatment whereby an abrasive material is blown against a target workpiece.

[0017] The robot programming device 100 includes a virtual space generation unit 21, a model arrangement unit 22, a nozzle position setting unit 23, a spraying parameter setting unit 24, an operation pattern storage unit 25, an operation pattern selection unit 26, a spraying condition setting unit 27, a step distance determination unit 28, a movement speed determination unit 29, a 3D shape storage unit 30, a 3D shape selection unit 31, a 3D shape arrangement unit 32, a machining path generation unit 33, a sprayer position / attitude determination unit 34, a sprayer storage unit 35, a sprayer selection unit 36, and a simulation execution unit 37.These functional blocks can be implemented by the CPU of the robot programming device 100 executing various software stored in a memory device, or by structures having hardware as the main component, such as an ASIC (Application Specific Integrated Circuit).

[0018] The virtual space generation unit 21 generates a virtual space that three-dimensionally represents the workspace of the robot 110. The model arrangement unit 22 arranges a robot model, a spray device model, and a workpiece model in the virtual space generated by the virtual space generation unit 21. Fig. 3 exemplifies a state in which a robot model of the robot 110, a spray device model of the spray device 120, and a workpiece model of the workpiece W1 are arranged in the virtual space (displayed on the display unit 60). The positional relationships between the robot model, the spray device model, and the workpiece model correspond to the positional relationships of the robot 110, the spray device 120, and the workpiece W1 in the real workspace.

[0019] The operation pattern storage unit 25 stores several types of operation patterns that show the operation of the spray device 120 and consist of a continuous path containing a periodic repetition of a specific pattern. The 3D shape storage unit 30 stores a 3D shape A2 having a curved surface and a 3D shape A1 having a plurality of continuous flat surfaces (see Fig. 11). The operation pattern selection unit 26 provides the function of selecting an operation pattern from the plural types of operation patterns stored in the operation pattern storage unit 25. The 3D shape selection unit 31 provides the function of selecting the 3D shape A2 having one curved surface or the 3D shape A1 having plural continuous flat surfaces from the 3D shape storage unit 30.

[0020] The 3D shape arranging unit 32 arranges the 3D shape in the virtual space so that the curved surface or the plurality of flat surfaces of the 3D model selected by the 3D shape selecting unit 31 are painted over by an operation pattern selected by the operation pattern selecting unit 26, and the operation pattern is projected onto at least one surface of the workpiece model.

[0021] The machining path generation unit 33 projects the operation pattern that paints the curved surface or the plurality of flat surfaces of the 3D model onto at least one surface of the workpiece model and generates the machining path of the tool. The spray device position / attitude determination unit 34 automatically determines the position or the position and attitude of the spray device model based on the machining path generated by the machining path generation unit 33 and the normal direction of at least one surface of the workpiece model.

[0022] The nozzle position setting unit 23 provides the function of setting the position of the nozzle relative to the spray device model. The spray parameter setting unit 24 provides the function of setting spray parameters that indicate the spraying characteristics of the spray material through the nozzle of the spray device 120. The spray condition setting unit 27 provides the function of setting the spraying conditions (the usage conditions or the completion conditions of the spray device) of the spray material by the spray device 120. The pitch determination unit 28 determines the pitch when periodically repeating a specific pattern in the operation pattern based on the spray parameters and the spray conditions. The movement speed determination unit 29 determines the operating speed of the spray device 120 based on the spray parameters and / or the spray conditions.

[0023] The sprayer storage unit 35 stores multiple types of three-dimensional models of sprayers, for which the position of the nozzle relative to the sprayer and the spraying parameters of the spray material sprayed from the nozzle are defined. The sprayer selection unit 36 provides the function of selecting the desired sprayer from the multiple types of sprayer models stored in the sprayer storage unit 35. The simulation execution unit 37 executes a simulation of the application work with respect to the workpiece model, simulating the operation of the robot model and the sprayer model according to the operation program.

[0024] Fig. Figure 2 is a flowchart illustrating the processing for determining the pitch (hereinafter also referred to as pitch determination processing) of the periodic repetition of a specific pattern in the operation pattern based on the spraying parameters and spraying conditions. In the pitch determination processing, the moving speed of the spraying device can also be determined. The pitch determination processing of Fig. 2 is performed under the control of the CPU of the robot programming device 100. First, in step S11, the virtual space generation unit 21 generates a virtual space showing the work space and displays it on the display unit 60. Then, by the model arrangement unit 22, a robot model of the robot 110, a spray device model of the spray device 120, and a workpiece model of the workpiece W1 are arranged in the virtual space according to information regarding their actual arrangement. Fig. 3 shows a state in which the robot model, the spray device model, and the workpiece model have been arranged in the virtual space by the processing of step S11 and are displayed on the display unit 60.

[0025] Subsequently, in step S12, the nozzle position setting unit 23 receives a setting of the position of the nozzle with respect to the spray device model. The position of the nozzle is set, for example, by an operator via the operation unit 70. The nozzle position setting unit 23 may also provide a graphical user interface that accepts an operation input for arranging a nozzle model representing the nozzle 21 at a desired position on the spray device model. The position of the nozzle may also be set in advance for the spray device model. In this case, the processing of step S12 may be omitted.

[0026] Then, in step S13, the spray parameter setting unit 24 receives a setting of the spray parameters. The setting of the spray parameters is performed, for example, by the operator via the control unit 70. The spray parameters include at least one of the following parameters: • the spray pattern, which consists of the maximum range of the spray material sprayed from the nozzle and the radius of the area to which the spray material is applied at the maximum range; and • the spray quantity (density distribution) per unit time / unit area dimension.

[0027] Fig. 5 is a view for explaining the spray parameters and shows the state in which the spray material was sprayed from the nozzle 121. In Fig. In Figure 5, the arrow designated by reference numeral 131 indicates the maximum range of the spray material sprayed from the nozzle 121, and the arrow designated by reference numeral 132 indicates the radius of the area to which the spray material is applied at the maximum range. The maximum range and radius determine the spray shape of the spray material. The information representing the spray parameters may also include a specification of an external signal from the robot for operating the nozzle (a specification of the signal that activates the spray device 120 (puts it into the spraying state)).

[0028] The curve 133 in Fig. Figure 5 shows the "spray amount (spray amount distribution) per specific area dimension" at the maximum coverage. The "spray amount per specific area dimension" is calculated from the "spray amount per unit time / unit area dimension" as the spraying parameter and the spraying time as the spraying condition, as shown below. (Amount of sprayed material sprayed per specific area dimension) = (Amount of sprayed material sprayed per unit time / unit area dimension) × Spray time × (Area dimension of the sprayed area)

[0029] Since the spray material has a density distribution, a distribution (spray amount distribution) is formed in the "spray amount of the spray material per specific area dimension" calculated as described above. As shown by curve 133, the spray amount distribution forms a distribution that peaks at a center position P0 located on a center axis line of the nozzle and gradually decreases with distance from the center position P0. Here, a case was described where the spray parameters are input by the operator via the input unit 70, but the spray parameters may also be input to the robot teaching device from an external device via a network.

[0030] Then, in step S14, the operation pattern selection unit 26 receives an operation to select an operation pattern from the plural types of operation patterns stored in the operation pattern storage unit 25. Fig. 6 shows examples of operation patterns stored in the operation pattern storage unit 25. A graphical user interface may also be provided which, in step S14, displays the Fig. 6 and accepts the selection of an operating pattern by an operator.

[0031] Next, in step S15, the spraying condition setting unit 27 receives a setting of the spraying conditions. The spraying conditions include at least one of the spraying time and the spraying amount or the film thickness of the sprayed material per a specific area. Then, based on the spraying parameters set in step S13 and the spraying conditions set in step S15, the pitch setting unit 28 determines the pitch of the periodic repetition of the specific pattern in the operation pattern selected in step S14 (step S16). Furthermore, the moving speed setting unit 29 determines the moving speed when the spraying device 120 is operated with the operation pattern selected in step S14 based on the spraying parameters and / or the spraying conditions (step S17).

[0032] Details on determining the step distance and the movement speed are explained below. In the case of the operation pattern PT1, which has a U-shaped repeating pattern, the step distance D and the movement path length L are as shown in Fig. 7. For example, when the spraying time is given as the spraying condition, the moving speed of the spraying device 120 is determined as follows. Movement speed = (path length) / (spray time)

[0033] Here, the path length can be determined from the total length of the operating pattern for which the step distance was determined or from the movement path length L.

[0034] In Fig. 7 also shows a state in which the spray material 141 has been applied along a part of the operating pattern PR1. In determining the step distance D, the Fig. 5, a determination is made such that the entire spray amount becomes uniform even when considering overlaps of the spray material in the area where the spray material is applied. If the relationship between the spray amount and the film thickness is known, the film thickness distribution can be determined based on the spray amount distribution, and the pitch can be determined so that the film thickness of the entire area where the spray material is applied becomes uniform. Fig. Fig. 8 is a view for explaining the determination of the step distance D and shows the distribution of the spray amount in the X-axis direction for the direction along the step distance D in Fig. 7. The diagram of Fig. 8 assumes that the spray material is distributed over the entire operating pattern PT1 in Fig. 7 was applied. The transverse axis of the diagram of the spray quantity distribution of Fig. 8 corresponds to the Fig. 7 shown axis line X and the longitudinal axis shows the spray amount (or film thickness) of the spray material on the axis line X. As shown in Fig. 8, the spray quantity distribution reaches such a distribution that at positions P 11 , P 12 and P 13 of each movement path L in the operating pattern PT1 a peak occurs. Between adjacent positions among the individual positions P 11 , P 12 and P 13 the distributions of the neighboring spray quantities overlap each other and the spray quantities add up. The distribution of the spray quantity after their summation in the overlapping areas of the respective neighboring spray quantity distributions is shown in Fig. 8 is shown in dashed lines (provided with the reference number 151).

[0035] Now, a permissible range TH is set with a peak value V0 of the spray quantity as the center, and the spray quantity is considered to have become uniform when the spray quantity distribution after summation lies within the permissible range TH. Then, the step distance D is adjusted, and a value is sought at which the spray quantity distribution after summation lies within the permissible range TH. Since it is relatively easy to produce a uniform spray quantity distribution in the case of the PT1 operation pattern, in which each movement path (each row) is parallel, a relatively small value can be set for the permissible range TH. On the other hand, if the distance between adjacent rows is not constant, as in the PT2 operation pattern (see Fig. 6), a relatively large value can be set for the permissible range TH and the permissible range of the spray quantity distribution considered to be uniform can be extended.

[0036] The step pitch and the movement speed determined as described above are stored in association with the actual operation pattern (here, the operation pattern PT1) in the operation pattern storage unit 25. The step pitch and the movement speed stored here are used in the subsequent machining path determination processing.

[0037] Through the step distance determination processing as explained above, the step distance at which a uniform spray amount (film thickness) is produced for an operation pattern can be automatically determined, and it becomes possible to accurately perform a simulation that gives the application state of the spray material.

[0038] In the above explanation, the step distance is determined after determining the spray quantity distribution in a certain spray area, but the step distance can also be determined from the density distribution of the spray material as a spray parameter.

[0039] Fig. 9 is a flowchart showing the processing for determining the machining path of the spray device (the machining path determination processing). The machining path determination processing is performed under the control of the CPU of the robot programming device 100. First, in step S21, the virtual space generation unit 21 generates the virtual space showing the work space and displays it on the display unit 60. Then, the model arrangement unit 22 arranges the robot model, the spray device model, and the workpiece model in the virtual space according to information regarding their actual arrangement. Fig. 10 shows, as an example, a state in which the robot model of the robot 110, the sprayer model of a sprayer 221, and the workpiece model of a workpiece W2 have been arranged and displayed on the display unit 60.

[0040] Subsequently, in step S22, the operation pattern selection unit 26 accepts the selection of one of the several types of operation patterns stored in the operation pattern storage unit 25. Here, it is assumed that an operation pattern is selected for which the operator has already performed the step distance determination processing of Fig. 2 and the step distance and the movement speed for the spray device (here, the spray device 221) used for the target application operation are set.

[0041] Then, in step S23, the 3D shape selection unit 31 accepts the selection of one of the several types of 3D shapes stored in the 3D shape storage unit 30. As an example, it is assumed that in the 3D shape storage unit 30 as shown in Fig. As shown in Figure 11, a 3D shape A1 having a plurality of continuous flat surfaces and a 3D shape A2 having a curved surface are stored. The following explanation will continue assuming that the operation pattern PT1 has been selected and the 3D shape A1 having a plurality of continuous flat surfaces has been selected.

[0042] Subsequently, in step S24, the 3D shape arrangement unit 32 paints the continuous multiple flat surfaces of the selected 3D shape A1 according to the operation pattern PT1. Then, the 3D shape arrangement unit 32 arranges the painted 3D shape in the virtual space of the display unit 60.

[0043] Fig. 12 to Fig. 15 are views for explaining the positioning of the 3D shape with respect to the workpiece model (of the workpiece W2) and the projection of the operating pattern. As in Fig. 12, when the 3D shape arranging unit 32 simply arranges the 3D shape A1 in the virtual space of the display unit 60, it may happen that the 3D shape A1 does not have a proper orientation with respect to the workpiece model.

[0044] In such a case, the 3D shape arrangement unit 32 changes the orientation of the 3D model A1 as shown in Fig. 12 and Fig. 13 so that it matches the workpiece model. Specifically, it positions the 3D model A1 such that the continuous multiple planar surfaces of the 3D model A1 are parallel with each of the continuous multiple inner surfaces of the workpiece model.

[0045] In step S25, the machining path generation unit 33 projects the operation pattern that paints the continuous multiple flat surfaces of the 3D shape onto the inner surface of the workpiece model (the workpiece W2). As shown in Fig. As shown in Figure 14, the operating pattern of each flat surface of the 3D shape A1 is projected onto the respective inner surface of the corresponding workpiece model (the workpiece W2). As a result, the projected operating pattern is as shown in Fig. 15 shown as machining path B1 on the continuous multiple flat surfaces of the workpiece model (the workpiece W2).

[0046] Subsequently, in step S26, the spray device position / attitude determination unit 34 automatically determines the position or the position and attitude of the model of the spray device 221 based on the machining path B1 and the normal direction of the continuous plurality of inner surfaces of the workpiece model (the workpiece W2). When the spray device is located at a desired angle with respect to the workpiece, for example, when the spray device 221 is vertical with respect to the inner surface of the workpiece W2, it can effectively perform its function. Here, as in Fig. 16 shows the position of the spraying device 221 when performing an application operation at positions P 21 , P 22 and P 23 on the inner surface of the workpiece model (the workpiece W2) so that the direction of the central axis line of the spray device 221 is along the normal direction N 21 , N 22 , N 23with respect to the inner surface at the respective position P 21 , P 22 P 23 extending direction. Consequently, in step S26, the position and attitude of the spray device 221 at a location on the machining path B1 are automatically determined when the spray device 221 is arranged to achieve a desired angle with respect to the workpiece W2. The spray device position / attitude determining unit 34 performs this operation along the machining path B1 in sequence, whereby the position or the position and attitude of the spray device 221 along the entire machining path B1 can be determined.

[0047] In this way, in the present embodiment, an operation pattern that paints a plurality of continuous flat surfaces of the 3D shape A1 is projected onto the inner surface of the workpiece W2, and the machining path B1 of the spray device 221 is generated. Therefore, the generated machining path B1 is adapted to the shape of the inner surface of the workpiece W2. Furthermore, in the present embodiment, the position or the position and attitude of the spray device 221 can be automatically determined based on this machining path B1. Therefore, even when the surface of the workpiece to be machined includes a bending portion, for example, a corner portion, the machining path B1 can be easily determined, and as a result, the working time required to determine the position or the position and attitude of the spray device 221 can be greatly reduced.

[0048] The machining path determination processing explained above can also be started by a specific operation on the operation unit 70 or automatically started upon completion of the step distance determination processing. When the machining path determination processing is started automatically, in step S21, the spray device model used in the step distance determination processing can be used as the spray device model to be attached to the robot model, and in step S22, the operation pattern selected in the step distance determination processing (S14) can be automatically selected.

[0049] The robot programming device 100 may also have the functions of receiving an operation to select a desired sprayer model from a plurality of sprayer types stored in advance, virtually attaching the selected sprayer model to the robot model, and using it in the step distance determination processing and the machining path determination processing described above. Specifically, the sprayer storage unit 35 stores three-dimensional models of a plurality of sprayer types whose spraying parameters are defined. For example, Fig. 17A, Fig. 17B, Fig. 17C and Fig. 17D shows four types of spray devices 120, 321, 221, and 421 stored in the spray device storage unit 35. For each of the spray device models, the spray parameters and nozzle position are defined. For each of the spray devices 120, 321, 221, and 421, a tool tip end point P120, P321, P221, and P431 is defined at a front position on the nozzle center axis line, and the machining path is generated as the trajectory of the tool tip end position.

[0050] The sprayer selection unit 36 receives a selection of the sprayer from the operator via the control unit 70. The sprayer selection unit 36 can also provide a graphical interface that displays images of models of the Fig. 17A to Fig. 17D and accepts the selection of a spray device by an operator. As an example, it is assumed that the spray devices shown in Fig. 17D has been selected. In this case, the spray device selection unit 36 virtually attaches the spray device model of the selected spray device 421 to the front end of an arm of the robot model of the robot 110 (see Fig. 18). The step distance determination processing and the machining path determination processing can be performed using the spray device thus selected by the operator.

[0051] The simulation execution unit 37 simulates the application operation according to the operation program in the virtual space where the workpiece model has been placed, by the robot model to which the spray device model, whose spraying parameters are defined, has been virtually attached, with respect to the workpiece model. In this case, the spray device selected, for example, by the function provided by the spray device selection unit 36 is attached to the robot model, and the operation pattern, step distance, movement speed, and machining path determined by the step distance determination processing and the machining path determination processing using the selected spray device are reflected in the operation program.

[0052] Fig. 19 shows, as an example, a simulation image of the operation result when performing a simulation of the application operation according to the operation program by the robot model (the robot 110) to which the spray device model (the spray device 120) has been attached, with respect to a workpiece model (the workpiece W1). In the image of the simulation result of Fig. 19, an image 161 showing the applied deposition material is displayed on the surface of the workpiece W1 in a color-coded manner according to the film thickness. This image 161 representing the deposition state is calculated using the position and attitude of the tool tip end of the spray device model (the machining path), the spraying parameters, the spraying conditions, the position and shape of the workpiece model, and the like obtained based on the operation program.

[0053] The operator can use the Fig.The simulation result shown in Figure 19 allows the user to visually capture the status after the application process has been completed and to perform teaching by taking into account in advance the application of the sprayed material to an element where the application is to be performed. This can significantly reduce the working time for teaching the application process.

[0054] The simulation by the simulation execution unit 37 can also be started by various operation inputs from the operation unit 70, or it can be started automatically upon completion of the machining path determination processing. That is, the step distance determination processing, the machining path determination processing, and the simulation of the application work by the simulation execution unit 37 can be executed as one processing.

[0055] As explained above, according to the present embodiment, it is possible to accurately perform simulation for obtaining the application state of a sprayed material. That is, when creating an operation program for an application operation, teaching can be performed by taking into account in advance the application of the sprayed material to a member to which application is to be performed, thereby shortening the teaching time.

[0056] In the foregoing, an embodiment of the present disclosure has been explained, but one skilled in the art will understand that various improvements or changes can be made without departing from the scope of the disclosure of the following claims.

[0057] The robot programming device can be executed by various types of information processing devices including a personal computer, a laptop computer, a tablet terminal, or the like.

[0058] The programs for executing various processing such as the step distance determination processing and the machining path determination processing in the above-described embodiment can be recorded on various computer-readable recording media (for example, a semiconductor memory such as a ROM, an EEPROM or a flash memory or the like, a magnetic recording medium, an optical disk such as a CD-ROM or a DVD-ROM or the like).

Claims

[1] A robot programming device (100) for creating an operation program for an application operation in which a spray material sprayed from nozzles of a spray device is applied to a member to which the application is to be carried out while the spray device is moved by a robot (110) to which the spray device is attached, the robot programming device (100) comprising an operation pattern storage unit (25) which stores a plurality of types of operation patterns showing the operation of the spray device and consisting of a continuous path containing a periodic repetition of a certain pattern;and a step distance determining unit (28) which, for one of the plurality of types of operation patterns stored in the operation pattern storage unit (25), determines step distances of the periodic repetition of the determined pattern in this one operation pattern based on spray parameters indicating the spraying characteristics of the spray material by the nozzles of the spraying device; [2] The robot programming apparatus (100) according to claim 1, wherein the step distance determining unit (28) determines the step distance so that the film thickness or the spray amount of the spray material on the member to be applied becomes uniform when the spray material has been sprayed onto the member to be applied while moving the spray device along the one operation pattern. [3] The robot programming device (100) according to claim 1 or 2, wherein the step distance determining unit (28) further determines the spraying distance based on spraying conditions including at least one of the spraying time and the spraying amount or the film thickness of the spraying material per a certain area dimension. [4] The robot programming device (100) according to claim 3, further comprising a movement speed determining unit that determines a movement speed when the spraying device moves along the one operation pattern based on the spraying parameters and the spraying conditions. [5] Robot programming device (100) according to claim 3 or 4, further comprising a virtual space generation unit (21) that generates a virtual space by which a work space is represented three-dimensionally; a model generation unit (22) which, based on arrangement information of the robot, the spraying device and the element to which the application is to be carried out, arranges a three-dimensional model of the robot (110), a three-dimensional model of the spraying device and a three-dimensional model of the element to which the application is to be carried out in the virtual space in the work space; a nozzle position setting unit (23) which receives an operation input for setting the position of the nozzle with respect to the three-dimensional model of the spray device; a spray parameter setting unit (24) which receives an operation input for setting the spray parameters; a spray condition setting unit (27) which receives an operation input for setting the spray conditions; and an operation pattern selection unit (26) that receives an operation input for selecting an operation pattern from the plurality of types of operation patterns stored in the operation pattern storage unit (25). [6] Robot programming device (100) according to claim 5, further comprising a 3D shape storage unit (30) that stores a 3D shape having a curved surface and a 3D shape having a plurality of continuous flat surfaces; a 3D shape selecting unit (31) that receives an operation input for selecting the 3D shape having one curved surface or the 3D shape having a plurality of continuous flat surfaces from the 3D shape storing unit (30); a 3D shape arranging unit (32) that arranges the 3D shape selected by the 3D shape selecting unit (31) in the virtual space so that the curved surface or the plurality of continuous flat surfaces of the 3D shape are painted over by the one operation pattern for which the step distance was determined by the step distance determining unit (28), and the one operation pattern is projected onto at least one surface of the three-dimensional model of the member to which the application is to be performed; a machining path generation unit (33) that projects the one operation pattern that paints over the curved surface or the plurality of flat surfaces of the 3D model onto at least one surface of the three-dimensional model of the element to which the application is to be performed and generates the machining path of the three-dimensional model of the spray device; and a spray device position / attitude determining unit (34) that automatically determines the position or the position and attitude of the three-dimensional model of the spray device based on the machining path generated by the machining path generating unit (33) and the normal direction of at least one surface of the three-dimensional model of the element to which the application is to be carried out. [7] The robot programming device (100) according to claim 6, further comprising a simulation execution unit (37) that, based on the machining path generated by the machining path generation unit (33) and the position and attitude of the three-dimensional model of the spray device determined by the spray device position / attitude determination unit (34), performs a simulation of the application operation in which the spray material sprayed from the nozzle is applied to the three-dimensional model of the member to which the application is to be performed while moving the three-dimensional model of the spray device. [8] Robot programming device (100) according to one of claims 5 to 7, further comprising a spray device storage unit (35) which stores three-dimensional models of a plurality of types of spray devices for which the position of the nozzle with respect to the three-dimensional model of the spray device and the spray parameters are defined; and a spray device selecting unit (36) that receives an operation input for selecting the three-dimensional model of a spray device from the three-dimensional models of the plurality of types of spray devices stored in the spray device storing unit (35) and virtually attaching the selected three-dimensional model of the spray device to the end of an arm of the three-dimensional model of the robot.

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