Robot simulation device

Abstract

The present invention easily compares, during or after execution of a simulation, a change in robot operation and cycle time before and after revision of a robot program, or a difference in the robot operation and cycle time between multiple robot programs, the contents of which are partially different.　This robot simulation device is provided with: a three-dimensional model arrangement unit that arranges in a virtual space a robot model representing a robot in a three-dimensional manner; a simulation execution unit that executes a simulation with a robot program and operates a robot model; an operation log storage unit that during the simulation of the robot program, stores the position / orientation of the robot model at each time point as an operation log; and an operation log reproduction unit that selects one or more operation logs from among multiple operation logs, then arranges in the virtual space an operation log reproduction robot model representing the robot in a three-dimensional manner, and operates the operation log reproduction robot model on the basis of time points stored in the selected operation log(s).

Description

Technical Field

[0001] The present invention relates to a robot simulation device.

Background Art

[0002] There has been proposed a technique of arranging and simultaneously displaying on a screen a three-dimensional model of a robot system having a robot equipped with a tool, a workpiece, and peripheral devices, and simulating the operation of a robot program on a computer. For example, see Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, during or after the execution of the simulation, when the teaching position of the robot program or the like is corrected, it may be difficult to compare the changes in the operation and cycle time of the robot before and after the correction, or the differences in the operation and cycle time of the robot between a plurality of robot programs with partially different contents.

[0005] Therefore, it is desired to easily compare the changes in the operation and cycle time of the robot before and after the correction of the robot program during or after the execution of the simulation, or the differences in the operation and cycle time of the robot between a plurality of robot programs with partially different contents.

Means for Solving the Problems

[0006] One aspect of the robot simulation device of the present disclosure is a robot simulation device that performs simulation of a robot program in a robot system including a robot, the robot simulation device including: a three-dimensional model placement unit that places a robot model representing the robot in three dimensions on a virtual space; a simulation execution unit that performs simulation of the robot program and operates the robot model; an operation log storage unit that stores, as an operation log, the position and orientation of the robot model at each time during the simulation of the robot program; and an operation log reproduction unit that selects one or more of the plurality of operation logs stored in the operation log storage unit, further places a robot model for operation log reproduction representing the robot in three dimensions on the virtual space, and operates the robot model for operation log reproduction based on the time stored in the selected operation log.

Advantages of the Invention

[0007] According to one aspect, during or after the execution of the simulation, it is possible to easily compare the changes in the operation and cycle time of the robot before and after the modification of the robot program, or the differences in the operation and cycle time of the robot between a plurality of robot programs with partially different contents.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] <One Embodiment> The configuration of this embodiment will be described in detail with reference to the drawings. Here, an example is illustrated in which a robot with a hand attached in the working space of a virtual space is mounted on peripheral devices of a traveling axis and grips and moves a workpiece. It should be noted that the present invention is also applicable to cases where a robot grips and moves a workpiece without being mounted on a traveling axis, or where a robot processes a workpiece.

[0010] FIG. 1 is a functional block diagram showing a functional configuration example of a robot simulation device according to an embodiment. As shown in FIG. 1, the robot simulation device 1 is a known computer and includes a control unit 10, an input unit 11, a display unit 12, and a storage unit 13. The control unit 10 includes a virtual space creation unit 101, a three-dimensional model placement unit 102, a simulation execution unit 103, and an operation log reproduction unit 104. The storage unit 13 includes an operation log storage unit 131 and a model storage unit 132. Note that the robot simulation device 1 may be interconnected with a robot control device (not shown) that controls the operation of a robot (not shown) and a control device (not shown) that controls the operation of a traveling axis (not shown) via a network such as a LAN (Local Area Network) or the Internet. Alternatively, the robot simulation device 1 may be directly connected to the robot control device (not shown) and the control device (not shown) via a connection interface (not shown).

[0011] <Input Unit 11> The input unit 11 is, for example, a keyboard or a touch panel arranged on the display unit 12 described later, and receives inputs from an operator.

[0012] <Display unit 12> The display unit 12 is, for example, a liquid crystal display or the like. As will be described later, the display unit 12 displays, for example, 3D CAD data (hereinafter also referred to as "robot model") that three-dimensionally represents a robot (not shown) with a hand or the like mounted thereon, which is input (selected) by a user such as an operator via the input unit 11, together with 3D CAD data (hereinafter also referred to as "peripheral device model") that three-dimensionally represents peripheral devices around a traveling axis on which the robot is mounted, and 3D CAD data such as a workpiece and a jig that are gripped by the robot (not shown).

[0013] <Storage unit 13> The storage unit 13 is, for example, an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and may store various robot programs for operating a robot and peripheral devices (not shown) to grip and move a workpiece or the like. As will be described later, the operation log storage unit 131 stores, for each robot program, the position and orientation of the robot model and the peripheral device model at each time as an operation log during the simulation of the robot program by the simulation execution unit 103 when the simulation execution unit 103 performs the simulation of the robot program and operates the robot model and the peripheral device model. As described above, the model storage unit 132 stores 3D CAD data (robot model) of a robot (not shown), 3D CAD models (peripheral device models) of peripheral devices (not shown), and 3D CAD data such as a workpiece and a jig (not shown), which are input (selected) by a user via the input unit 11 and displayed on the display unit 12.

[0014] <Control unit 10> The control unit 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CMOS (Complementary Metal-Oxide-Semiconductor) memory, etc., which are configured to communicate with each other via a bus, and are well-known to those skilled in the art. The CPU is a processor that globally controls the robot simulation device 1. The CPU reads the system program and application program stored in the ROM via the bus, and controls the entire robot simulation device 1 according to the system program and application program. As a result, as shown in FIG. 1, the control unit 10 is configured to realize the functions of the virtual space creation unit 101, the three-dimensional model placement unit 102, the simulation execution unit 103, and the operation log playback unit 104. Various data such as temporary calculation data and display data are stored in the RAM. The CMOS memory is backed up by a battery (not shown) and is configured as a non-volatile memory that retains the storage state even when the power of the robot simulation device 1 is turned off.

[0015] The virtual space creation unit 101 creates a virtual space that three-dimensionally represents a work space in which a robot (not shown), peripheral devices (not shown), and a work piece, a jig, etc. (not shown) are arranged.

[0016] The three-dimensional model placement unit 102 places a robot model of a robot (not shown), a peripheral device model of peripheral devices (not shown), and models (such as 3D CAD data) of work pieces, jigs, etc. in the three-dimensional virtual space created by the virtual space creation unit 101 according to, for example, an input operation of the user input unit 11. Specifically, the three-dimensional model placement unit 102 reads the robot model of the robot from the model storage unit 132 in order to place a robot (not shown) in the virtual space. The three-dimensional model placement unit 102 places the read robot model in the virtual space. In addition, in order to arrange the peripheral device models of the travel axis (not shown) in the virtual space, the three-dimensional model arrangement unit 102 reads the peripheral device models of the travel axis from the model storage unit 132. The three-dimensional model arrangement unit 102 arranges the read peripheral device models of the travel axis in the virtual space. In addition, in order to arrange models (3D CAD models) such as workpieces and jigs (not shown) in the virtual space, the three-dimensional model arrangement unit 102 reads the models (3D CAD models) of workpieces and jigs from the model storage unit 132. The three-dimensional model arrangement unit 102 arranges the read models (3D CAD models) of workpieces and jigs in the virtual space.

[0017] FIG. 2 is a diagram showing an example of an image of the robot system arranged by the three-dimensional model arrangement unit 102. As shown in FIG. 2, in the virtual space of the generated image, a robot model 200, a peripheral device model 210, a workpiece model 220, and jig models 230a and 230b are arranged. The robot model 200 is a three-dimensional model of a vertical articulated robot that grips and moves a workpiece, and is mounted on the peripheral device model 210 which is the travel axis, and has a robot base model 201, a swivel body model 202, a robot arm model 203, and a wrist model 204. The robot arm model 203 has an upper arm model 203a rotatably connected to the swivel body model 202 and a forearm model 203b rotatably connected to the tip of the upper arm model 203a. In the virtual space, the wrist model 204 is provided with, for example, a 3D CAD model of a hand (hereinafter also referred to as a "hand model") 205 at the tip of the forearm model 203b. Note that the robot program of the robot has virtual robot operation parameters for operating the robot model 200 and the peripheral device model 210. The virtual robot operation parameters include parameters such as the origin and axial directions of the robot coordinate system Σr, the peripheral device coordinate system Σm of the travel axis, the origin and axial directions of the workpiece coordinate system Σw, the origin and axial directions of the jig coordinate systems Σj1 and Σj2, the maximum driving speeds of the robot and the travel axis, and the virtual movable range.

[0018] The robot coordinate system Σr is a coordinate system that serves as a reference when operating the robot model 200 in the virtual space, and is defined in the virtual space by the origin and axial directions of the robot coordinate system Σr included in the virtual robot operation parameters. As shown in FIG. 2, the origin of the robot coordinate system Σr is arranged at the center of the robot base model 201, and the swivel body model 202 rotates around the Z axis of the robot coordinate system Σr. The peripheral device coordinate system Σm is a coordinate system that defines the position and orientation of the peripheral device model 210 in the virtual space, and is defined in the virtual space by the origin and axial directions of the peripheral device coordinate system Σm included in the virtual robot operation parameters. The work coordinate system Σw is a coordinate system that defines the position and orientation of the work model 220 in the virtual space, and is defined in the virtual space by the origin and axial directions of the work coordinate system Σw included in the virtual robot operation parameters. The jig coordinate systems Σj1 and Σj2 are coordinate systems that define the position and orientation of the jig models 230a and 230b in the virtual space, and are defined in the virtual space by the origin and axial directions of the jig coordinate systems Σj1 and Σj2 included in the virtual robot operation parameters. As shown in FIG. 2, the origin of the peripheral device coordinate system Σm is arranged to coincide with the end point of the peripheral device model 210 of the traveling axis, and the peripheral device model 210 moves in the X-axis direction of the peripheral device coordinate system Σm. Also, the origin of the work coordinate system Σw is arranged, for example, on the upper surface of the work model 220. The axial direction of the work coordinate system Σw is set such that the direction in which the traveling axis moves is the X axis, and the vertical direction of the upper surface of the work model 220 is the Z axis. Also, the origins of the jig coordinate systems Σj1 and Σj2 are arranged on the upper surfaces of the jig models 230a and 230b, and the axial directions of the jig coordinate systems Σj1 and Σj2 are set such that the direction in which the traveling axis moves is the X axis, and the vertical direction of the upper surfaces of the jig models 230a and 230b is the Z axis. As a result, the robot simulation device 1 can control the position of the tool tip of the hand model 205 by executing a robot program, for example, moving the work model 220 from the jig model 230a to the jig model 230b.

[0019] The simulation execution unit 103 performs a simulation of the robot program and operates the robot model 200 and the peripheral device model 210. The simulation execution unit 103 stores, as an operation log, the position and orientation of each of the robot model 200 and the peripheral device model 210 at each time during the simulation of the robot program in the operation log storage unit 131 for each robot program. Note that the simulation execution unit 103 may generate an image of the robot system operating on the robot simulation device 1 according to the robot program. FIGS. 3A to 3C are diagrams showing an example of the generated image of the robot system. The images of FIGS. 3A to 3C show a case where the work model 220 is handled by the hand model 205 of the robot model 200 while moving the peripheral device model 210 around the traveling axis. Then, the simulation execution unit 103 may display the generated images of FIGS. 3A to 3C on the display unit 12. Further, when the work model 220 is moved to the jig model 230b, the simulation execution unit 103 may end the simulation, or may end the simulation by returning the robot model 200 and the peripheral device model 210 to the operation start position.

[0020] The operation log playback unit 104 selects one or more operation logs from the plurality of operation logs stored in the operation log storage unit 131, further arranges an operation log playback robot model and an operation log playback peripheral device model that three-dimensionally represent a robot (not shown) on a virtual space, and operates the operation log playback robot model and the operation log playback peripheral device model based on the time stored in the selected operation log. The operations of the operation log playback unit 104 will be described below for (a) the case where the simulation execution unit 103 performs the simulation of the robot program or another robot program again, and (b) the case where the simulation execution unit 103 does not perform the simulation of the robot program or another robot program, respectively.

[0021] (a) The case where the simulation execution unit 103 performs the simulation of the robot program or another robot program again When the simulation execution unit 103 performs the simulation of the robot program or another robot program again, for example, the operation log playback unit 104 selects one operation log from the plurality of operation logs stored in the operation log storage unit 131 based on the input operation of the user input unit 11. As shown in FIGS. 4A to 4C, for example, the operation log playback unit 104 arranges the robot model 200 and the peripheral device model 210 shown by solid lines, which are arranged by the three-dimensional model arrangement unit 102 and operated by the simulation execution unit 103, and the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback shown by broken lines on the virtual space together with the operation log playback unit 104. The operation log playback unit 104 displays the images of the robot system in FIGS. 4A to 4C on the display unit 12. As shown in FIGS. 4A to 4C, in the robot program to be simulated, the operation positions of the robot model 200 and the peripheral device model 210 are changed to the +X axis side from the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback, and the position (handling position) of the work model 220 is changed to the +X axis side from the selected operation log. The operation log playback unit 104 synchronizes the time during the simulation by the simulation execution unit 103 with the time stored in the selected operation log, and operates the robot model 200 and the peripheral device model 210, and the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback.

[0022] By doing so, during the execution of the simulation, the robot simulation device 1 can compare the changes in the operations and cycle times of the robot before and after the correction when the teaching position or the like of the robot program is corrected, or the differences in the operations and cycle times of the robot between a plurality of robot programs with partially different contents, including peripheral devices. That is, in the robot system, it is possible to compare the changes in the operations and cycle times of the robot before and after the correction when the teaching position of the robot program is corrected, or the differences in the operations and cycle times of the robot between a plurality of robot programs with partially different contents. Then, the user can select an optimal robot program with a short cycle time, no wasted movement, and no interference between the robot and peripheral devices, etc. Note that the operation log playback unit 104 selects one operation log, but two or more operation logs may be selected. In this case, the operation log playback unit 104 may arrange the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback on the virtual space according to the number of selected operation logs.

[0023] (b) When the simulation execution unit 103 does not perform a simulation of a robot program or another robot program When the operation log playback unit 104, for example, does not perform the simulation of the robot program or another robot program by the simulation execution unit 103, it selects two operation logs out of the plurality of operation logs stored in the operation log storage unit 131 based on the input operation of the user input unit 11. As shown in FIGS. 5A to 5C, for example, the operation log playback unit 104 arranges the robot model 300a for operation log playback and the peripheral device model 310a for operation log playback corresponding to one of the selected operation logs, and the robot model 300b for operation log playback and the peripheral device model 310b for operation log playback corresponding to the other operation log on the virtual space. The operation log playback unit 104 displays the images of the robot system in FIGS. 5A to 5C on the display unit 12. Further, since the operation log playback unit 104 only plays back the selected operation log, as shown in FIGS. 5A to 5C, a slide bar 400 indicating the progress of the playback may be displayed. As shown in FIGS. 5A to 5C, similar to the case of FIGS. 4A to 4C, the operation positions of the robot model 300a for operation log playback and the peripheral device model 310a for operation log playback of one operation log are located on the +X axis side of the robot model 300b for operation log playback and the peripheral device model 310b for operation log playback of the other operation log, and the position (handling position) of the work model 220 of one operation log is located on the +X axis side of the other operation log. For example, in response to the operation of the slide bar 400 by the user, the operation log playback unit 104 operates the robot model 300a for operation log playback and the peripheral device model 310a for operation log playback, and the robot model 300b for operation log playback and the peripheral device model 310b for operation log playback in synchronization with the time stored in the selected operation log.

[0024] By doing so, during the execution of the simulation or after the simulation, when the robot simulation device 1 corrects the taught positions of the robot program, the robot simulation device 1 can compare the changes in the operations and cycle times of the robot before and after the correction, or the differences in the operations and cycle times of the robot between a plurality of robot programs with partially different contents, including peripheral devices. That is, in the robot system, it is possible to compare the changes in the operations and cycle times of the robot before and after the correction when the taught positions of the robot program are corrected, or the differences in the operations and cycle times of the robot between a plurality of robot programs with partially different contents. Then, the user can select an optimal operation robot program with a short cycle time, no wasted movement, and no interference between the robot and peripheral devices, etc. Note that the operation log playback unit 104 selects two operation logs, but it may also select three or more operation logs. In this case, the operation log playback unit 104 may arrange the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback corresponding to the number of selected operation logs in the virtual space.

[0025] <Simulation process of the robot simulation device 1> Next, with reference to FIG. 6, the flow of the simulation process of the robot simulation device 1 will be described. FIG. 6 is a flowchart for explaining the simulation process of the robot simulation device 1. The flow shown here is executed each time the operation program of the robot is executed.

[0026] In step S1, the virtual space creation unit 101 creates a virtual space that three-dimensionally represents the work space in which the robot, peripheral devices, workpieces, and jigs are arranged.

[0027] In step S2, the three-dimensional model placement unit 102 places the robot model 200 of the robot, the peripheral device model 210 of the traveling axis, the workpiece model 220 of the workpiece, and the jig models 230a and 230b of the jigs in the three-dimensional virtual space created in step S1.

[0028] In step S3, the simulation execution unit 103 performs a simulation of the robot program and operates the robot model 200 and the peripheral device model 210. The simulation execution unit 103 stores, for each robot program, the position and orientation of the robot model 200 and the peripheral device model 210 at each time during the simulation of the robot program as an operation log in the operation log storage unit 131.

[0029] In step S4, when reproducing the operation log, the operation log playback unit 104 determines whether the simulation execution unit 103 performs a simulation of the robot program or another robot program. If a simulation of the robot program or another robot program is to be performed, the process proceeds to step S5. On the other hand, if no simulation of the robot program or another robot program is to be performed, the process proceeds to step S7.

[0030] In step S5, the operation log playback unit 104 selects one or more operation logs from among the plurality of operation logs stored in the operation log storage unit 131 based on the input operation of the user input unit 11.

[0031] In step S6, the operation log playback unit 104 arranges, on the virtual space, the operation log playback robot model 300 and the operation log playback peripheral device model 310 of the selected operation log together with the robot model 200 and the peripheral device model 210 arranged by the three-dimensional model arrangement unit 102 and operated by the simulation execution unit 103. The operation log playback unit 104 synchronizes the time during the simulation with the time stored in the selected operation log, and operates the robot model 200 and the peripheral device model 210, and the operation log playback robot model 300 and the operation log playback peripheral device model 310.

[0032] In step S7, the operation log playback unit 104 selects two or more operation logs from among the plurality of operation logs stored in the operation log storage unit 131 based on the input operation of the user input unit 11.

[0033] In step S8, the operation log playback unit 104 arranges the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback for each operation log on the virtual space, and synchronizes them at the time stored in the selected operation log in response to the operation of the slide bar 400 by the user, and operates the robot model 300 for operation log playback and the peripheral device model 310 for operation log playback for each operation log.

[0034] As described above, the robot simulation device 1 according to one embodiment can easily compare the changes in the operations and cycle times of the robot before and after the modification of the robot program, or the differences in the operations and cycle times of the robot between a plurality of robot programs with partially different contents during or after the execution of the simulation.

[0035] Although one embodiment has been described above, the robot simulation device 1 is not limited to the above-described embodiment, and includes modifications, improvements, etc. within the range that can achieve the object.

[0036] <Modification Example 1> In the above-described one embodiment, the robot simulation device 1 is a device different from the robot control device (not shown), but is not limited thereto. For example, the robot simulation device 1 may be included in the robot control device (not shown).

[0037] <Modification Example 2> Also, for example, in the above-described embodiment, the robot simulation device 1 causes the robot model 200 to move the work model 220 from the jig model 230a to the jig model 230b along the operation locus shown in FIGS. 3A to 3C, but is not limited thereto. For example, the robot simulation device 1 may change virtual robot operation parameters such as the start point, end point, and moving speed of the traveling axis, and the path and speed of the tool tip point of the robot, and cause the robot model 200 to move the work model 220 from the jig model 230a to the jig model 230b along various operation loci. FIGS. 7A to 7C are diagrams showing an example of an operation locus when the speed of the robot is increased. As shown in FIGS. 7A to 7C, when the speed of the robot increases, it is shortcut at the locations where it operates smoothly. FIGS. 8A to 8C are diagrams showing an example of an operation locus when positioning is performed at all locations. As shown in FIGS. 8A to 8C, the robot operates while being positioned at all locations. FIGS. 9A to 9C are diagrams showing an example of an operation locus when the start point and end point of the traveling axis are changed. As shown in FIGS. 9A to 9C, when the start point and end point of the traveling axis are different, even if the operation locus of the tool tip point of the robot is the same, the speed of the traveling axis is different.

[0038] Note that each function included in the robot simulation device 1 in one embodiment can be realized by hardware, software, or a combination thereof. Here, being realized by software means being realized by a computer reading and executing a program.

[0039] The program can be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM). Also, the program may be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer readable media can supply the program to the computer via wired communication channels such as electric wires and optical fibers, or wireless communication channels.

[0040] Note that the steps of describing the program recorded on the recording medium include not only the processes performed in chronological order along with that order, but also the processes that may be executed in parallel or individually without necessarily being processed in chronological order.

[0041] In other words, the robot simulation device of the present disclosure can take various embodiments having the following configurations.

[0042] (1) The robot simulation device 1 of the present disclosure is a robot simulation device that performs simulation of a robot program in a robot system including a robot. The robot simulation device 1 includes a three-dimensional model placement unit 102 that places a robot model 200 representing the robot in three dimensions on a virtual space, a simulation execution unit 103 that performs simulation of the robot program and operates the robot model 200, an operation log storage unit 131 that stores the position and orientation of the robot model 200 at each time as an operation log during the simulation of the robot program, and an operation log playback unit 104 that selects one or more operation logs from among the plurality of operation logs stored in the operation log storage unit 131, further places a robot model 300 for operation log playback representing the robot in three dimensions on the virtual space, and operates the robot model 300 for operation log playback based on the time stored in the selected operation log. According to this robot simulation device 1, during or after the execution of the simulation, it is possible to easily compare changes in the operation and cycle time of the robot before and after the correction of the robot program, or differences in the operation and cycle time of the robot between a plurality of robot programs with partially different contents.

[0043] (2) In the robot simulation device 1 described in (1), when the simulation execution unit 103 executes simulation of the robot program or another robot program, the operation log playback unit 104 may synchronize the time during the simulation with the time stored in the selected operation log and operate the robot model 300 for operation log playback. By doing so, the robot simulation device 1 can compare changes in the operation and cycle time of the robot before and after the correction when the teaching position, etc. of the robot program is corrected during the execution of the simulation, or differences in the operation and cycle time of the robot between a plurality of robot programs with partially different contents.

[0044] (3) In the robot simulation device 1 described in (1) or (2) above, the robot system further includes peripheral devices. The three-dimensional model placement unit 102 further places a peripheral device model 210 that represents the peripheral devices in three dimensions in the virtual space. The simulation execution unit 103 further performs a simulation of the robot program, operates the peripheral device model 210, and the operation log storage unit 131 further stores the position and orientation of the peripheral device model 210 at each time during the simulation of the robot program as an operation log. The operation log playback unit 104 further places an operation log playback peripheral device model 310 that represents the peripheral device model 210 in three dimensions in the virtual space, and may operate the operation log playback robot model 300 and the operation log playback peripheral device model 310 based on the time stored in the selected operation log. By doing so, during the execution of the simulation, the robot simulation device 1 can compare the changes in the operation and cycle time of the robot before and after the correction when the teaching position etc. of the robot program is corrected, or the differences in the operation and cycle time of the robot between a plurality of robot programs with partially different contents, including the peripheral devices.

Explanation of Signs

[0045] 1 Robot simulation device 10 Control unit 101 Virtual space creation unit 102 Three-dimensional model placement unit 103 Simulation execution unit 104 Operation log playback unit 11 Input unit 12 Display unit 13 Storage unit 131 Operation log storage unit 132 Model storage unit

Claims

1. A robot simulation device that performs simulations of a plurality of robot programs related to a robot, comprising: a three-dimensional model placement unit that places a single robot model representing the robot in three dimensions in a virtual space; a simulation execution unit that performs a simulation of at least one robot program included in the plurality of robot programs and operates the robot model; an operation log storage unit that stores, for each robot program, the position and orientation of the robot model at each time during the simulation of the robot program as an operation log; an operation log playback unit that selects one or more of the plurality of operation logs stored in the operation log storage unit, further places a robot model for operation log playback representing the robot in three dimensions in the virtual space, and operates the robot model for operation log playback based on the time stored in the selected operation log; and the operation log playback unit operates the robot model for operation log playback by synchronizing the time during the simulation with the time stored in the selected operation log when the simulation execution unit executes a simulation of the robot program or the robot program after modification, or another robot program. A robot simulation device.

2. The robot system including the robot further includes peripheral devices, the three-dimensional model placement unit further places a peripheral device model representing the peripheral device in three dimensions in the virtual space, the simulation execution unit further performs a simulation of the robot program and operates the peripheral device model, the operation log storage unit further stores, for each robot program, the position and orientation of the peripheral device model at each time during the simulation of the robot program as an operation log, the operation log playback unit further places a peripheral device model for operation log playback representing the peripheral device in three dimensions in the virtual space, and operates the robot model for operation log playback and the peripheral device model for operation log playback based on the time stored in the selected operation log. The robot simulation device according to claim 1.

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