Simulation device and program

Abstract

A simulation device according to one aspect of the present disclosure comprises a storage unit for storing a three-dimensional model relating to a workpiece to be hardened; a receiving unit for receiving user input for specifying a hardening area and a target value for a hardening depth of the three-dimensional model of the workpiece; a unit for generating three-dimensional display models in order to create a three-dimensional display model from the three-dimensional model of the workpiece in which the hardening area is represented in a mode corresponding to the target value of the hardening depth; and a display unit for displaying the generated three-dimensional display model.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a simulation device and a program with a simulation function. BACKGROUND OF THE TECHNOLOGY

[0002] Hardening is known as a process for hardening the surface of a metal by heating and cooling the metal (for example, patent literature 1). In recent years, local hardening processes using lasers, radiofrequency waves, etc., have attracted attention due to their ability to reduce workpiece deformation. Consequently, there is an increasing trend toward hardening using a robotic hardening device equipped with a laser generator as the end effector. QUOTE LIST PATENT LITERATURE

[0003] Patent literature 1: Japanese unexamined patent application no. 2010-52023 SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] In order for the robot to perform the hardening process, a hardening program must be created. This program requires the precise definition of numerous parameters, such as the irradiation conditions and the robot's operating conditions. However, teaching the hardening program while the actual robot is running is impractical due to safety concerns and the need to prepare the workpiece. Therefore, it is desirable to establish an environment where a robot's hardening program can be taught using simulation, and to propose a technique for replicating the hardening process through simulation. SOLUTION TO THE PROBLEM

[0005] A simulation device according to one aspect of the present disclosure comprises a storage unit for storing a three-dimensional model relating to a workpiece to be hardened; a receiving unit for receiving a user operation for naming a hardening area and a target value for a hardening depth of the three-dimensional model of the workpiece; a unit for generating three-dimensional display models in order to create a three-dimensional display model from the three-dimensional model of the workpiece in which the hardening area is represented in a mode corresponding to the target value of the hardening depth; and a display unit for displaying the generated three-dimensional display model. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 shows an example of a hardening robot system that includes a simulation device, according to the present embodiment. Fig. Figure 2 is a hardware configuration diagram of the simulation device included in the present embodiment. Fig. Figure 3 is a functional block diagram of the simulation device included in the present embodiment. Fig. Figure 4 shows an example of a material table, which is contained in a Fig. The storage unit shown in section 3 is stored. Fig. Figure 5 is a flowchart showing an example of a method for generating a hardening program by the simulation device according to the present embodiment. Fig. Figure 6 is a flowchart that shows an example of a procedure for generating a three-dimensional display model in step S11 of Fig. 5 shows. Fig. Figure 7 shows an example of a settings screen for the procedure to express the hardening area and hardening depth. Fig. Figure 8 shows an example of the expression for the hardening area and hardening depth. Fig. Figure 9 shows an example of a screen for setting the hardening conditions. Fig. Figure 10 shows an example of a screen for setting the irradiation condition. Fig. Figure 11 shows an example of a simulation screen. Fig. Figure 12 shows another example of the simulation screen. Fig. 13 is a flowchart that shows an example of the flow of a process for registering a teaching point in step S15 of Fig. 5 shows. DETAILED DESCRIPTION OF THE INVENTION

[0006] The following describes a simulation device according to the present embodiment with reference to the drawings. In the following description, components that have essentially the same function and configuration are designated by the same reference numerals, and repeated descriptions are given only where necessary.

[0007] Fig. Figure 1 shows an example of a hardening robot system 1 comprising a simulation device 10 according to the present embodiment. As in Fig. As shown in Figure 1, the hardening robot system 1 comprises a robotic device 5, which performs a hardening process on a workpiece 9 to be hardened, and a simulation device 10. The robotic device 5 includes a laser generator 6, which generates a laser, a robotic arm mechanism 7, which is equipped with the laser generator 6 as an end effector, and a control device 8, which controls the laser generator 6 and the robotic arm mechanism 7. According to the present embodiment, the simulation device 10 is connected to the control device 8 so that it can communicate with it.

[0008] The simulation device 10 according to the present embodiment is a computer device with a function capable of generating a hardening program that is executed by the robot device 5 using a simulation. Typically, the simulation device 10 according to the present embodiment is configured as follows.

[0009] Fig. Figure 2 is a hardware configuration diagram of the simulation device 10 according to the present embodiment. As shown in Fig. As shown in Figure 2, the simulation device 10 according to the present embodiment is configured such that hardware such as an operating device 12, a display device 13, a communication device 14, and a storage device 15 are connected to a processor 11 (a CPU, etc.). The simulation device 10 is implemented by a general information processing device such as a personal computer, a tablet, or a smartphone.

[0010] The operating device 12 is implemented by a keyboard, a mouse, a jog wheel, or the like. The operating device 12 can be implemented by a touch panel, which also serves as a display device 13. The user can input various types of information into the simulation device 10 via the operating device 12. The display device 13 is implemented by an LCD or the like. Under the control of the processor 11, various screens are displayed on the display device 13. The communication device 14 is implemented by a communication module that conforms to any communication standard. Under the control of the processor 11, the communication device 14 sends and receives various types of data to and from an external device, such as the robot device 5. The storage device 15 is implemented by an HDD, an SSD, or the like.A simulation program is stored in storage device 15.

[0011] When the simulation program stored in the memory device 15 is executed by the processor 11, as in Fig. As shown in Figure 3, the simulation device 10 functions as a receiving unit 21, a display unit 22, a transmit / receive unit 23, a storage unit 24, a screen generation unit 25, a print method setting unit 26, a hardening condition setting unit 27, a unit for creating three-dimensional display models 28, a virtual space creation unit 29, an irradiation condition setting unit 30, an operating control setting unit 31, a blank point registration unit 32, a program generation unit 33, a model operating control unit 34, a trajectory calculation unit 35 and a hardening depth calculation unit 36.

[0012] The receiving unit 21 receives user input via the operating device 12. In particular, the receiving unit 21 receives the input of a workpiece to be hardened, user input on a three-dimensional model of the workpiece to be hardened, a hardening condition (hardening area, hardening depth), a laser irradiation condition and an operating condition of the robot arm mechanism 7.

[0013] The display unit 22 is operated by the function of the in Fig. The display device 13 shown in section 2 is implemented. The display unit 22 shows various screens relating to the simulation of the hardening process generated by the screen generation unit 25.

[0014] The transmission / receiving unit 23 is operated by the function of the in Fig. The communication device 14 shown in Figure 2 is implemented. The transmission / receiving unit 23 sends data to the robot device 5 and receives data from it. It should be noted that the simulation device 10 can receive user input from an external information processing terminal or the like via a network such as the Internet. In this case, the transmission / receiving unit 23 functions as a receiving unit 21.

[0015] The storage unit 24 is defined by the function of the in Fig. The storage device 15 shown in Figure 2 is implemented. In the storage unit 24, data from a three-dimensional model relating to the simulation of the hardening, data from a material table in which the thermal conductivity is linked to the material of the workpiece, and data from a hardening program are pre-stored.

[0016] The three-dimensional model relating to the hardening simulation comprises a three-dimensional model of the workpiece to be hardened 9, a three-dimensional model (referred to as the robot model) of the robot device 5, which includes the laser generator 6 and the robot arm mechanism 7, and the like. Typically, the data for three-dimensional models are provided by CAD data.

[0017] The curing program describes the operating commands of the robot device 5 according to the operating sequence. The operating commands of the robot device 5 include a movement command for the robot arm mechanism 7, a laser generation command for the laser generator 6, and the like. The curing program also describes an operating state of the robot arm mechanism 7, an irradiation condition of the laser generator 6, and the like.

[0018] The screen generation unit 25 generates various screens related to the creation of the curing program. These screens include a settings screen for defining the curing area and curing depth, a settings screen for setting the curing conditions, a settings screen for setting the laser irradiation conditions, a settings screen for setting the operating conditions, a simulation screen for creating the curing program, and similar screens.

[0019] The Print Procedure setting unit 26 defines the procedure for printing the hardening area and hardening depth based on user input on the settings screen. Details of the print procedure are described later.

[0020] The hardening condition setting unit 27 defines the hardening conditions based on user input on the hardening conditions setting screen. The hardening conditions include a hardening range and a target value for the hardening depth in the workpiece 9 to be hardened. The details of the hardening conditions are described later.

[0021] The unit for creating three-dimensional display models 28 creates a three-dimensional display model from the data of the 3D model of the workpiece 9, in which the hardening area is represented in a mode corresponding to the target value of the hardening depth. The unit for creating three-dimensional display models 28 also changes at least the mode of the hardening area based on the execution result of the simulation. In particular, the hardening area expressed in a mode corresponding to the target value of the hardening depth is changed according to the calculated value of the hardening depth.

[0022] The Virtual Space Creation Unit 29 creates a virtual space on software that three-dimensionally represents the workspace of the robot device 5 and arranges the robot model and the three-dimensional display model in the generated virtual space. The virtual space generated by the Virtual Space Creation Unit 29 is displayed on the simulation screen for creating the hardening program or the like. The robot model and the three-dimensional display model are arranged in the virtual space so that they correspond to the positional relationship between the robot device 5 and the workpiece 9 in the actual workspace.

[0023] The irradiation condition setting unit 30 sets the laser irradiation conditions based on user input on the settings screen for adjusting the laser irradiation conditions of the laser generated by laser generator 6. Details of the laser irradiation conditions are described later.

[0024] The operating control setting unit 31 defines the operating conditions of the robot arm mechanism 7 based on user input on the settings screen. The operating conditions include known parameters such as acceleration, operating speed, interpolation type, and motion type.

[0025] The teaching point registration unit 32 registers the position of the hand reference point and the hand position of the robot model as a teaching point via user operation in the virtual space in which the robot model and the three-dimensional display model are arranged. For example, the position of the robot model's hand reference point is set at the position of the laser irradiation window of the three-dimensional model of the laser generator 6.

[0026] The program creation unit 33 generates a hardening program based on the operating conditions of the robot arm mechanism 7 set by the operating control setting unit 31, the irradiation condition set by the irradiation condition setting unit 30, and a multitude of blank points registered by the blank point registration unit 32.

[0027] The model operating control unit 34 causes the robot model, arranged in the virtual space on the display unit 22, to be operated according to the hardening program. Through the processing of the model operating control unit 34, the robot model is moved and the irradiation point of the laser emitted by the robot model is moved.

[0028] The trajectory calculation unit 35 calculates a motion path along which the laser radiation spot moves on the three-dimensional display model. For example, the trajectory calculation unit 35 can calculate the motion path of the radiation spot based on a variety of blanking points defined in the hardening program and the laser radiation conditions.

[0029] The curing depth calculation unit 36 ​​calculates the curing depth along the movement path for each unit area based on the movement speed of the irradiation point along the movement path and the laser irradiation conditions. Specifically, the curing depth calculation unit 36 ​​calculates the curing depth per unit time for each unit area along the movement path of the irradiation point based on the thermal conductivity of the object (the object being irradiated with the laser) along the movement path (the thermal conductivity of the curing area if the irradiation point is moving within the curing area), the laser power, and the distance from the light source to the object (the distance from the light source to the curing area if the irradiation point is moving within the curing area).Furthermore, the curing depth calculation unit 36 ​​calculates the laser irradiation time for each unit area along the path of movement of the irradiation point based on the movement speed along that path. Subsequently, the curing depth calculation unit 36 ​​calculates the value of the curing depth for each unit area along the path of movement of the irradiation point based on the curing depth per unit time calculated for each unit area along the path and the laser irradiation time.

[0030] By processing the model operating control unit 34, the trajectory calculation unit 35 and the hardening depth calculation unit 36, the robot model arranged in virtual space is simulated and operated according to the hardening program and the hardening is simulated on the three-dimensional display model.

[0031] The material table stored in storage unit 24 is referred to below with reference to Fig. 4 described. Fig. Figure 4 shows an example of the material table stored in storage unit 24. As in Fig. As shown in Figure 4, the material table is a mapping table in which the material-specific thermal conductivity λ is assigned to each of a large number of material types. Here, only the thermal conductivity is assigned to each material, but a recommended curing depth can also be assigned to each material.

[0032] The following refers to Fig. 5 a method for creating the hardening program by the simulation device 10 according to the present embodiment is described. Fig. Figure 5 is a flowchart showing an example of the procedure for creating the hardening program by the simulation device 10 according to the present embodiment.

[0033] As in Fig. As shown in Figure 5, the simulation device 10, based on user input (S11), creates a three-dimensional display model from the three-dimensional model of the workpiece 9 to be hardened and arranges the three-dimensional display model together with the robot model in the virtual space (S12). The virtual space in which the robot model and the three-dimensional display model are arranged is displayed on the simulation screen. Next, based on user input (S13, S14), the simulation device 10 defines the laser irradiation conditions and the operating conditions of the robot arm mechanism 7. Following this, the simulation device 10, based on user input, registers a multitude of learning points on the simulation screen (S15).Based on the laser irradiation conditions defined in step S13, the operating conditions of the robot arm mechanism 7 defined in step S14, and the multitude of blanks registered in step S15, the simulation device 10 generates a hardening program (S16). Subsequently, the simulation device 10 performs a simulation. Specifically, the robot model arranged in virtual space is operated in simulated operation based on the hardening program created in step S16 (S17). In step S17, the mode of the hardening area in the three-dimensional display model is changed according to the calculated value of the hardening depth. The user can determine whether the hardening program was created correctly by checking the mode of the hardening area in the three-dimensional display model. The processes of steps S13 to S17 are repeated until the user has completed the generation of the hardening program (S18; No).Based on the completion of the hardening program generation by the user, the processing to generate the hardening program is terminated (S18; Yes).

[0034] The process for generating a three-dimensional display model according to step S11 in Fig. 5 will be referred to below with reference to Fig. 6 described. Fig. Figure 6 is a flowchart that shows an example of the process flow for generating a three-dimensional display model according to step S11 in Fig. 5 shows.

[0035] As in Fig. As shown in Figure 6, the simulation device 10 receives a workpiece 9 to be hardened based on user input (S111) and defines a method for expressing the hardening (hardening area and hardening depth) in the three-dimensional model of the received workpiece 9 (S112). Next, the simulation device 10 defines the hardening area and hardening depth based on user input on the three-dimensional model of the workpiece 9 (S113, S114). Then, the simulation device 10 creates a three-dimensional display model from the three-dimensional model of the workpiece 9, in which the hardening area defined in step S113 is represented by the expression method defined in step S114 in a mode corresponding to the hardening depth defined in step S112 (S115), and displays the created three-dimensional display model (S116).By viewing the three-dimensional display model shown by the process of step S116, the user can verify whether the planned hardening area for workpiece 9 is defined and whether the target hardening depth is correctly set within the hardening area. The processes of steps S112 to S116 are executed repeatedly until the user has completed creating the three-dimensional display model, i.e., until the setting of the hardening area and hardening depth for the three-dimensional model of workpiece 9 is complete (S117; No). Based on the user's completion of creating the three-dimensional display model, the process of creating the three-dimensional display model is terminated (S117; Yes).

[0036] The procedure for expressing the hardening area and hardening depth using the expression procedure setting unit 26 in step S112 of Fig. 6 will be referred to below with reference to Fig. 7 and Fig. 8 described. Fig. Figure 7 shows an example of a settings screen 100 for setting the procedure for expressing the hardening area and hardening depth. Fig. Figure 8 shows an example of the expressions for hardening area and hardening depth.

[0037] As in Fig. As shown in Figure 7, the procedure for expressing the hardening area is selected by the user from a variety of options, including “adding a block model to the three-dimensional model of the workpiece” and “changing the surface mode of the three-dimensional model of the workpiece”.

[0038] "Adding a block model to a three-dimensional model of a workpiece" is a method for representing the hardening area by placing a block model, representing the hardening, on the surface of the three-dimensional model of the workpiece. The shape of the block model is selected by a user interface from a variety of options, including a "spherical shape" and a "cubic shape." The shape of the block model is not limited to these; any shape, such as a rectangular parallelepiped, an ellipsoid, or an elongated spheroid, can be used. The method for representing the hardening depth is selected by the user interface from a variety of options, including "block model color," "attached numerical value," and "number of block models."The method for representing the hardening depth is not limited to this, and patterns and similar devices can also be used.

[0039] As in Fig. As shown in Figure 8, if the shape of the block model 95 is "cubic shape" and the method for expressing the hardening depth is "block model color," the block models 95a and 95b are arranged in the hardening area of ​​the three-dimensional display model 91. The size of a block model 95 (the area of ​​one face of the cube) corresponds to the area unit of the hardening area. Therefore, a number of block models 95 corresponding to the area of ​​the hardening area are arranged in the hardening area. The mode of the hardening area can be set for each area unit. Block models 95a and 95b, with their different colors, represent curing depths of "0.5 mm" and "1.0 mm," respectively. If the "cubic shape" of block model 95 and the "appended numerical value" method for representing the curing depth are selected, block models 95c and 95d are arranged within the curing area of ​​the three-dimensional display model 91.Block models 95c and 95d, with different appended numerical values, represent curing depths of "0.5 mm" and "1.0 mm," respectively. When the "cubic shape" and the "number of block models" method for representing the curing depth of block model 95 are selected, block models 95e and 95f are arranged within the curing area of ​​the three-dimensional display model 91. Block model 95e is a model in which one unit block model 97 is arranged within a square frame 96, corresponding to one unit area, and represents a curing depth of "0.5 mm." Block model 95f is a model in which two unit block models 97 are arranged within a square frame 96, corresponding to one unit area, and represent a curing depth of "1.0 mm."

[0040] As in Fig. As shown in Figure 7, “changing the surface of the model to be cleaned” is a method for expressing the hardening area by changing the mode of the surface of the three-dimensional model of the workpiece 9, instead of expressing the hardening area by an object such as the block model 95 (see Figure 7). Fig. 8) The method for displaying the curing depth is selected by the user from a variety of options, including color and the associated numerical value. The method for displaying the curing depth is not limited to these options, and patterns and similar elements can also be used.

[0041] As in Fig. As shown in Figure 8, when the "Color" method for expressing the curing depth is selected, the color of the curing area in the three-dimensional display model 91 is changed, as shown in curing areas 91a and 91b. The size of a square frame represented by curing areas 91a and 91b corresponds to the area unit of the curing area. That is, the mode of the curing area can be set for each area unit. Curing areas 91a and 91b with different colors represent curing depths of "0.5 mm" and "1.0 mm," respectively. When the "Appended Numerical Value" method for displaying the curing depth is selected, a numerical value representing the curing depth is appended to the curing area in the three-dimensional display model 91, as shown in curing areas 91c and 91d. The hardening areas 91c and 91d with different appended numerical values ​​represent hardening depths of “0.5 mm” and “1.0 mm” respectively.

[0042] The procedure for setting the hardening condition by the hardening condition setting unit 27 in steps S113 and S114 of Fig. 6 is below with reference to Fig. 9 described. Fig. Figure 9 shows an example of a hardening condition setting screen 200. The hardening condition setting screen 200 is configured so that at least the hardening area and the hardening depth can be set as hardening conditions.

[0043] As in Fig. As shown in Figure 9(a), the three-dimensional model 90 of the workpiece 9 and a form 210 for inputting the curing depth are displayed on the screen 200 to define the curing conditions. The user can designate the area enclosed by a band-shaped figure 220 as the curing area by positioning the figure 220 on the surface of the three-dimensional model 90 of the workpiece 9, enlarging or reducing the figure 220. As shown in Fig. As shown in Figure 9(b), the user can enter the hardening depth of the hardening area enclosed by Figure 220 by entering a numerical value in the text box corresponding to the "Hardening Depth" element displayed in the hardening depth input form 210. Once the hardening area and hardening depth have been entered, a three-dimensional display model 91 is created and displayed from the three-dimensional model 90 of the workpiece 9, in which the hardening area is represented in a mode corresponding to the hardening depth. The hardening area and hardening depth are determined based on an OK button clicked by the user.

[0044] In this way, the user can name the hardening area in the three-dimensional model 90 of the workpiece 9 through intuitive operation of the three-dimensional model 90 of the workpiece 9. It should be noted that the procedure for naming the hardening area is not limited to this, but that the hardening area can also be defined by coordinate values ​​in a common coordinate system with the three-dimensional model 90 of the workpiece 9, as shown in Fig. The hardening area can be shown in Figure 9, or by arranging any shape, such as a circle, on the surface of the three-dimensional model 90 of the workpiece 9. Of course, the entire surface of the workpiece 9 can be collectively designated as the hardening area, or the hardening area can be designated in units of parts (units of areas) that comprise the workpiece 9. Furthermore, a recommended hardening depth can be automatically designated as the hardening depth based on the material.

[0045] Since the user can only confirm the curing area and curing depth by viewing the three-dimensional display model 91, the setting of the curing conditions, such as adding or correcting the curing area and curing depth, can be carried out efficiently.

[0046] The procedure for setting the laser irradiation conditions by the irradiation condition setting unit 30 in step S13 of Fig. 5 will be referred to below with reference to Fig. 10 described. Fig. Figure 10 shows an example of a screen for setting laser irradiation conditions. Screen 300 for setting irradiation conditions is configured to define laser irradiation conditions such as laser power, distance from the light source (irradiation window) to the three-dimensional model of the workpiece, irradiation angle, spot shape, and spot diameter. As shown in Fig. As shown in Figure 10, the screen for setting irradiation condition 300 displays an input form for irradiation condition 310, a two-dimensional simplified laser irradiation model 60, and an irradiation point 61. The irradiation point 61 is modified according to the spot shape and spot diameter. The user can set the irradiation condition by entering characters, numbers, and the like into a variety of text fields, which correspond to a variety of the elements displayed on the irradiation condition 310 input form, and clicking the "OK" button.

[0047] The process of executing the simulation in step S17 of Fig. 5 will be referred to below with reference to Fig. 11 and Fig. 12 described. Fig. Figure 11 shows an example of a simulation screen. Fig. Figure 12 shows another example of the simulation screen. Fig. 11(a) shows the state before the simulation was run, and Fig. 11(b), Fig. 12(a) and Fig. Figure 12(b) shows the state after the simulation has been performed.

[0048] Simulation screen 400 is displayed when the hardening program is created. Simulation screen 400 displays a virtual space in which the three-dimensional display model 91 and the robot model 50 are arranged. When the three-dimensional display model 91 is irradiated with a laser, the irradiation point 61 is projected onto the three-dimensional display model 91. The user can, for example, manually register the irradiation point while moving the robot model 50 displayed on simulation screen 400 using a cursor operation or similar action.

[0049] When the simulation based on the hardening program is executed, a multitude of curing points P1 to P4, defined by the hardening program, are displayed in the virtual space. Additionally, a legend 410 is displayed to explain the hardening depth expressed on the displayed three-dimensional display model 91. Here, the coordinate system of the virtual space is defined as follows: the width direction of the three-dimensional display model 91 (the left-right direction of the robot model 50) is defined as the X-direction, the depth direction (the front-back direction of the robot model 50) is defined as the Y-direction, and the height direction (the up-down direction of the robot model 50) is defined as the Z-direction. As in Fig. 11 and Fig. As shown in Figure 12, it is desirable to display the irradiation point 61 when the hardening simulation is performed or when the blank point is registered. Accordingly, it is possible to see at a glance whether the hardening area 91s of the three-dimensional display model 91 is being irradiated with the laser, and it is possible to efficiently perform blank point registration, hardening program correction, and the like.

[0050] As in Fig. As shown in Figure 11(a), the target value of the curing depth is set to 1.0 mm in the curing area 91s in the three-dimensional display model 91. When the simulation is executed, the hand reference point of the robot model 50 is moved sequentially from the teaching point P1 to the teaching point P4. While the hand reference point of the robot model 50 moves from the teaching point P1 to the teaching point P2 and while the hand reference point of the robot model 50 moves from the teaching point P3 to the teaching point P4, a laser is emitted, and the irradiation point 61 moves according to the movement of the robot model 50 on the three-dimensional display model 91.

[0051] As in Fig. As shown in Figure 11(b), if the calculated curing depth in curing area 91s is 1.0 mm, the curing area 91s mode changes from the mode corresponding to the target curing depth of 1.0 mm to the mode corresponding to "Curing complete," indicating that the curing process was carried out as intended. By displaying the area where curing is complete using color, pattern, or similar means, it is possible to identify the curing area even after the simulation has run. By confirming that the entire display mode of curing area 91s has changed to the mode indicating that the curing process was carried out as intended, the user can verify that a curing program has been created that can perform the curing process as intended.It should be noted that "hardening complete" can be expressed by resetting the hardening area mode to its original state before the hardening area was defined.

[0052] As in Fig. As shown in Figure 12(a), when the calculated value of the curing depth in two first sub-areas 91s1, distributed above and below the curing area 91s, is 1.0 mm, the mode of the first sub-areas 91s1 changes from the mode corresponding to the target curing depth of 1.0 mm to the mode corresponding to "Curing complete," indicating that the curing was carried out as intended. If the calculated value of the curing depth in a central second sub-area 91s2 between the upper and lower parts of the curing area 91s is 2.0 mm, the mode of the second sub-area 91s2 changes from the mode corresponding to the target curing depth of 1.0 mm to the mode corresponding to "Overcuring," indicating that the curing was carried out deeper than intended.At this point, the calculated value of the hardening depth can be displayed, or the difference between the calculated value and the target value of the hardening depth can be displayed. Based on the in . Fig. As shown in the simulation result in Figure 12(a), the user can see that the middle area between the upper and lower regions of the hardening area 91s was redundantly hardened. This allows, for example, a correction of the hardening program, such as a change in the spot diameter or a change in the position of a blanking point.

[0053] As in Fig. As shown in Figure 12(b), if the calculated value of the curing depth across the entire curing area 91s is 0.8 mm, the mode of curing area 91s changes from the mode corresponding to the target curing depth of 1.0 mm to the mode indicating "insufficient curing," meaning that the curing was performed more shallowly than intended. At this point, the calculated value of the curing depth can be displayed, or the difference between the calculated value and the target curing depth can be displayed. Based on the in Fig. As shown in the simulation result in Figure 12(b), the user can determine that the hardening in the hardening period of 91s is generally insufficient. Consequently, it is possible to correct the hardening program, for example by increasing the laser power or decreasing the movement speed from the starting point P1 to the starting point P2 or from the starting point P3 to the starting point P4.

[0054] According to the simulation device 10 of the present embodiment, it is possible to generate a three-dimensional display model 91 from the three-dimensional model 90 of the workpiece 9 to be hardened, in which the hardening area is represented in a mode corresponding to the hardening depth, and to display the three-dimensional display model 91. In this way, the user can intuitively grasp, simply by viewing the three-dimensional display model 91, which area of ​​the three-dimensional model 90 of the workpiece 9 has been defined as the hardening area and which hardening depth of the hardening area has been defined, and can efficiently adjust the hardening conditions, such as deleting, adding, or correcting the hardening area or the hardening depth. This is one of the advantageous techniques for realizing the hardening simulation.

[0055] During the hardening simulation, it is possible to compare the calculated hardening depth value in the hardening area of ​​the three-dimensional display model 91 with the target value and change the hardening area mode accordingly. For example, if the calculated hardening depth value in the hardening area matches the target value, the hardening area mode is changed to the mode indicating that the hardening was performed as intended. If the calculated hardening depth value in the hardening area is deeper than the target value, the hardening area mode is changed to the mode indicating that the hardening was performed deeper than intended. If the calculated hardening depth value in the hardening area is less than the target value, the hardening area mode is changed to the mode indicating that the hardening was performed to a shallower depth than intended.At least the mode of the hardening range differs when the calculated value reaches the target value of the hardening depth from the mode of the hardening range when the calculated value does not reach the target value of the hardening depth.

[0056] The user can intuitively determine whether the hardening process was performed as intended by viewing the three-dimensional display model 91 on the screen after the simulation has run. Furthermore, since the mode of the three-dimensional display model 91 changes after the simulation, revealing areas where the hardening was shallower than intended, deeper than intended, where no hardening occurred, where unexpected hardening occurred, and so on, it is easy to check how the hardening program should be corrected, and the correction of the hardening program can be carried out efficiently.

[0057] As described above, the simulation device 10 according to the present embodiment can generate a three-dimensional display model 91 from the three-dimensional model 90 of the workpiece 9 to be hardened, in which the hardening area is represented in a mode corresponding to the hardening depth, and display the three-dimensional display model 91. This is an advantageous technique for realizing a simulation to reproduce the hardening process and contributes to improving the efficiency of defining the hardening area and hardening depth, as well as the user's correction of the hardening program.

[0058] With reference to Fig. In the processing described in section 5 for generating the curing program, the user manually performs the following steps: defining the irradiation conditions (step S13), defining the operating conditions (step S14), registering a blank point (step S15), and confirming and correcting the curing program (step S18). However, it is possible to automate all or some of these steps. Automating some or all of these steps can save the user time and effort when generating the curing program.

[0059] For example, the registration of a learning point in step S15 of Fig. 5. will be automated according to the following procedure. With reference to Fig. 13 below describes the procedure for automatically registering a learning point in step S15 of Fig. 5 described. Fig. 13 is a flowchart that provides an example of the procedure for registering a teaching point in step S15 of Fig. Figure 5 shows that the robot model 50 is assumed to be in a fixed standby position.

[0060] As in Fig. As shown in Figure 13, at the start of the automatic registration of a blank point, a curing area closest to the current position is searched for (S151). If there is a curing area where the curing is not yet complete (S152; Yes), the robot model 50 is moved to a position from which the laser can be directed at the curing area (S153), and the position and orientation after the movement are registered as a blank point (S154). Then, the simulation device 10 changes the mode of the curing area irradiated by the laser from the robot model 50 to the mode indicating the completion of the curing (S155). The processes of steps S151 to S155 are repeated until there are no more curing areas where the curing is not complete, i.e., until the curing is complete. Through the process of automatic registration of a blank point according to Fig.13. Several blanking points, capable of hardening the entire hardening area, are automatically registered according to the sequence of movements. As in the case of manual registration of blanking points, the simulation device 10 creates a hardening program based on the multitude of automatically registered blanking points.

[0061] It should be noted that the simulation device 10 can automatically determine the laser irradiation conditions based on the size of the curing area, the material, and the curing depth in the three-dimensional display model 91. Similarly, the simulation device 10 can be automatically adjusted according to the laser irradiation conditions, the material of the curing area, the curing depth, and the like.

[0062] In the present embodiment, the hardening is carried out using a laser. However, the hardening method is not limited to the laser, as long as partial hardening can be performed. For example, a high frequency can be used for hardening. This is possible if the laser generator 6 is replaced by a high-frequency coil.

[0063] In the present embodiment, the curing depth is set for the curing area, and the curing mode of the area is changed according to the curing depth. However, other parameters can also be set for the curing area. For example, the absorption energy for the curing area can be set, and the curing mode of the area can be changed according to the amount of absorption energy.

[0064] The simulation device 1 according to the present embodiment has the function of generating a three-dimensional display model from a three-dimensional model of a workpiece to be hardened. In this display model, a hardening area is represented in a mode corresponding to a hardening depth, and the three-dimensional display model is shown. This function can be applied not only to hardening but also to paint stripping and rust removal. In this case, the three-dimensional model of the workpiece to be hardened can be reformulated as a three-dimensional model of the workpiece to be stripped of paint or rust, the hardening area can be reformulated as the area to be stripped of paint or rust, and the hardening depth can be reformulated as the paint thickness or rust thickness. In this way, it is possible to simulate paint removal or rust removal.

[0065] The different types of data, such as a simulation program, stored in the storage device 15, can be distributed by recording them on a removable medium or by downloading them to the simulation device 10 via a network.

[0066] The following annexes are further disclosed with regard to the present embodiment and modifications. (Annex 1)

[0067] A simulation device 10 comprises a storage unit 24 for storing a three-dimensional model 90 relating to a workpiece 9 to be hardened; a receiving unit 21 for receiving a user operation to name a hardening area and a target value for a hardening depth of the three-dimensional model 90 of the workpiece 9; a three-dimensional display model generation unit 28 for generating a three-dimensional display model 91 from the three-dimensional model 90 of the workpiece 9, wherein the hardening area is displayed in a mode corresponding to the target value of the hardening depth; and a display unit 22 for displaying the generated three-dimensional display model 91. (Annex 2)

[0068] In the simulation device 10 according to Annex 1, the three-dimensional display model 91 is a model in which a surface of the hardening area in the three-dimensional model 90 of the workpiece 9 is displayed in a mode that corresponds to the target value of the hardening depth. (Annex 3)

[0069] In the simulation device 10 according to Annex 1, the three-dimensional display model 91 is a model in which a block model is attached to the hardening area on the three-dimensional model 90 of the workpiece 9 in a mode corresponding to the target value of the hardening depth. (Annex 4)

[0070] In the simulation device 10 according to Annex 3, the block model is represented by a sphere shape or a cube shape. (Annex 5)

[0071] The simulation device 10 according to one of Annexes 1 to 4 further comprises a trajectory calculation unit 35 for calculating a motion path on the three-dimensional display model 91 along which an irradiation point of a curing laser moves; and a curing depth calculation unit 36 ​​for calculating a curing depth value on the motion path for each area unit based on an irradiation condition of the curing laser and a motion velocity of the irradiation point on the motion path. The three-dimensional display model generation unit 28 changes the mode according to the target curing depth value based on the calculated curing depth value. (Annex 6)

[0072] In the simulation device 10 according to Annex 5, a mode in which the calculated value of the hardening depth reaches the target value of the hardening depth differs from a mode in which the calculated value of the hardening depth does not reach the target value of the hardening depth. (Annex 7)

[0073] The simulation device 10 according to one of Annexes 1 to 6 further comprises: a program generation unit 33 for creating a hardening program based on a plurality of positions of a hardening robot model 50, from which a hardening laser can be applied to the hardening area of ​​the three-dimensional display model 91. (Annex 8)

[0074] When a program causes a computer, which stores a three-dimensional model with respect to a workpiece 9 to be hardened, to perform the following: means of receiving a user operation to name a hardening area and a target value for the hardening depth of the three-dimensional model 90 of the workpiece 9; means of creating a three-dimensional display model 91 from the three-dimensional model 90 of the workpiece 9, wherein the hardening area is represented in a mode corresponding to the target value of the hardening depth; and means of displaying the created three-dimensional display model 91.

[0075] Although embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments may be subjected to various additions, substitutions, modifications, partial deletions, etc., without departing from the essence of the invention or the idea and spirit of the present invention as derived from the content of the claims and their equivalents. For example, the embodiments described above show the sequence of operations and the sequence of processes as examples, and the sequences are not limited to these. The same applies if numerical values ​​or formulas are used in the description of the embodiments described above. EXPLANATION OF THE REFERENCE SYMBOLS

[0076] 1: Curing robot system, 5: Robot device, 6: Laser generator, 7: Robot arm mechanism, 8: Control device, 9: Workpiece, 10: Simulation device, 11: Processor, 12: Operating device, 13: Display device, 14: Communication device, 15: Storage device, 21: Receiving unit, 22: Display unit, 23: Transmitting / receiving unit, 24: Storage unit, 25: Screen generation unit, 26: Print method setting unit, 27: Curing condition setting unit, 28: Unit for creating three-dimensional display models, 29: Virtual space creation unit, 30: Irradiation condition setting unit, 31: Operating control setting unit, 32: Blanking point registration unit, 33: Program generation unit, 34: Model operating control unit, 35: Trajectory calculation unit, 36: Hardening depth calculation unit, 50: Robot model, 90: Three-dimensional model of the workpiece, 91: Three-dimensional display model. QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] JP 2010-52023

[0003]

Claims

[1] Simulation device comprising: a storage unit for storing a three-dimensional model relating to a workpiece to be hardened; a receiving unit for receiving user input for naming a hardening area and a target value for a hardening depth of the three-dimensional model of the workpiece; a unit for creating three-dimensional display models to generate a three-dimensional display model from the three-dimensional model of the workpiece, in which the hardening area is represented in a mode that corresponds to the target value of the hardening depth; and a display unit for displaying the created three-dimensional display model. [2] Simulation device according to claim 1, wherein the three-dimensional display model is a model in which a surface of the hardening area in the three-dimensional model of the workpiece is displayed in a mode that corresponds to the target value of the hardening depth. [3] Simulation device according to claim 1, wherein the three-dimensional display model is a model in which a block model is attached to the hardening area on the three-dimensional model of the workpiece in a mode corresponding to the target value of the hardening depth. [4] Simulation device according to claim 3, wherein the block model is represented by a sphere shape or a cube shape. [5] Simulation device according to any one of claims 1 to 4, further comprising: a trajectory calculation unit for calculating a motion path on the three-dimensional display model along which an irradiation point of a hardening laser moves; and A curing depth calculation unit for calculating a calculated value of the curing depth on the movement path for each area unit based on an irradiation condition of the curing laser and a Movement speed of the irradiation point on the movement path, wherein The unit for creating three-dimensional display models changes the mode according to the target value of the hardening depth based on the calculated value of the hardening depth. [6] Simulation device according to claim 5, wherein a mode in which the calculated value of the hardening depth reaches the target value of the hardening depth differs from a mode in which the calculated value of the hardening depth does not reach the target value of the hardening depth. [7] Simulation device according to any one of claims 1 to 6, further comprising: a program generation unit for generating a hardening program based on a multitude of positions of a hardening robot model, from which a hardening laser can be applied to the hardening area of ​​the three-dimensional display model. [8] Program that causes a computer to store a three-dimensional model of a workpiece in order to: Means for receiving user input for naming a hardening area and a target value for the hardening depth of the three-dimensional model of the workpiece; Means for generating a three-dimensional display model from the three-dimensional model of the workpiece, wherein the hardening area is displayed in a mode corresponding to the target value for the hardening depth; and Means for displaying the generated three-dimensional display model.

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