Robot simulation device

Abstract

A robot simulation device comprising: a three-dimensional model arrangement part for arranging, in a virtual space, a robot three-dimensional model, a robot-installed hand three-dimensional model, a supply device three-dimensional model, an ejection device three-dimensional model, workpiece three-dimensional models, and a detection device three-dimensional model for detecting a workpiece on the supply device; a gripping workpiece quantity designation part for receiving input designating a quantity of workpiece three-dimensional models to be gripped at once by the hand three-dimensional model; a reference workpiece designation part for receiving input designating a workpiece three-dimensional model to be used as a reference when gripping the workpiece three-dimensional models with the hand three-dimensional model; and a gripping position setting part for setting workpiece three-dimensional model gripping positions for the hand three-dimensional model relative to the workpiece three-dimensional models for when gripping the workpiece three-dimensional models with the hand three-dimensional model, on the basis of the designated quantity of workpiece three-dimensional models to be gripped at once, the reference workpiece three-dimensional model, spacing among the workpiece three-dimensional models on the supply device three-dimensional model, and positions / attitudes of the robot three-dimensional model when moving onto the supply device three-dimensional model.

Description

Robot Simulation Device

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

[0002] There is known a robot system in which a robot picks up a workpiece being transported on a transport device such as a belt conveyor and sequentially moves and places the workpiece on another transport device, a workbench, etc. There is also known a robot simulation device that can simulate the operation of such a robot system.

[0003] Patent Document 1 describes a real robot system that uses a robot to align and transfer items. Patent Document 2 describes a programming device that simulates the task of using a robot equipped with a suction hand to load items that arrive on a conveyor onto a pallet. Patent Document 3 describes a simulation device that simulates the operation of a robot moving a workpiece from the transport surface of a supply device to the receiving surface of a receiving device.

[0004] JP 2016-026899 A JP 2009-070078 A JP 2020-199625 A

[0005] In a robot system in which a hand mounted on the robot picks up a workpiece, the hand may pick up multiple workpieces at once. It is therefore desirable for a simulation device to be able to simulate the operation of the hand gripping multiple workpieces at once.

[0006] One aspect of the present disclosure is a robot simulation device comprising: a three-dimensional model arrangement unit that arranges in a virtual space a three-dimensional model of a robot, a three-dimensional model of a hand mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the supply device; a workpiece grasping quantity designation unit that accepts input specifying the number of three-dimensional models of the workpiece to be grasped collectively by the three-dimensional model of the hand; a reference workpiece designation unit that accepts input specifying a three-dimensional model of the workpiece that serves as a reference when grasping the three-dimensional model of the workpiece by the three-dimensional model of the hand; and a gripping position setting unit that sets the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand when grasping the three-dimensional model of the workpiece with the three-dimensional model of the hand based on the specified number of three-dimensional models of the workpiece to be grasped collectively, the three-dimensional model of the reference workpiece, the spacing between the three-dimensional models of the workpiece on the three-dimensional model of the supply device, and the position and posture of the three-dimensional model of the robot when moving on the three-dimensional model of the supply device.

[0007] These and other objects, features and advantages of the present invention will become more apparent from the detailed description of exemplary embodiments of the invention illustrated in the accompanying drawings.

[0008] 1 is a diagram showing a specific example of a robot simulation device according to an embodiment. FIG. 1 is a functional block diagram of the robot simulation device. FIG. 2 is a flowchart of a simulation of a workpiece removal operation in which three-dimensional models of workpieces are grasped and transferred all at once. FIG. 3 is a diagram showing a three-dimensional model of a robot system displayed on a display screen by a three-dimensional model placement unit. FIG. 4 is a diagram for explaining a first example of designating the number of workpiece models to be grasped all at once and a reference workpiece model. FIG. 5 is a diagram for explaining a second example of designating the number of workpiece models to be grasped all at once and a reference workpiece model. FIG. 6 is a diagram for explaining a third example of designating the number of workpiece models to be grasped all at once and a reference workpiece model. FIG. 7 is a diagram for explaining setting the spacing between three-dimensional models of workpieces placed on a transport device. FIG. 8 is a diagram showing a simulation screen in which a three-dimensional model of a robot has been moved to a three-dimensional model of a supply device. FIG. 9 is a diagram showing a simulation screen in which three-dimensional models of multiple workpieces are grasped all at once by a three-dimensional model of a hand. FIG. 10 is a diagram showing a simulation screen in which a three-dimensional model of a robot is moved to a three-dimensional model of a discharge device. FIG. 11 is a diagram showing a simulation screen in which three-dimensional models of multiple workpieces have been placed on a three-dimensional model of a discharge device by a three-dimensional model of a hand. 1A and 1B are diagrams illustrating a simulation screen in which a three-dimensional model of a hand places a plurality of workpieces on a fixed base serving as a discharge device, and a three-dimensional model of a hand simultaneously grasps a plurality of three-dimensional models of workpieces from a fixed base serving as a supply device.

[0009] Next, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, like components or functional parts are designated by like reference numerals. The scales of these drawings have been changed appropriately to facilitate understanding. Furthermore, the embodiment shown in the drawings is one example for implementing the present invention, and the present invention is not limited to the illustrated embodiment.

[0010] Fig. 1 is a diagram showing an example of a robot simulation device 10 according to an embodiment. Fig. 2 is a functional block diagram of the robot simulation device 10. The robot simulation device 10 is configured with an information processing device such as a personal computer or a tablet terminal. The robot simulation device 10 provides a function for executing a simulation of an operation in which three-dimensional models of a plurality of workpieces on a supply device that supplies the workpieces are simultaneously grasped by a three-dimensional model of a hand mounted on a three-dimensional model of a robot.

[0011] In this specification, the device that supplies the workpiece to the robot is referred to as the supply device, and the device to which the workpiece picked up by the robot is transferred is referred to as the discharge device. The supply device may be a transport device such as a belt conveyor, or a fixed base such as a table. The discharge device may also be a transport device such as a belt conveyor, or a fixed base such as a table.

[0012] In this specification, simulation includes not only simulating the operation of a three-dimensional model of each device on a display screen (virtual space), but also performing numerical calculations of the position and posture of a robot or other device.

[0013] As shown in Fig. 1, the robot simulation device 10 includes a display unit 12 that displays various images related to the simulation, and an operation unit 13 through which an operator inputs various operations. The display unit 12 includes, for example, a liquid crystal display. The operation unit 13 includes, for example, input devices such as a keyboard, a mouse, and a touchpad. A three-dimensional model of the robot or the like is stored in a storage device 14 (Fig. 2). The robot simulation device 10 may have a configuration as a general computer in which a CPU 11 (Fig. 2) is connected to a memory (ROM, RAM, non-volatile memory, etc.), the display unit 12, the operation unit 13, a storage device (HDD, etc.), a network interface, various input / output interfaces, etc.

[0014] 2 , the robot simulation device 10 includes a virtual space creation unit 111, a three-dimensional model placement unit 112, a simulation execution unit 113, a workpiece grip quantity designation unit 114, a reference workpiece designation unit 115, a handwork grip position setting unit 116, a supply device workpiece non-display unit 117, a handwork display unit 118, a discharge device workpiece display unit 119, and a handwork non-display unit 120. The robot simulation device 10 may further include a fixed base workpiece placement position setting unit 121. The robot simulation device 10 may also include a workpiece interval designation unit 123. These functional blocks may be realized by the CPU 11 of the robot simulation device 10 executing software.

[0015] The robot simulation device 10 includes a storage unit 122. The storage unit 122 may be configured with a storage device such as a nonvolatile memory or an HDD. The storage unit 122 stores three-dimensional models and placement information of each object that constitutes the robot system model, various setting information required for performing the simulation, and the like.

[0016] The virtual space creation unit 111 creates a virtual space in the memory space of the robot simulation device 10 for arranging three-dimensional models of various objects that constitute the robot system model.

[0017] The three-dimensional model placement unit 112 places a three-dimensional model of the robot, a three-dimensional model of the conveying device, a three-dimensional model of the workpiece, a three-dimensional model of the detection device, and a three-dimensional model of the fixed base in a virtual space based on the placement information of the various objects that make up the robot system model.

[0018] The simulation execution unit 113 is responsible for the function of simulating the operation of using a three-dimensional model of the robot to pick up a workpiece from the supply device and transfer it to the discharge device. The functions of the simulation execution unit 113 include a function of numerically calculating the position and orientation of the three-dimensional models of the robot and various objects, and a function of simulating the operation of the three-dimensional models of the robot and various objects. The simulation execution unit 113 may be configured to control each functional block involved in the execution of the simulation (handwork gripping position setting unit 116, supply device work non-display unit 117, handwork display unit 118, discharge device work display unit 119, handwork non-display unit 120, and fixed base work placement position setting unit 121).

[0019] The workpiece grip quantity designation unit 114 provides a function for designating the number of workpieces to be collectively gripped by the three-dimensional model of the hand. The workpiece grip quantity designation unit 114 may be configured to accept input for setting the number of workpieces to be collectively gripped by the three-dimensional model of the hand via a setting screen (user interface). Alternatively, the workpiece grip quantity designation unit 114 may receive input of the number of workpieces to be collectively gripped from an external device.

[0020] The reference workpiece designation unit 115 provides a function for designating a workpiece that serves as a reference when a three-dimensional model of a workpiece is grasped by a three-dimensional model of a hand. The reference workpiece designation unit 115 may be configured to accept input for designating a workpiece that serves as a reference when a three-dimensional model of a workpiece is grasped by a three-dimensional model of a hand via a setting screen (user interface). Alternatively, the reference workpiece designation unit 115 may receive input for designating the three-dimensional model of the reference workpiece from an external device.

[0021] The hand workpiece gripping position setting unit 116 provides a function for setting the position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand when the three-dimensional model of the hand grips the three-dimensional model of the workpiece.

[0022] The supply device workpiece non-display unit 117 provides a function of hiding the three-dimensional model of the workpiece on the three-dimensional model of the supply device.

[0023] The handwork display unit 118 provides a function for displaying a three-dimensional model of a workpiece on a three-dimensional model of a hand.

[0024] The discharge device work display unit 119 has a function of displaying a three-dimensional model of a work on a three-dimensional model of the discharge device.

[0025] The hand work non-display unit 120 has a function of hiding the three-dimensional model of the work on the three-dimensional model of the hand.

[0026] The supply device work non-display unit 117, the handwork display unit 118, the discharge device work display unit 119, and the handwork non-display unit 120 may be configured to work in conjunction with the simulation execution unit 113 and provide their functions in response to instructions from the simulation execution unit 113.

[0027] The fixed base workpiece placement position setting unit 121 provides a function for setting the placement position of the three-dimensional model of the workpiece relative to the three-dimensional model of the fixed base when the fixed base is used as the discharge device.

[0028] The workpiece spacing designation unit 123 provides a function for designating the spacing between the three-dimensional models of multiple workpieces to be placed on the supply device. The workpiece spacing designation unit 123 may be configured to receive an input designating the spacing between the three-dimensional models of the workpieces via a setting screen (user interface). Alternatively, the workpiece spacing designation unit 123 may receive an input designating the spacing between the three-dimensional models of the workpieces from an external device.

[0029] 3 is a flowchart of a simulation of an operation for gripping and transferring three-dimensional models of workpieces all at once (hereinafter referred to as a workpiece pick-up operation) executed on the robot simulation device 10. The workpiece pick-up operation shown in FIG. 3 is executed under the control of the CPU 11 of the robot simulation device 10.

[0030] First, the three-dimensional model placement unit 112 places a three-dimensional model of the robot system, including a three-dimensional model of the robot, in a virtual space (step S1). Then, the three-dimensional model placement unit 112 displays the three-dimensional model of the robot system placed in the virtual space on the display screen of the display unit 12 (step S2). Figure 4 shows the three-dimensional model of the robot system (hereinafter referred to as the robot system model 100M) displayed on the display screen by the three-dimensional model placement unit 112. The robot system model 100M includes a three-dimensional model of the robot (hereinafter referred to as the robot model 20M), a three-dimensional model of the hand (hereinafter referred to as the hand model 30M), a three-dimensional model of a transport device serving as a supply device (hereinafter referred to as the transport device model 80M), a three-dimensional model of a workpiece (hereinafter referred to as the workpiece model WM), three-dimensional models of two detection devices (hereinafter referred to as the detection device models 70M and 71M), and a three-dimensional model of a transport device serving as a discharge device (hereinafter referred to as the transport device model 90M). The conveying device is, for example, a belt conveyor.

[0031] In this example, a model of a vertical articulated robot is used as the robot model 20M, but models of other types of robots such as a horizontal articulated robot or a parallel link robot may also be used.

[0032] The hand model 30M is, for example, a model of a suction-type hand and has multiple suction parts for simultaneously gripping multiple workpieces. A three-dimensional model of another type of hand device capable of simultaneously gripping multiple workpieces may also be used as the hand model 30M.

[0033] The transport device model 80M transports the workpiece model WM at a constant speed from upstream to downstream in a workpiece supply range between the upstream end 80a and the downstream end 80b. The robot model 20M operates to grasp the workpiece model WM by following the movement of the workpiece model WM transported by the transport device model 80M within a following operation range (indicated by a dashed arrow 81) virtually defined on the transport device model 80M.

[0034] The transport device model 90M can transport the workpiece model WM at a constant speed from upstream to downstream in a workpiece supply range between the upstream end 90a and the downstream end 90b. The robot model 20M operates to follow the movement of the transport device model 90M and place the workpiece model WM on the transport device model 90M within a following operation range (indicated by a dashed arrow 91) virtually defined on the transport device model 90M.

[0035] Setting information such as the conveying speed and conveying direction for the conveying device models 80M and 90M may be set in advance in the storage unit 122, or may be set by an operator for the robot simulation device 10. The robot simulation device 10 conveys the workpiece model WM based on the setting information for the conveying device models 80M and 90M.

[0036] Each of the detection device models 70M and 71M is a model of a visual sensor. The visual sensor may be a camera that captures grayscale or color images, or a stereo camera or 3D sensor that can acquire distance images or 3D point clouds. 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 positioned so that its imaging range includes the vicinity of the upstream end of the transport device model 80M. The detection device model 70M provides a function for detecting the position of the workpiece model WM being transported to the upstream end of the transport device model 80M through image processing of the captured image. The detection device model 71M may also have a function for detecting and checking the workpiece model WM traveling on the transport device model 90M. The detection results by the detection device models 70M and 71M can be used in simulations by the simulation execution unit 113.

[0037] Returning to the explanation of Figure 3, next, the workpiece grasp quantity designation unit 114 accepts designation of the quantity of workpiece models WM to be grasped collectively by the hand model 30M (step S3). The reference workpiece designation unit 115 accepts designation of a workpiece model that will serve as a reference when grasping collectively by the hand model 30M (step S4). The reference workpiece model is a workpiece model that is used as a reference when detecting the workpiece model to be grasped, calculating its position, etc. The operator can designate a specific workpiece model that is transported on the transport device model 80M as the "reference workpiece model."

[0038] FIG. 5 is a diagram illustrating a first example of the number of workpiece models to be gripped collectively and the designation of a reference workpiece model. As shown in FIG. 5, if the hand model 30M has five suction portions (30a, 30b, 30c, 30d, and 30e), the number of workpiece models to be gripped collectively by the hand model 30M may be designated as five. In FIG. 5 (and FIGS. 6-8), arrow C indicates the upstream side of the conveyance direction of the conveyance device model 80M. As an example, the operator may designate the nth workpiece model from the upstream among the multiple workpiece models WM continuously conveyed on the conveyance device model 80M as the reference workpiece model. FIG. 5 illustrates a case in which the third workpiece model from the upstream (workpiece model WM3) among the five workpiece models WM1 to WM5 flowing on the conveyance device model 80M is designated as the reference workpiece model.

[0039] The robot model 20M may operate to grip the reference workpiece model WM3 at the position of the tool tip point T set on the hand model 30M, for example.

[0040] 6 is a diagram illustrating a second example of the number of workpiece models to be gripped collectively and the designation of a reference workpiece. When the hand model 30M has three suction units as shown in FIG. 6, the number of workpiece models to be gripped collectively by the hand model 30M may be designated as three. FIG. 6 illustrates a case where, of three workpiece models WM11 to WM13 continuously flowing on the transport device model 80M, the second workpiece model from the upstream (workpiece model WM12) is designated as the reference workpiece model.

[0041] In this case, the robot model 20M may operate to grip the reference workpiece model WM12 at the position of the tool tip point T set on the hand model 30M, for example.

[0042] 7 is a diagram illustrating a third example of the number of workpiece models to be gripped collectively and the designation of a reference workpiece. If the hand model 30M has five suction portions as shown in FIG. 7, the number of workpiece models to be gripped collectively by the hand model 30M may be designated as five. FIG. 7 illustrates a case in which the fourth workpiece model from the upstream (workpiece model WM24) of five workpiece models WM21 to WM25 continuously flowing on the transport device model 80M is designated as the reference workpiece model.

[0043] In this case, the robot model 20M may operate to grip the reference workpiece model WM24 at the position of the tool tip point T set on the hand model 30M, for example.

[0044] Returning to FIG. 3, next, the handwork gripping position setting unit 116 sets "the position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M" based on (a1) the number of workpiece models WM to be gripped all at once, (a2) the reference workpiece model WM, (a3) ​​the interval between the workpiece models WM transported along the transport device model 80M, and (a4) the position and posture of the robot model 20M when moving on the transport device model 80M (step S5).

[0045] Here, "(a1) the number of workpiece models WM to be grasped collectively" and "(a2) the reference workpiece model WM" are set in steps S3 and S4 above. "(a3) The interval between workpiece models WM transported along the transport device model 80M" specifies the interval d in the transport direction between workpiece models WM arranged consecutively in the transport direction on the transport device model 80M, as shown in FIG. 8. It is assumed that multiple workpiece models are transported at equal intervals. The operator may set the interval d to be equal to the interval between the multiple suction parts of the hand model 30M via the setting function provided by the workpiece interval designation unit 123. This interval d can be used to determine the positions of other workpiece models WM (workpiece models WM1-2 and WM4-5 in FIG. 8) on the transport device model 80M, based on the position of the reference workpiece model WM (workpiece model WM3 in FIG. 8).

[0046] The “(a3) interval between workpiece models WM transported along the transport device model 80M” may be set in advance in the storage unit 122.

[0047] The simulation execution unit 113 may calculate "(a4) the position and posture of the robot model 20M when moving on the conveying device model 80M" based on, for example, the following operation model: (k1) The robot model 20M starts operating from a predetermined standby position in response to receiving a detection signal from the detection device model 70M that detects that the reference workpiece model WM has been placed on the conveying device model 80M. (k2) The robot model 20M moves within the following operation range (the range indicated by arrow 81 in FIG. 4 ) so as to follow the movement of the reference workpiece model WM in the conveying direction (i.e., the conveying speed of the conveying device model 80M). (k3) When the robot model 20M is following the movement of the workpiece model WM within the following operation range, the relative speed between them becomes zero. In this state, assuming a dynamic coordinate system moving at the conveying speed, the robot model 20M can perform an operation such as descending from above to approach and grasp the stationary workpiece model. (k4) In the above operation, the robot model 20M may operate to grip the reference workpiece model WM with the suction portion located at the position of the tool tip point T of the hand model 30M.

[0048] By performing a numerical simulation using the above-described operation models (k1) to (k4), the handwork gripping position setting unit 116 can determine the position and posture of the robot model 20M when it is positioned at a position where it can grip multiple work models, including the reference work model WM, all at once, as "(a4) Position and posture of the robot model 20M when moving onto the conveying device model 80M."

[0049] The handwork gripping position setting unit 116 calculates the "position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M" based on the "(a4) position and orientation of the robot model 20M when moving over the transport device model 80M" obtained as described above. The position of the tool tip point T is known. Furthermore, when the robot model 20M is in "(a4) position and orientation of the robot model 20M when moving over the transport device model 80M," the position of the reference workpiece model WM in virtual space can be obtained from information such as the detection results by the detection device model 70M and the transport speed of the transport device model 80M. Furthermore, as described above, the distance d between the workpiece models WM is known. Therefore, the handwork gripping position setting unit 116 can calculate the "position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M" based on the information (a1) to (a4) above. The "position of each workpiece model WM relative to the hand model 30M when the workpiece model WM is grasped by the hand model 30M" can also be expressed as the "grasping position of the workpiece model WM relative to the hand model 30M."

[0050] Through the above operations (steps S1 to S5), the "position of each workpiece model WM relative to the hand model 30M when the hand model 30M grasps the workpiece model WM" is calculated and set in the robot simulation device 10. This makes it possible to display on the simulation screen the operation of the robot model 20M grasping multiple workpiece models WM all at once. The operator can check whether the robot model 20M can correctly reach a position where it can grasp the workpiece models WM all at once, modify various settings as necessary, and create an appropriate program.

[0051] Furthermore, according to the above-described operations (steps S1 to S5), the user can perform a sophisticated simulation of collectively gripping a plurality of workpiece models in the robot simulation device 10 through a simple setting operation of inputting the setting items (a1) to (a3) ​​above. In other words, this embodiment establishes a setting method that is useful to the user for simulating the operation of the robot model 20M collectively gripping a plurality of workpiece models WM.

[0052] As shown in FIG. 3, the robot simulation device 10 can further perform the operations shown in steps S6-S7 by using the "position of each work model WM relative to the hand model 30M when grasping the work model WM with the hand model 30M."

[0053] In step S6, the robot simulation device 10 moves the robot model 20M onto the transport device model 80M based on "(a4) Position and posture of the robot model 20M when moving onto the transport device model 80M" and "Position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M," and executes an operation of gripping the workpiece models WM collectively with the hand model 30M. Specifically, as shown on the simulation screen in Fig. 9, the simulation execution unit 113 moves the robot model 20M so as to assume "(a4) Position and posture of the robot model 20M when moving onto the transport device model 80M."

[0054] Then, the supply device workpiece non-display unit 117 hides the workpiece models WM gripped collectively by the hand model 30M on the transport device model 80M. The handwork display unit 118 displays the workpiece models WM on the hand model 30M. The handwork display unit 118 can display the workpiece models WM on the hand model 30M according to the "position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M." Figure 10 is a simulation screen showing the state in which the workpiece model WM has moved toward the hand model 30M after these processes. Note that Figure 10 shows the state in which the robot model 20M is in a position slightly above the position where it grips the workpiece model WM.

[0055] By the above operation, the operation of the robot model 20M in which the hand model 30M collectively grips a plurality of workpiece models WM being transported on the transport device model 80M is represented in the virtual space (display screen).

[0056] Next, in step S7, the robot simulation device 10 moves the robot model 20M onto the conveyance device model 90M based on "(a4) Position and posture of the robot model 20M when moving onto the conveyance device model 80M" and "Position of each workpiece model WM relative to the hand model 30M when the hand model 30M grasps the workpiece model WM," and performs an operation of placing the workpiece model WM on the conveyance device model 90M. Specifically, as shown in FIG. 11 , the simulation execution unit 113 moves the robot model 20M onto the conveyance device model 90M based on "(a4) Position and posture of the robot model 20M when moving onto the conveyance device model 80M." In this case, the simulation execution unit 113, for example, (k11) operates the robot model 20M from the position and posture in which the robot model 20M grasps the workpiece model WM as shown in Figure 9, and (k12) so that the workpiece model WM can be placed on the transport surface while following the transport speed of the transport device model 90M within the following operation range (arrow 91) of the transport device model 90M.

[0057] Next, the discharge device work display unit 119 displays the workpiece model WM placed on the discharge-side transport device model 90M. The discharge device work display unit 119 can position the workpiece model WM on the transport device model 90M according to the "position of each workpiece model WM relative to the hand model 30M when the hand model 30M grasps the workpiece model WM." Furthermore, the hand work non-display unit 120 does not display the workpiece model WM on the hand model 30M. Figure 12 is a simulation screen showing the state in which the workpiece model WM has moved to the transport device model 90 side after these processes.

[0058] Through the above operations, the operation of the robot system model 100M, which uses the hand model 30M to move multiple work models WM all at once from the supply-side conveying device model 80M to the discharge-side conveying device model 90M, can be represented in a virtual space (display screen).

[0059] Therefore, the above-described workpiece pick-up operation makes it possible to simulate a robot system in which a plurality of workpiece models transported on a transport device model are simultaneously grasped by a hand model.

[0060] Two examples of modifications of the above-described embodiment will be described below.

[0061] (Variation 1) Variation 1 described here is a configuration example in which the discharge device is a fixed base. Fig. 13 shows the configuration of a robot system model 200M according to Variation 1. The robot system model 200M includes a fixed base model 190M as the discharge device. In Fig. 13, the same components as those in the robot system model 100M of the above-described embodiment are denoted by the same reference numerals, and their description will be omitted or simplified.

[0062] The robot simulation device 10 executes the processing of steps S1 to S5 of the workpiece removal operation (FIG. 3) described above, and calculates and sets "the position of each workpiece model WM relative to the hand model 30M when the workpiece model WM is grasped by the hand model 30M."

[0063] The fixed base work placement position setting unit 121 sets the placement position of the work model WM relative to the fixed base model 190M based on: - the position of each work model WM relative to the hand model 30M when the hand model 30M grasps the work model WM; and - the position and posture of the robot model 20M when moving onto the fixed base model 190M.

[0064] In this case, the simulation execution unit 113 may obtain the "position and posture of the robot model 20M when moving onto the fixed base model 190M" based on, for example, the following operation model: (k21) The robot model 20M is operated from the position and posture in which it grips the workpiece models WM as shown in Fig. 9 to (k22) a standby position above the placement surface 191 of the fixed base model 190M, and then descends from there to approach the placement surface 191 so that all of the workpiece models WM can be placed thereon.

[0065] This allows the fixed base workpiece placement position setting unit 121 to determine the "position and orientation of the robot model 20M when it moves onto the fixed base model 190M." The "placement position of the workpiece model WM relative to the fixed base model 190M" is obtained from the "position and orientation of the robot model 20M when it moves onto the fixed base model 190M" and the "position of each workpiece model WM relative to the hand model 30M when the workpiece model WM is grasped by the hand model 30M."

[0066] This allows the fixed base workpiece placement position setting unit 121 to represent, as a simulation image, the operation up to placing the workpiece model WM grasped by the robot model 20M on the fixed base model 190M, as shown in Figure 13.

[0067] In this example, the robot simulation device 10 may also perform operations corresponding to steps S6 and S7 in the workpiece removal operation described above. That is, when the hand model 30M reaches a position on the transport device model 80M where it grips the worm model WM, the supply device workpiece non-display unit 117 hides the workpiece model WM on the transport device model 80M. Then, the hand workpiece display unit 118 displays the workpiece model WM on the hand model 30M.

[0068] Next, when the robot model 20M (hand model 30M) reaches a position where the workpiece model WM is placed on the fixed base model 190M, the hand work non-display unit 120 hides the workpiece model WM on the hand model 30M. Then, the discharge device work display unit 119 displays the workpiece model WM at the arrangement position of the workpiece model WM.

[0069] As a result, the state of the workpiece model WM being gripped on the transport device model 80M and transferred onto the fixed base model 190M is provided as a simulation image.

[0070] (Variation 2) Next, as Variation 2, a configuration in which the supply device is a fixed base and the discharge device is a transport device will be described with reference to FIG. 14. FIG. 14 shows the configuration of a robot system model 300M according to Variation 2. The robot system model 300M includes a fixed base model 180M as the supply device. In FIG. 14, the same components as those in the robot system model 100M in the above-described embodiment are denoted by the same reference numerals, and their description will be omitted or simplified. The robot simulation device 10 can also simulate the operation in which the supply device is a fixed base and the discharge device is a transport device.

[0071] The three-dimensional model placement unit 112 places the robot system model 300M including the robot model 20M in a virtual space and displays it on the display screen.

[0072] Next, the workpiece grasp quantity designation unit 114 accepts designation of the quantity of workpiece models to be grasped collectively.

[0073] Furthermore, the designation of the reference workpiece model is accepted by the reference workpiece designation unit 115. In this case, the user may designate a specific workpiece model placed on the fixed base model 180M as the reference workpiece model.

[0074] The robot simulation device 10 sets the "position of each work model WM relative to the hand model 30M when the work model WM is grasped by the hand model 30M" based on: (b1) the number of work models to be grasped all at once; (b2) the reference work model; (b3) the distance between the work models; and (b4) the position and posture of the robot model 20M when moving to the fixed base model 190M.

[0075] Regarding "(b3) Spacing between workpiece models," the spacing between the plurality of suction pads of the hand model 30M may be set in the same manner as described with reference to FIG.

[0076] The simulation execution unit 113 may obtain "(b4) Position and posture of the robot model 20M when moving to the fixed base model 190M" using, for example, the following operation model: (k31) The robot model 20M moves from a predetermined standby position to an approach start position above the workpiece model WM on the fixed base model 190M. (k32) The robot model 20M descends from the approach start position and moves to a position where it can grasp the workpiece model WM. (k33) In the above operation, the robot model 20M may operate to grasp the reference workpiece model WM with the suction portion located at the position of the tool tip point T of the hand model 30M.

[0077] By performing a numerical simulation using the above-described operating model, the handwork gripping position setting unit 116 can obtain the position and posture of the robot model 20M when it is positioned on the fixed base model 190M at a position where it can grip the workpiece model WM as "(b4) Position and posture of the robot model 20M when moving to the fixed base model 190M."

[0078] The handwork gripping position setting unit 116 calculates "the position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M" based on "(b4) the position and orientation of the robot model 20M when moving to the fixed base model 190M" obtained as described above. The position of the tool tip point T is known. In addition, when the robot model 20M is in the position and orientation of (b4) above, the position in virtual space of the reference workpiece model WM is known. In addition, as described above, the spacing between the workpiece models WM is known. Therefore, the handwork gripping position setting unit 116 can calculate "the position of each workpiece model WM relative to the hand model 30M when gripping the workpiece model WM with the hand model 30M" based on the information (b1) to (b4) above.

[0079] The robot simulation device 10 (simulation execution unit 113) can also simulate the operation of moving the robot model 20M onto the transport device model 90M based on "(b4) the position and posture of the robot model 20M when moving to the fixed base model 190M" and "the position of each workpiece model WM relative to the hand model 30M when the hand model 30M grasps the workpiece model WM." In this case, the simulation execution unit 113, for example, (k41) operates the robot model 20M from the position and posture in which the robot model 20M grasps the workpiece model WM as shown in Figure 14, and (k42) so that the workpiece model WM can be placed on the transport surface while following the transport speed of the transport device model 90M within the following operation range (arrow 91) of the transport device model 90M.

[0080] As a result of the above, a simulation of the operation of collectively gripping a plurality of workpiece models WM on the fixed base model 190M with the hand model 30M and moving them to the discharge device is realized.

[0081] The functional blocks of the robot simulation device described with reference to FIG. 2 may be realized by the CPU of the robot simulation device executing various software stored in a storage device, or may be realized by a configuration mainly consisting of hardware such as an ASIC (Application Specific Integrated Circuit).

[0082] The programs for executing various processes such as the workpiece removal operation (FIG. 3) in the above-described embodiment can be recorded on various computer-readable recording media (e.g., semiconductor memories such as ROM, EEPROM, and flash memory, magnetic recording media, and optical disks such as CD-ROM and DVD-ROM).

[0083] As described above, according to this embodiment, it is possible to display in a virtual space (display screen) the operation of a robot system that collectively grips three-dimensional models of multiple workpieces on a three-dimensional model of a supply device with a three-dimensional model of a hand. Also, it is possible to establish a setting method that is useful to the user for simulating a robot system that collectively grips three-dimensional models of multiple workpieces on a three-dimensional model of a supply device with a three-dimensional model of a hand.

[0084] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0085] The following supplementary notes are further provided regarding the above-described embodiment and modified examples. (Supplementary Note 1) A three-dimensional model arrangement unit (112) that arranges in a virtual space a three-dimensional model of a robot, a three-dimensional model of a hand mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the supply device; a workpiece grasp quantity designation unit (114) that receives an input that designates the number of three-dimensional models of the workpieces to be grasped collectively by the three-dimensional model of the hand; and a three-dimensional model designation unit (115) that receives an input that designates the three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is grasped by the three-dimensional model of the hand. A robot simulation device (10) comprising: a reference workpiece designation unit (115); and a gripping position setting unit (116) that sets a gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand when gripping the three-dimensional model of the workpiece with the three-dimensional model of the hand, based on the specified number of three-dimensional models of the workpieces to be gripped collectively, the three-dimensional model of the reference workpiece, the spacing between the three-dimensional models of the workpieces on the three-dimensional model of the supply device, and the position and posture of the three-dimensional model of the robot when moving onto the three-dimensional model of the supply device. (Supplementary Note 2) A robot simulation device (10) according to Supplementary Note 1, further comprising: a simulation execution unit (113) that moves the three-dimensional model of the robot to the three-dimensional model of the supply device and executes an operation of gripping the three-dimensional models of the workpieces collectively with the three-dimensional model of the hand, based on the position and posture of the three-dimensional model of the robot when moving onto the three-dimensional model of the supply device and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand. (Supplementary Note 3) 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 supply device, hides the three-dimensional model of the workpiece on the three-dimensional model of the supply device, and displays the three-dimensional model of the workpiece on the three-dimensional model of the hand.(Supplementary Note 4) 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 discharge device and performs an operation of placing the three-dimensional model of the workpiece on the discharge device based on the position and posture of the three-dimensional model of the robot when it moves onto the three-dimensional model of the supply device and the gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand. (Supplementary Note 5) 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 hides the three-dimensional model of the workpiece on the three-dimensional model of the hand. (Supplementary Note 6) The robot simulation device (10) according to any one of Supplements 1 to 5, wherein the workpiece grip quantity designation unit (114) accepts a user input for designating the quantity to be gripped collectively. (Supplementary Note 7) The robot simulation device (10) according to any one of Supplements 1 to 6, wherein the reference workpiece designation unit (115) accepts a user input for designating the reference workpiece. (Supplementary Note 8) The robot simulation device (10) according to any one of Supplements 1 to 7, further comprising a workpiece spacing designation unit (123) that accepts an input for designating a spacing between three-dimensional models of the workpieces on the three-dimensional model of the supply device. (Supplementary Note 9) The robot simulation device (10) according to any one of Supplements 1 to 8, wherein the supply device is a transport device and the discharge device is a transport device. (Supplementary Note 10) The robot simulation device (10) according to any one of Supplements 1 to 8, wherein the supply device is a transport device and the discharge device is a fixed base. (Supplementary Note 11) The robot simulation device (10) according to any one of Supplements 1 to 8, wherein the supply device is a fixed base and the discharge device is a transport device.(Supplementary Note 12) A three-dimensional model arrangement unit (112) that arranges in a virtual space a three-dimensional model of a robot, a three-dimensional model of a hand mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the supply device; a number of the three-dimensional models of the workpieces to be grasped collectively by the three-dimensional model of the hand; a three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is grasped by the three-dimensional model of the hand; an interval between the three-dimensional models of the workpieces on the three-dimensional model of the supply device; a position and orientation of the three-dimensional model of the robot when moving onto the three-dimensional model of the supply device; and a three-dimensional model of the hand. and a simulation execution unit (113) that moves the three-dimensional model of the robot to the three-dimensional model of the supply device based on a gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand when gripping the three-dimensional model of the workpiece with a model, hides the three-dimensional model of the workpiece on the three-dimensional model of the supply device, displays the three-dimensional model of the workpiece on the three-dimensional model of the hand, 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 hides the three-dimensional model of the workpiece on the three-dimensional model of the hand.

[0086] 10 Robot simulation device 11 CPU 12 Display unit 13 Operation unit 111 Virtual space creation unit 112 Three-dimensional model placement unit 113 Simulation execution unit 114 Workpiece grip quantity designation unit 115 Reference workpiece designation unit 116 Handwork grip position setting unit 117 Supply device workpiece non-display unit 118 Handwork display unit 119 Discharge device workpiece display unit 120 Handwork non-display unit 121 Fixed base workpiece placement position setting unit 122 Memory unit 123 Workpiece spacing designation unit 20M Robot model 30M Hand model 70M, 71M Detection device model 80M, 90M Transport device model WM Workpiece model 180M, 190M Fixed base model 191 Placement surface 100M, 200M, 300M Robot system model

Claims

1. a three-dimensional model arrangement unit that arranges in a virtual space a three-dimensional model of a robot, a three-dimensional model of a hand mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the supply device; a workpiece grip quantity designation unit that accepts an input designating a quantity of the three-dimensional model of the workpiece to be collectively gripped by the three-dimensional model of the hand; a reference work designation unit that receives an input that designates a three-dimensional model of a work that serves as a reference when the three-dimensional model of the work is gripped by the three-dimensional model of the hand; a gripping position setting unit that sets a gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand when gripping the three-dimensional model of the workpiece with the three-dimensional model of the hand, based on the specified number of the three-dimensional models of the workpieces to be gripped collectively, the three-dimensional model of the reference workpiece, the interval between the three-dimensional models of the workpieces on the three-dimensional model of the supply device, and the position and orientation of the three-dimensional model of the robot when moving onto the three-dimensional model of the supply device; A robot simulation device comprising:

2. 2. The robot simulation device according to claim 1, further comprising a simulation execution unit that executes an operation of moving the three-dimensional model of the robot to the three-dimensional model of the supplying device and gripping the three-dimensional model of the workpiece collectively with the three-dimensional model of the hand, based on a position and orientation of the three-dimensional model of the robot when it moves over the three-dimensional model of the supplying device and a gripping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand.

3. 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 supply device, hides the three-dimensional model of the work on the three-dimensional model of the supply device, and displays the three-dimensional model of the work on the three-dimensional model of the hand.

4. 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 discharge device and performs an operation of placing the three-dimensional model of the work on the discharge device based on a position and posture of the three-dimensional model of the robot when it moves over the three-dimensional model of the supply device and a gripping position of the three-dimensional model of the work relative to the three-dimensional model of the hand.

5. 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 work on the three-dimensional model of the discharge device, and hides the three-dimensional model of the work on the three-dimensional model of the hand.

6. The robot simulation device according to claim 1 , wherein the workpiece grasp quantity designation unit accepts a user input for designating the quantity to be grasped collectively.

7. The robot simulation device according to claim 1 , wherein the reference workpiece designation unit receives a user input for designating the reference workpiece.

8. The robot simulation device according to claim 1 , further comprising a workpiece interval designation unit that accepts an input designating an interval of the three-dimensional model of the workpiece on the three-dimensional model of the supplying device.

9. The robot simulation device according to claim 1 , wherein the supply device is a transport device, and the discharge device is a transport device.

10. The robot simulation device according to claim 1 , wherein the supply device is a transport device, and the discharge device is a fixed table.

11. The robot simulation device according to claim 1 , wherein the supply device is a fixed table, and the discharge device is a transport device.

12. a three-dimensional model arrangement unit that arranges in a virtual space a three-dimensional model of a robot, a three-dimensional model of a hand mounted on the robot, a three-dimensional model of a supply device, a three-dimensional model of a discharge device, a three-dimensional model of a workpiece, and a three-dimensional model of a detection device that detects the workpiece on the supply device; based on the number of the three-dimensional models of the workpiece to be grasped collectively by the three-dimensional model of the hand, the three-dimensional model of the workpiece that serves as a reference when the three-dimensional model of the workpiece is grasped by the three-dimensional model of the hand, the interval between the three-dimensional model of the workpiece on the three-dimensional model of the supply device, the position and orientation of the three-dimensional model of the robot when moving onto the three-dimensional model of the supply device, and the grasping position of the three-dimensional model of the workpiece relative to the three-dimensional model of the hand when the three-dimensional model of the workpiece is grasped by the three-dimensional model of the hand, moving the three-dimensional model of the robot to the three-dimensional model of the supply device, hiding the three-dimensional model of the work on the three-dimensional model of the supply device, and displaying the three-dimensional model of the work on the three-dimensional model of the hand; a simulation execution unit that 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 hides the three-dimensional model of the workpiece on the three-dimensional model of the hand; A robot simulation device comprising: