Robot simulation device

Abstract

A robot simulation device comprising: a unit for arranging three-dimensional models for arranging a three-dimensional robot model, a three-dimensional model of a hand installed in the robot, a three-dimensional model of a feeder, a three-dimensional model of a discharger, three-dimensional models of the workpiece, and a three-dimensional model of a capture device for capturing a workpiece on the feeder in a virtual space; a unit for determining the workpiece holding quantity for receiving an input that determines a quantity of three-dimensional models of the workpiece to be grasped at once by the three-dimensional hand model;a unit for determining the reference workpieces for receiving an input that determines a three-dimensional model of the workpiece to be used as a reference when the three-dimensional models of the workpiece are grasped with the three-dimensional hand model;and a unit for setting the holding position of hand-held workpieces for setting gripping positions of the three-dimensional model of the workpiece for the three-dimensional hand model relative to the three-dimensional models of the workpiece when the three-dimensional models of the workpiece are gripped with the three-dimensional hand model, based on the designated quantity of three-dimensional models of the workpiece to be gripped at once, the three-dimensional reference model of the workpiece, the distance between the three-dimensional models of the workpiece on the three-dimensional model of the feeder, and the positions / postures of the three-dimensional robot model when it moves on the three-dimensional model of the feeder.

Description

FIELD

[0001] The present disclosure relates to a robot simulation device. STATE OF THE ART

[0002] A robot system configured to continuously pick up workpieces conveyed on a conveyor, such as a belt conveyor, and move the workpieces to place them on another conveyor, a worktable, or the like is known. Furthermore, a robot simulation device capable of simulating the operation of such a robot system is known.

[0003] PTL 1 describes a current robot system for the assembly or transport of objects by a robot. PTL 2 describes a programming device that simulates the loading of a pallet with objects arriving on a conveyor belt using a robot with an adsorption hand. PTL 3 describes a simulation device that simulates the process of moving a workpiece from a conveyor surface of a feeder to a receiving surface of a picker by a robot. [CITATION LIST][PATENT LITERATURE] [PTL 1] Unexamined Japanese Patent Publication (Kokai) No. 2016-026899 A [PTL 2] Unexamined Japanese Patent Publication (Kokai) No. 2009-070078 A [PTL 3] Unexamined Japanese Patent Publication (Kokai) No. 2020-199625 A SUMMARY[TECHNICAL PROBLEM]

[0004] There is a case where, in a robot system configured to pick up a workpiece with a hand mounted on a robot, the robot is controlled to perform a work of collectively picking up a plurality of workpieces with the hand. Therefore, a simulation device capable of simulating the operation of a robot for collectively holding a plurality of workpieces with one hand is desired. (SOLUTION OF THE PROBLEM)

[0005] According to one aspect of the present disclosure, a robot simulation device comprises: a three-dimensional model arrangement unit configured to arrange, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a hand attached to the robot, a three-dimensional model of a feeder, a three-dimensional model of a discharger, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the feeder; a workpiece holding quantity determination unit configured to accept an input for determining a quantity of three-dimensional models of workpieces collectively held by the three-dimensional model of the hand; a reference workpiece determination unit configured tothat it accepts an input for determining a three-dimensional model of a workpiece that serves as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, and a hand-held workpiece holding position setting unit configured to set a holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, based on the designated amount of the three-dimensional model of the workpiece held together, the three-dimensional model of the workpiece that serves as the reference, an interval between three-dimensional models of workpieces on the three-dimensional model of the conveyor, and a position and a posture of the three-dimensional model of the robot,when it moves to the three-dimensional model of the feeder.

[0006] The objects, features and advantages, as well as other objects, features and advantages, will become more apparent from the detailed description of typical embodiments of the present invention illustrated in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a drawing showing a specific example of a robot simulation device according to an embodiment. Fig. Figure 2 is a functional block diagram of the robot simulation device. Fig. 3 is a flowchart of a simulation of a workpiece picking process for collectively holding and transferring three-dimensional models of workpieces. Fig. 4 is a diagram showing a three-dimensional model of a robot system displayed on a screen by a three-dimensional model arrangement unit. Fig. 5 is a diagram showing a first example of determining the set of the jointly held models of the workpiece and a reference model of the workpiece. Fig. 6 is a diagram showing a second example of determining the quantity of the jointly held models of the workpiece and a reference model of the workpiece. Fig. 7 is a diagram showing a third example of determining the quantity of the jointly held models of the workpiece and a reference model of the workpiece. Fig. 8 is a diagram showing the setting of an interval between the three-dimensional models of the workpieces arranged on a feeder. Fig. 9 is a diagram showing a simulation screen of a state in which a three-dimensional model of a robot has moved on a three-dimensional model of a feeder. Fig. 10 is a diagram showing a simulation screen of a state in which the three-dimensional models of the plurality of workpieces are collectively held by a three-dimensional model of a hand. Fig. 11 is a diagram showing a simulation screen of a state in which the three-dimensional model of the robot moves on a three-dimensional model of a discharge device. Fig. 12 is a diagram showing a simulation screen of a state in which the three-dimensional models of the plurality of workpieces are arranged on the three-dimensional model of the discharge device through the three-dimensional model of the hand. Fig. 13 is a diagram showing a simulation screen of a state in which the three-dimensional models of the plurality of workpieces are arranged on a fixed stand serving as a discharge device by the three-dimensional model of the hand. Fig. 14 is a diagram showing a simulation screen of a state in which the three-dimensional models of the plurality of workpieces are collectively held from a fixed stand serving as a feeder by the three-dimensional model of the hand. DESCRIPTION OF THE EMBODIMENTS

[0007] Embodiments of the present disclosure will be described below with reference to the drawings. A similar configuration or functional part is denoted by the same reference numeral throughout the drawings. To facilitate understanding, the scale of the drawings is changed accordingly. An aspect illustrated in the drawing is an example of implementing the present invention, and the present invention is not limited to the illustrated aspect.

[0008] Fig. 1 is a drawing showing an example of a robot simulation device 10 according to an embodiment. Fig. Figure 2 is a functional block diagram of the robot simulation device 10. The robot simulation device 10 consists of an information processing device, such as a personal computer and a tablet terminal. The robot simulation device 10 provides a function for simulating the operation of collectively holding three-dimensional models of a plurality of workpieces on a feeding device that feeds workpieces through a three-dimensional model to a hand mounted on a three-dimensional model of a robot.

[0009] In this description, a device on the side that supplies a workpiece to the robot is referred to as a feeder device, and a device on the side to which the workpiece picked up by the robot is transferred is referred to as a discharge device. The feeder device can be a conveying device, such as a conveyor belt, or a fixed location, such as a table. The discharge device can also be a conveying device, such as a conveyor belt, or a fixed location, such as a table.

[0010] In the present description, a simulation is considered to include a simulation in which a numerical calculation of a position and an attitude of a robot and any other device is performed, in addition to a simulation in which a three-dimensional model of each device is caused to perform a simulated movement on a screen (virtual space).

[0011] As in Fig. As shown in Figure 1, the robot simulation device 10 includes a display unit 12 that displays various images related to a simulation, and an operation unit 13 for performing various operation inputs by an operator. The display unit 12 includes, for example, a liquid crystal display. The operation unit 13 includes, for example, an input device such as a keyboard, a mouse, and a touchpad. The three-dimensional model of the robot and the like is stored in the storage device 14 ( Fig. 2). The robot simulation device 10 may be configured as a general computer in which a memory (e.g., a ROM, a RAM, and a non-volatile memory), the display unit 12, the operation unit 13, the storage device (e.g., a hard disk), a network interface, various input / output interfaces, and the like are connected to the CPU 11 ( Fig. 2) are connected.

[0012] As in Fig. 2, the robot simulation device 10 includes the virtual space generation unit 111, the three-dimensional model arrangement unit 112, the simulation execution unit 113, the workpiece holding quantity determination unit 114, the reference workpiece determination unit 115, the hand-held workpiece holding position setting unit 116, the feeder workpiece deletion unit 117, the hand-held workpiece display unit 118, the discharger workpiece display unit 119, and the hand-held workpiece deletion unit 120. The robot simulation device 10 may further include a fixed workpiece arrangement setting unit 121. The robot simulation device 10 may further include a workpiece interval determination unit 123. The function blocks can be achieved by the CPU 11 of the robot simulation device 10, which executes software.

[0013] The robot simulation device 10 includes a storage unit 122. The storage unit 122 may be a non-volatile memory or a storage device such as a hard disk. The storage unit 122 stores a three-dimensional model and layout information about each object constituting a model of the robot system, various types of setting information required for executing a simulation, and the like.

[0014] The virtual space generation unit 111 generates a virtual space in which three-dimensional models of various objects constituting the model of the robot system are arranged in a storage space of the robot simulation device 10.

[0015] The three-dimensional model arrangement unit 112 arranges in the virtual space the three-dimensional model of the robot, a three-dimensional model of a conveyor, a three-dimensional model of a workpiece, a three-dimensional model of a detection device, and a three-dimensional model of a fixed stand based on arrangement information about various objects that constitute the model of the robot system.

[0016] The simulation execution unit 113 has the function of simulating the process of picking up a workpiece on the feeder using the three-dimensional model of the robot and transferring the workpiece to the discharge device. The function of the simulation execution unit 113 includes a function for numerically calculating the position and posture of the three-dimensional models of the robot and various objects, as well as a function for causing the three-dimensional models of the robot and various objects to execute the simulated movement.The simulation execution unit 113 may be configured to control each functional block (the hand-held workpiece holding position setting unit 116, the feeder workpiece deletion unit 117, the hand-held workpiece display unit 118, the discharger workpiece display unit 119, the hand-held workpiece deletion unit 120, and the fixed workpiece arrangement setting unit 121) to execute a simulation.

[0017] The workpiece holding quantity determination unit 114 provides a function for determining the total number of workpieces held by the three-dimensional model of the hand. The workpiece holding quantity determination unit 114 can be configured to accept an input for setting the number of workpieces collectively held by the three-dimensional model of the hand via a setting screen (user interface). Alternatively, the workpiece holding quantity determination unit 114 can receive an input of the collectively held number of workpieces from an external device.

[0018] The reference workpiece determining unit 115 provides a function for determining a workpiece to serve as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand. The reference workpiece determining unit 115 may be configured to accept an input for determining a workpiece to serve as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand via a setting screen (user interface). Alternatively, the reference workpiece determining unit 115 may receive an input for determining a three-dimensional model of a workpiece to serve as a reference from an external device.

[0019] The hand-held workpiece holding position adjustment unit 116 provides a function for adjusting a position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand.

[0020] The feeder workpiece deletion unit 117 provides a function for deleting the three-dimensional model of the workpiece on the three-dimensional model of the feeder.

[0021] The hand workpiece display unit 118 provides the function of displaying the three-dimensional model of the workpiece on the three-dimensional model of the hand.

[0022] The discharge device display unit 119 provides the function of displaying the three-dimensional model of the workpiece on the three-dimensional model of the discharge device.

[0023] The hand workpiece erasing unit 120 provides the function of erasing the three-dimensional model of the workpiece on the three-dimensional model of the hand.

[0024] The feeder workpiece deletion unit 117, the hand workpiece display unit 118, the discharger workpiece display unit 119, and the hand workpiece deletion unit 120 may be configured to cooperate with the simulation execution unit 113 and provide their functions in response to a command from the simulation execution unit 113.

[0025] The fixed workpiece arrangement adjustment unit 121 enables adjustment of the position of the arrangement of the three-dimensional model of the workpiece with respect to the three-dimensional model of the fixed stand when the fixed stand is used as a discharge device.

[0026] The workpiece interval determination unit 123 provides a function for determining an interval between the three-dimensional models of the plurality of workpieces arranged on the feeder. The workpiece interval determination unit 123 can be configured to accept an input for determining an interval between the three-dimensional models of the workpieces via a setting screen (user interface). Alternatively, the workpiece interval determination unit 123 can receive an input for determining an interval between the three-dimensional models of the workpieces from an external device.

[0027] Fig. 3 is a flowchart illustrating a simulation of the process (hereinafter referred to as the workpiece pick-up process) of jointly holding and transferring three-dimensional models of workpieces, which is carried out on the robot simulation device 10. The Fig. The workpiece pick-up movement shown in Figure 3 is carried out under the control of the CPU 11 of the robot simulation device 10.

[0028] First, the three-dimensional model arrangement unit 112 arranges a three-dimensional model of a robot system including a three-dimensional model of a robot in a virtual space (step S1). Then, the three-dimensional model arrangement unit 112 displays the three-dimensional model of the robot system arranged in the virtual space on a display screen of the display unit 12 (step S2). Fig. 4 shows a three-dimensional model (hereinafter referred to as the robot system model 100M) of a robot system displayed on the display screen by the three-dimensional model arrangement unit 112. The model of the robot system 100M includes a three-dimensional model (hereinafter referred to as the robot model 20M) of a robot, a three-dimensional model (hereinafter referred to as the hand model 30M) of a hand, a three-dimensional model (hereinafter referred to as the conveyor model 80M) of a conveyor as a feeder, a three-dimensional model (hereinafter referred to as the workpiece model WM) of a workpiece, three-dimensional models (hereinafter referred to as the detection device models 70M and 71M) of two detection devices, and a three-dimensional model (hereinafter referred to as the conveyor model 90M) of a conveyor as a discharge device. The conveyor is, for example, a conveyor belt.

[0029] In this example, a vertical articulated robot is used as the robot model 20M, but other robot types such as a horizontal articulated robot and a parallel joint robot can also be used.

[0030] The hand model 30M is a model of an adsorption hand as an example and includes a plurality of adsorption sections for collectively holding a plurality of workpieces. A three-dimensional model of a hand device of another type that can collectively hold a plurality of workpieces can also be used as the hand model 30M.

[0031] The model of the conveyor 80M conveys the model of the workpiece WM at a fixed speed from an upstream side to a downstream side in a workpiece feeding area between the upstream end portion 80a and the downstream end portion 80b. The robot model 20M performs an operation to hold the model of the workpiece WM by tracking a movement of the model of the workpiece WM conveyed by the conveyor 80M in a tracking operation area (indicated by a dashed line arrow 81) virtually defined on the conveyor 80M.

[0032] The model of the conveyor 90M can convey the model of the workpiece WM at a fixed speed from the upstream side to the downstream side in a workpiece feed area between the upstream side end portion 90a and the downstream side end portion 90b. The robot model 20M performs an operation to place the model of the workpiece WM on the conveyor 90M by tracking a movement of the conveyor 90M in a tracking operation area (indicated by a dashed line arrow 91) practically defined on the conveyor 90M.

[0033] Setting information about the models of the conveyor 80M and 90M, such as a conveying speed and a conveying direction, can be preset in the storage unit 122 or input into the robot simulation device 10 by an operator. The robot simulation device 10 conveys the model of the workpiece WM based on the setting information about the models of the conveyor 80M and 90M.

[0034] Each of the detection device models 70M and 71M is a model of an image sensor. The image sensor can be a camera that captures a grayscale image or a color image, a stereo camera, or a three-dimensional sensor that can capture a distance image and a three-dimensional point group. The positional relationship between the detection device models 70M and 71M and the robot model 20M is assumed to be known. The detection device model 70M is arranged to include the vicinity of the upstream end portion of the conveyor model 80M within a detection range. The detection device model 70M provides a function for detecting a position of the workpiece WM model being conveyed to the end portion on the upstream side of the conveyor model 80M by image processing on a detected image.The model of the detection device 71M may have the function of performing detection, verification, and the like on the model of the workpiece WM conveyed on the model of the conveyor device 90M. A detection result of the models of the detection devices 70M and 71M may be used in a simulation by the simulation execution unit 113.

[0035] Returning to Fig. 3, next, the workpiece holding quantity determination unit 114 accepts the determination of the quantity of the models of the workpiece WM held collectively by the hand-held model 30M (step S3). The reference workpiece determination unit 115 accepts the determination of a model of the workpiece serving as a reference when models of the workpiece are held collectively by the hand-held model 30M (step S4). The reference workpiece model is used as a reference when detecting, calculating a position, and the like of a model of the workpiece serving as a holding target. An operator can designate a specific model of the workpiece conveyed on the model of the conveyor 80M as a "reference workpiece model."

[0036] Fig. Figure 5 is a diagram showing a first example of determining the number of jointly held models of the workpiece and a reference model of the workpiece. As shown in Fig. As shown in Figure 5, if the hand model 30M is a type with five adsorption sections (30a, 30b, 30c, 30d, and 30e), the number of workpiece models held jointly by the hand model 30M can be specified as five. An arrow C in Fig. 5 (and Fig. 6 to 8) indicates the upstream side in a conveying direction of the models of the conveyor 80M. As an example, an operator may designate, as a model of the workpiece serving as a reference, an nth model of the workpiece from the upstream side among the plurality of models of the workpiece WM continuously conveyed on the model of the conveyor 80M. Fig. 5 shows a case where the third model of the workpiece (model of the workpiece WM3) from the upstream side among five models of the workpiece WM1 to WM5 conveyed on the model of the conveyor 80M is designated as a model of the workpiece serving as a reference.

[0037] For example, the robot model 20M can perform the operation by holding the reference model of the workpiece WM3 at the position of a tool tip point T set on the hand model 30M.

[0038] Fig. 6 is a diagram illustrating a second example of determining the number of jointly held models of the workpiece and a reference model of the workpiece. As shown in Fig. 6, when the hand model 30M is a three-adsorption section type, the number of models of the workpiece held jointly by the hand model 30M can be specified as three. Fig. 6 shows a case where the second model of the workpiece (model of the workpiece WM12) from the upstream side among the three models of the workpiece WM11 to WM13 continuously conveyed on the model of the conveyor 80M is referred to as a model of the workpiece serving as a reference.

[0039] In this case, for example, the robot model 20M can perform the operation by holding the reference workpiece model WM12 at the position of the tool tip point T set on the hand model 30M.

[0040] Fig. Figure 7 is a diagram showing a third example of determining the number of jointly held models of the workpiece and a reference model of the workpiece. As shown in Fig. 7, when the hand model 30M is a five-adsorption section type, the number of models of the workpiece held jointly by the hand model 30M can be specified as five. Fig. 7 shows a case where the fourth model of the workpiece (model of the workpiece WM24) from the upstream side among the five models of the workpiece WM21 to WM25 continuously conveyed on the model of the conveyor 80M is set as a model of the workpiece serving as a reference.

[0041] In this case, for example, the robot model 20M can perform the operation by holding the reference workpiece model WM24 at the position of the tool tip point T set on the hand model 30M.

[0042] Returning to Fig. 3, the hand-held workpiece holding position setting unit 116 sets a “position of each of the models of the workpiece WM with respect to the hand-held model 30M when the models of the workpiece WM are held by the hand-held model 30M” based on (a1) the set of models of the workpiece WM that are held together, (a2) the model of the workpiece WM, which serves as a reference, (a3) a distance between models of the workpiece WM conveyed along the models of the conveyor 80M, and (a4) a position and a posture of the robot model 20M when it moves toward the conveyor model 80M (step S5).

[0043] In this case, "(a1) the quantity of the jointly held models of the workpiece WM" and "(a2) the reference model of the workpiece WM" are determined in steps S3 and S4 described above. For "(a3) an interval between models of the workpiece WM conveyed along the model of the conveyor 80M," as in Fig. 8, an interval d in the conveying direction between models of the workpiece WM that are continuously arranged in the conveying direction on the model of the conveyor 80M is designated. It is assumed that the plurality of workpiece models are conveyed in a state where they are arranged at constant intervals. An operator can set, as the interval d, an interval corresponding to an interval between the plurality of adsorption sections of the hand-held model 30M through the setting function provided by the workpiece interval determination unit 123. With the interval d, the position on the model of the conveyor 80M of the other model of the workpiece WM (the models of the workpiece WM1 to WM2 and WM4 to WM5 in Fig. 8) in relation to the position of the model of the workpiece WM (model of the workpiece WM3 in Fig. 8), which serves as a reference.

[0044] "(a3) In the storage unit 122, an interval between the models of the workpiece WM conveyed along the models of the conveyor 80M" can be preset.

[0045] The simulation execution unit 113 can determine “(a4) a position and a posture of the robot model 20M when moving toward the conveyor model 80M,” for example, based on the following motion models. (k1) The robot model 20M starts a movement from a predetermined standby position in response to receiving a detection signal from the model of the detection device 70M indicating that the model of the workpiece WM serving as a reference is placed on the model of the feeding device 80M. (k2) The robot model 20M moves so as to follow a movement (ie a conveying speed of the model of the conveyor 80M) in the conveying direction of the reference model of the workpiece WM in the tracking operation area (which is indicated by the arrow 81 in Fig. 4 specified area). (k3) In a state where the robot model 20M tracks the movement of the workpiece model WM in the tracking range, the relative speeds between them are zero. In this state, assuming a dynamic coordinate system moving at the transport speed, the robot model 20M can perform a movement such that it descends from above with respect to a stationary workpiece model and approaches and holds the workpiece model. (k4) In the above-described movement, the robot model 20M may perform a movement such that the reference model of the workpiece WM is held by the adsorption section located at a position of the tool tip point T of the hand model 30M.

[0046] By performing numerical simulation through the motion models (k1) to (k4) as described above, the hand-held workpiece holding position setting unit 116 can obtain, as “(a4) a position and a posture of the robot model 20M when it moves onto the model of the conveyor 80M,” a position and a posture of the robot model 20M when the robot model 20M is positioned in a position where the plurality of models of the workpiece, including the model of the workpiece WM serving as a reference, can be held together.

[0047] The hand-held workpiece holding position setting unit 116 calculates a "position of each model of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M" based on "(a4) a position and posture of the robot model 20M when moving toward the model of the feeder 80M" obtained as described above. The position of the tool tip point T is already known. Furthermore, a position of the model of the workpiece WM serving as a reference in virtual space when the robot model 20M is in the state of "(a4) a position and posture of the robot model 20M when moving toward the model of the feeder 80M" can be obtained from a detection result by the model of the detection device 70M and information about a conveyance speed and the like of the model of the feeder 80M.In addition, the distance d between the models of the workpiece WM is already known, as described above. Therefore, the hand-held workpiece holding position setting unit 116 can calculate a "position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M" based on the information from (a1) to (a4) described above. Note that a "position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M" can also be expressed as a "holding position of the model of the workpiece WM with respect to the hand model 30M."

[0048] Through the above-described process (steps S1 to S5), a "position of each model of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M" is calculated and set in the robot simulation device 10. In this way, the motion of collectively holding the multiple models of the workpiece WM by the robot model 20M can be displayed on a simulation screen. An operator can check whether the robot model 20M can reach a position where the models of the workpiece WM can be properly held together, correct various setting contents as needed, and create a corresponding program.

[0049] Furthermore, according to the above-described process (steps S1 to S5), a user can cause the robot simulation device 10 to perform a sophisticated simulation in which the plurality of models of the workpiece are collectively held by the robot model 20M through a simple setting operation of inputting setting items of the above-described (a1) to (a3). In other words, the present embodiment provides a setting method advantageous for a user to perform a simulation of the motion of collectively holding the plurality of models of the workpiece WM by the robot model 20M.

[0050] As in Fig. 3, the robot simulation device 10 may further perform the operations specified in steps S6 to S7 by using a “position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M”.

[0051] In step S6, the robot simulation device 10 moves the robot model 20M onto the conveyor 80M and causes the robot model 20M to perform a movement for collectively holding the models of the workpiece WM by the hand model 30M based on “(a4) the position and posture of the robot model 20M when moving onto the conveyor 80M” and the “position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M.” As shown on a simulation screen in Fig. 9, the simulation execution unit 113 moves the robot model 20M so that the robot model 20M is in the state “(a4) the position and posture of the robot model 20M when moving toward the conveyor model 80M”.

[0052] Then, the workpiece deletion unit 117 of the feeder deletes the workpiece WM models collectively held by the hand model 30M on the model of the conveyor 80M. Further, the hand workpiece display unit 118 displays the workpiece WM models on the hand model 30M. The hand workpiece display unit 118 can display the workpiece WM models on the hand model 30M according to the "position of each of the workpiece WM models relative to the hand model 30M when the workpiece WM models are held by the hand model 30M." Fig. Figure 10 is a simulation screen illustrating a state in which models of the workpiece WM on the side of the hand model 30M have moved through these parts of the machining. It should be noted that Fig. 10 shows a state in which the robot model 20M is in a position slightly shifted upward from a position for holding the models of the workpiece WM.

[0053] Through the process described above, the movement of the robot model 20M, which, with the help of the hand model 30M, holds together the plurality of models of the workpiece WM conveyed on the model of the conveyor 80M, is displayed in the virtual space (screen).

[0054] Next, in step S7, the robot simulation device 10 moves the robot model 20M onto the model of the feeder 90M and causes the robot model 20M to perform a movement for arranging the models of the workpiece WM onto the model of the feeder 90M based on “(a4) the position and posture of the robot model 20M when moving onto the model of the feeder 80M” and the “position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M.” As shown in Fig. 11, the simulation execution unit 113 moves the robot model 20M to the conveyor model 90M based on “(a4) the position and posture of the robot model 20M when it moves to the conveyor model 80M.” In this case, the simulation execution unit 113 causes the robot model 20M to perform a movement in such a way that, for example, (k11) from the position and attitude of the robot model 20M, which holds the models of the workpiece WM, as in Fig. 9, (k12) the robot model 20M can arrange the models of the workpiece WM on a conveyor surface while following a conveyor speed of the model of the conveyor 90M in the following movement range (arrow 91) of the model of the conveyor 90M.

[0055] Next, the workpiece display unit 119 of the discharge device displays the models of the workpiece WM on the model of the conveyor 90M on a discharge side. The workpiece display unit 119 can arrange the models of the workpiece WM on the model of the conveyor 90M according to the "position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M." Further, the hand workpiece deletion unit 120 deletes the models of the workpiece WM on the hand model 30M. Fig. 12 is a simulation screen illustrating a state in which the models of the workpiece WM on the side of the model of the feeder 90 have moved through these parts of the machining.

[0056] Through the process described above, the movement of the model of the robot system 100M, which moves a plurality of models of the workpiece WM from the model of the conveyor 80M on the supply side to the model of the conveyor 90M on the discharge side with the aid of the hand model 30M, can be displayed in the virtual space (screen).

[0057] Therefore, through the workpiece holding operation described above, a simulation of the robot system for collectively holding the plurality of workpiece models conveyed on the conveyor model by the hand model can be achieved.

[0058] Two examples of modifications to the embodiment described above are described below. (Modification example 1)

[0059] Modification Example 1 described here is a configuration example for a case where a discharge device is a fixed location. Fig. Figure 13 shows a configuration of the robot system model 200M according to Modification Example 1. The robot system model 200M includes a fixed stand model 190M as a discharge device. Fig. 13, the same component as the component of the model of the robot system 100M in the above-described embodiment is denoted by the same reference numeral, and its description is omitted or simplified.

[0060] The robot simulation device 10 carries out the processing in steps S1 to S5 of the workpiece pick-up process described above ( Fig. 3) and calculates and sets a “position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M”.

[0061] The fixed workpiece arrangement setting unit 121 sets an arrangement position of the workpiece model WM with respect to the fixed stand model 190M based on - a position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M, and - a position and an attitude of the robot model 20M when it moves towards the fixed position model 190M.

[0062] In this case, the simulation execution unit 113 can determine "a position and posture of the robot model 20M when moving toward the fixed location model 190M," for example, based on the following motion models. The robot model 20M is caused to perform a movement such that, (k21) from the position and attitude of the robot model 20M, which holds the models of the workpiece WM, as in Fig. 9, (k22) the robot model 20M can move to a standby position above a support surface 191 of the model of the fixed stand 190M, go down from the standby position to approach the support surface 191, and arrange all the models of the workpiece WM.

[0063] In this way, the fixed workpiece arrangement adjustment unit 121 can determine "the position and posture of the robot model 20M when moving to the fixed-station model 190M." An "arrangement position of the workpiece WM model with respect to the fixed-station model 190M" is determined from "the position and posture of the robot model 20M when moving to the fixed-station model 190M" and the "position of each of the workpiece WM models with respect to the hand model 30M when the workpiece WM models are held by the hand model 30M."

[0064] In this way, the fixed workpiece arrangement setting unit 121 can display the movement of the arrangement of models of the workpiece WM held by the robot model 20M on the fixed stand model 190M as a simulation image, as shown in Fig. 13 shown.

[0065] It should be noted that, even in the case of the present example, the robot simulation device 10 can perform the operations corresponding to steps S6 and S7 in the workpiece picking process described above. In other words, when the hand model 30M reaches a position where the hand model 30M holds the models of the workpiece WM on the model of the conveyor 80M, the feeder workpiece deletion unit 117 deletes the models of the workpiece WM on the model of the conveyor 80M. Then, the hand workpiece display unit 118 displays the models of the workpiece WM on the hand model 30M.

[0066] When the robot model 20M (hand model 30M) reaches a position where the robot model 20M arranges the models of the workpiece WM on the model of the fixed stand 190M, the hand workpiece deletion unit 120 deletes the models of the workpiece WM on the hand model 30M. Then, the workpiece display unit of the discharge device 119 displays the models of the workpiece WM in a workpiece WM model arrangement position.

[0067] In this way, a situation is simulated in which models of the workpiece WM are held on the model of the feeder 80M and moved to a model of the fixed station 190M. (Modification example 2)

[0068] Next, as Modification Example 2, a configuration in the case where a feeder is a fixed station and a discharger is a conveyor is described (see Fig. 14). Fig. Figure 14 shows a configuration of the model of the robot system 300M according to Modification Example 2. The model of the robot system 300M includes the model of the fixed stand 180M as a feeding device. Fig. In Figure 14, the same component as the component of the model of the robot system 100M in the above-described embodiment is denoted by the same reference numeral, and its description is omitted or simplified. The robot simulation device 10 can also simulate operations when a feeder is a fixed station and a discharger is a conveyor.

[0069] The three-dimensional model arrangement unit 112 arranges the model of the robot system 300M including the robot model 20M in the virtual space and displays the model of the robot system 300M on the screen.

[0070] Next, the workpiece holding quantity determination unit 114 receives the determination of the quantity of the jointly held models of the workpiece.

[0071] Furthermore, the reference workpiece designation unit 115 accepts the designation of a workpiece model serving as a reference. In this case, a user can designate a specific workpiece model placed on a model of the fixed stand 180M as the reference workpiece model.

[0072] The robot simulation device 10 determines a “position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M” based on (b1) the set of models of the workpiece that are held together, (b2) the model of the workpiece serving as a reference, (b3) a distance between the models of the workpiece, and (b4) a position and a posture of the robot model 20M when it moves towards the fixed model 180M.

[0073] Regarding “(b3) a distance between the model of the workpiece”, a value of a distance between the plurality of adsorption pads of the hand model 30M may be similar to that described with reference to Fig. 8 described case.

[0074] The simulation execution unit 113 can determine “(b4) a position and a posture of the robot model 20M when moving to the fixed position model 180M”, for example, based on the following motion models. (k31) The robot model 20M moves from a given standby position to an approach position above the models of the workpiece WM on the model of the fixed location 180M. (k32) The robot model 20M moves down from the approach start position and moves to a position where the workpiece model WM can be held. (k33) In the above-described movement, the robot model 20M may perform a movement such that the reference model of the workpiece WM is held by the adsorption section located at a position of the tool tip point T of the hand model 30M.

[0075] By performing a numerical simulation using the motion models described above, the hand-held workpiece holding position setting unit 116 can obtain, as “(b4) a position and a posture of the robot model 20M when moving to a fixed stand model 180M,” a position and a posture of the robot model 20M when the robot model 20M is positioned in a position where models of the workpiece WM can be held on the fixed stand model 180M.

[0076] The hand-held workpiece holding position adjustment unit 116 calculates a "position of each model of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M" based on "(b4) the position and posture of the robot model 20M when it moves to the fixed stand model 180M" obtained as described above. The position of the tool tip point T is already known. Furthermore, the position of the model of the workpiece WM serving as a reference in virtual space when the robot model 20M is in the above-described position and posture state of (b4) is already known. Furthermore, the distance between the models of the workpiece WM is already known as described above.Therefore, the hand-held workpiece holding position setting unit 116 can calculate the “position of each of the models of the workpiece WM with respect to the hand model 30M when the models of the workpiece WM are held by the hand model 30M” based on the information from (b1) to (b4) described above.

[0077] The robot simulation device 10 (simulation execution unit 113) can also simulate a movement of the moving robot model 20M toward the model of the feeder 90M based on "(b4) a position and a posture of the robot model 20M when it moves toward the fixed stand model 180M" and a "position of each of the models of the workpiece WM relative to the hand model 30M when the models of the workpiece WM are held by the hand model 30M." In this case, the simulation execution unit 113 causes the robot model 20M to perform a movement such that, for example, (k41) from the position and attitude of the robot model 20M, which holds the models of the workpiece WM, as in Fig. 14, (k42) the robot model 20M can arrange the models of the workpiece WM on the conveying surface while following a conveying speed of the model of the conveyor 90M in the tracking operation area (arrow 91) of the model of the conveyor 90M.

[0078] As described above, a simulation of a movement of collectively holding the plurality of models of the workpiece WM on the model of the fixed stand 190M by the hand model 30M and moving the plurality of models of the workpiece WM to the discharge device is achieved.

[0079] The functional block of the robot simulation device, which is described with reference to Fig. 2 can be achieved by executing various kinds of software stored in the storage device by the CPU of the robot simulation device, or can be achieved by a configuration in which hardware such as an application-specific integrated circuit (ASIC) is a main body.

[0080] The program for executing various processing types, such as workpiece holding ( Fig. 3) In the embodiment described above, it can be recorded in various computer-readable recording media (e.g., a ROM, an EEPROM, a semiconductor memory such as a flash memory, a magnetic recording medium, and an optical disk such as a CD-ROM and a DVD-ROM).

[0081] As described above, according to the present embodiment, the operation of a robot system for collectively holding three-dimensional models of a plurality of workpieces on a three-dimensional model of a feeder by a three-dimensional model of a hand can be displayed in a virtual space (screen). Furthermore, a setting method advantageous to a user can be established for executing a simulation of the robot system for collectively holding the three-dimensional models of the plurality of workpieces on the three-dimensional model of the feeder by the three-dimensional model of the hand.

[0082] Although the present disclosure has been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various kinds of additions, replacements, modifications, partial deletions, and the like can be made to the embodiments without affecting the purpose of the present disclosure or the content described in the claims and the scope of the present disclosure derived from their equivalents. Furthermore, the embodiments can be carried out in combination. In the embodiments described above, for example, an order of operations and an order of pieces of processing are given as an example, which is not limited thereto. The same also applies to a case where a numerical value or a numerical expression is used in the description of the embodiments described above.

[0083] With regard to the embodiments and modification examples described above, additional information is provided below. (Supplementary Note 1)

[0084] Robot simulation device (10) with: a three-dimensional model arrangement unit (112) configured to arrange, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a hand attached to the robot, a three-dimensional model of a feeder, a three-dimensional model of a discharger, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the feeder a workpiece holding quantity determining unit (114) configured to accept an input for determining a quantity of the three-dimensional models of the workpiece held in total by the three-dimensional model of the hand; a reference workpiece determining unit (115) configured to accept an input for determining a three-dimensional model of a workpiece to serve as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand; and a hand-held workpiece holding position setting unit (116) configured to set a holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, based on the designated set of three-dimensional models of the workpiece held together, the three-dimensional model of the workpiece serving as a reference, an interval between three-dimensional models of workpieces on the three-dimensional model of the feeder, and a position and a posture of the three-dimensional model of the robot when it moves onto the three-dimensional model of the feeder. (Supplementary Note 2)

[0085] The robot simulation device (10) according to Supplementary Note 1, further comprising a simulation execution unit (113) configured to move the three-dimensional model of the robot toward the three-dimensional model of the feeder and cause the three-dimensional model of the robot to perform a motion of jointly holding the three-dimensional models of the workpieces by the three-dimensional model of the hand, based on the position and posture of the three-dimensional model of the robot when moving toward the three-dimensional model of the feeder and the holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand. (Supplementary Note 3)

[0086] The robot simulation device (10) according to Supplementary Note 2, wherein the simulation execution unit (113) moves the three-dimensional model of the robot to the three-dimensional model of the feeder, deletes the three-dimensional model of the workpiece on the three-dimensional model of the feeder, and displays the three-dimensional model of the workpiece on the three-dimensional model of the hand. (Supplementary Note 4)

[0087] The robot simulation device (10) according to Supplementary Note 2 or 3, wherein the simulation execution unit (113) moves the three-dimensional model of the robot to the three-dimensional model of the delivery device and causes the three-dimensional model of the robot to place the three-dimensional model of the workpiece on the delivery device based on the position and posture of the three-dimensional model of the robot when moving to the three-dimensional model of the delivery device and the holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand. (Supplementary Note 5)

[0088] The robot simulation device (10) according to supplementary note 4, wherein the simulation execution unit (113) moves the three-dimensional model of the robot to the three-dimensional model of the discharge device, displays the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and deletes the three-dimensional model of the workpiece on the three-dimensional model of the hand. (Supplementary Note 6)

[0089] The robot simulation device (10) according to any one of additional notes 1 to 5, wherein the workpiece holding quantity determination unit (114) accepts a user input for determining the quantity of three-dimensional models of jointly held workpieces. (Supplementary Note 7)

[0090] The robot simulation device (10) according to any one of additional notes 1 to 6, wherein the reference workpiece determination unit (115) accepts a user input for determining the workpiece serving as a reference. (Supplementary Note 8)

[0091] The robot simulation device (10) according to any one of additional notes 1 to 7, further comprising a workpiece interval determining unit (123) configured to accept an input for determining the interval between the three-dimensional models of the workpieces on the three-dimensional model of the feeder. (Supplementary Note 9)

[0092] The robot simulation device (10) according to any one of additional notes 1 to 8, wherein the feeding device is a conveyor device and the discharge device is a conveyor device. (Supplementary Note 10)

[0093] The robot simulation device (10) according to any one of additional notes 1 to 8, wherein the feeding device is a conveyor device and the discharge device is a fixed location. (Supplementary Note 11)

[0094] The robot simulation device (10) according to any one of additional notes 1 to 8, wherein the feeding device is a fixed location and the discharge device is a conveyor device. (Supplementary Note 12)

[0095] A robot simulation device (10) with: a three-dimensional model arrangement unit (112) configured to arrange, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a hand attached to the robot, a three-dimensional model of a feeder, a three-dimensional model of a discharger, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the feeder; and a simulation execution unit (113) configured to, based on a set of three-dimensional models of workpieces collectively held by the three-dimensional model of the hand, a three-dimensional model of a workpiece serving as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, an interval between three-dimensional models of workpieces on the three-dimensional model of the feeding device, a position and a posture of the three-dimensional model of the robot when it moves toward the three-dimensional model of the feeding device, and a holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, to move the three-dimensional model of the robot to the three-dimensional model of the feeder, to delete the three-dimensional model of the workpiece on the three-dimensional model of the feeder, and to display the three-dimensional model of the workpiece on the three-dimensional model of the hand, and

[0096] Moving the three-dimensional model of the robot to the three-dimensional model of the discharge device, displaying the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and deleting the three-dimensional model of the workpiece on the three-dimensional model of the hand. LIST OF REFERENCE SYMBOLS 10 Robot simulation device 11 CPU 12 Display unit 13 operating unit 111 Unit for creating virtual space 112 Unit for arranging three-dimensional models 113 Unit for running simulations 114 Unit for determining the workpiece holding quantity 115 Unit for determining the reference workpieces 116 Unit for adjusting the holding position of hand workpieces 117 Feeder workpiece deletion unit 118 Unit for displaying hand-made workpieces 119 Unit for displaying workpieces of the feeder 120 Unit for deleting hand workpieces 121 Unit for setting fixed workpiece arrangements 122 storage unit 123 Unit for determining workpiece intervals 20M robot model 30M hand model 70M, 71M model of the acquisition device 80M, 90M model of the conveyor WM model of the workpiece 180M, 190M model of the fixed stand 191 storage space 100M, 200M, 300M model of the robot system QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2016-026899 A

[0003] JP 2009-070078 A

[0003] JP 2020-199625 A

[0003]

Claims

[1] A robot simulation device comprising: a three-dimensional model arrangement unit configured to arrange, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a hand attached to the robot, a three-dimensional model of a feeder, a three-dimensional model of a discharger, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the feeder a workpiece holding quantity determination unit configured to accept an input for determining a quantity of three-dimensional models of workpieces held jointly by the three-dimensional model of the hand a reference workpiece determining unit configured to accept an input for determining a three-dimensional model of a workpiece to serve as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand; and a hand-held workpiece holding position adjustment unit configured to adjust a holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, based on the designated amount of the three-dimensional model of the workpiece held together, the three-dimensional model of the workpiece serving as the reference, an interval between three-dimensional models of workpieces on the three-dimensional model of the feeder, and a position and a posture of the three-dimensional model of the robot when it moves onto the three-dimensional model of the feeder. [2] The robot simulation device according to claim 1, further comprising a simulation execution unit configured to move the three-dimensional model of the robot to the three-dimensional model of the feeder and cause the three-dimensional model of the robot to perform a movement of jointly holding the three-dimensional models of the workpieces by the three-dimensional model of the hand, based on the position and posture of the three-dimensional model of the robot when moving to the three-dimensional model of the feeder and the holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand. [3] The robot simulation device according to claim 2, wherein the simulation execution unit moves the three-dimensional model of the robot to the three-dimensional model of the feeder, deletes the three-dimensional model of the workpiece on the three-dimensional model of the feeder, and displays the three-dimensional model of the workpiece on the three-dimensional model of the hand. [4] The robot simulation device according to claim 2 or 3, wherein the simulation execution unit moves the three-dimensional model of the robot to the three-dimensional model of the delivery device and causes the three-dimensional model of the robot to place the three-dimensional model of the workpiece on the delivery device based on the position and posture of the three-dimensional model of the robot when moving to the three-dimensional model of the delivery device and the holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand. [5] The robot simulation device according to claim 4, wherein the simulation execution unit moves the three-dimensional model of the robot to the three-dimensional model of the discharge device, displays the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and deletes the three-dimensional model of the workpiece on the three-dimensional model of the hand. [6] The robot simulation apparatus according to any one of claims 1 to 5, wherein the held workpiece quantity determining unit accepts a user input to determine the quantity of three-dimensional models of jointly held workpieces. [7] The robot simulation device according to any one of claims 1 to 6, wherein the reference workpiece determining unit accepts a user input for determining the workpiece to serve as a reference. [8] The robot simulation device according to any one of claims 1 to 7, further comprising a workpiece interval determining unit configured to accept an input for determining the interval between the three-dimensional models of the workpieces on the three-dimensional model of the feeding device. [9] The robot simulation device according to any one of claims 1 to 8, wherein the feeding device is a conveyor device and the discharging device is a conveyor device. [10] The robot simulation device according to any one of claims 1 to 8, wherein the feeding device is a conveyor device and the discharging device is a fixed stand. [11] The robot simulation device according to any one of claims 1 to 8, wherein the feeding device is a fixed station and the discharging device is a conveyor device. [12] The robot simulation device comprising: a three-dimensional model arrangement unit configured to arrange, in a virtual space, a three-dimensional model of a robot, a three-dimensional model of a hand attached to the robot, a three-dimensional model of a feeder, a three-dimensional model of a discharger, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the feeder; and a simulation execution unit configured to, based on a set of three-dimensional models of workpieces collectively held by the three-dimensional model of the hand, a three-dimensional model of a workpiece serving as a reference when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, an interval between three-dimensional models of workpieces on the three-dimensional model of the feeding device, a position and a posture of the three-dimensional model of the robot when it moves toward the three-dimensional model of the feeding device, and a holding position of the three-dimensional model of the workpiece with respect to the three-dimensional model of the hand when the three-dimensional model of the workpiece is held by the three-dimensional model of the hand, Moving the three-dimensional model of the robot to the three-dimensional model of the feeder, deleting the three-dimensional model of the workpiece on the three-dimensional model of the feeder, and displaying the three-dimensional model of the workpiece on the three-dimensional model of the hand, and Moving the three-dimensional model of the robot to the three-dimensional model of the discharge device, displaying the three-dimensional model of the workpiece on the three-dimensional model of the discharge device, and deleting the three-dimensional model of the workpiece on the three-dimensional model of the hand.

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