Simulation device and program

Abstract

A simulation device according to an embodiment of the present disclosure is provided with: a storage unit for storing a three-dimensional model pertaining to a workpiece to be quenched; a reception unit for receiving a user operation for designating a quenching range and a quenching depth target value of the three-dimensional model of the workpiece; a display-use three-dimensional model generation unit for generating, from the three-dimensional model of the workpiece, a display-use three-dimensional model in which the quenching range is presented in a mode corresponding to the quenching depth target value; and a display unit for displaying the generated display-use three-dimensional model.

Description

Simulation device and program

[0001] The present disclosure relates to a simulation device and a program having a simulation function related to hardening.

[0002] Quenching is known as a technique for hardening the surface of a metal by heating and cooling the metal (see, for example, Patent Document 1). In recent years, localized quenching techniques using lasers, high frequency waves, etc. have been attracting attention because they can reduce distortion of the workpiece. In this context, there has been an increase in the number of cases where quenching is performed using a quenching robot device equipped with a laser generator as an end effector.

[0003] JP 2010-52023 A

[0004] In order to have a robotic device perform hardening, it is necessary to create a hardening program. The hardening program requires appropriate settings for multiple parameters, such as laser irradiation conditions and robotic device operating conditions. However, teaching a hardening program while actually operating a robotic device is not practical due to safety reasons and the need to prepare an actual workpiece. Therefore, there is a need to develop an environment in which a hardening program can be taught to a robotic device using simulation, and to propose the technology necessary to reproduce hardening through simulation.

[0005] A simulation device according to one aspect of the present disclosure includes a memory unit that stores a three-dimensional model of a workpiece to be hardened, a reception unit that receives user operations for specifying the hardening range and target hardening depth of the three-dimensional model of the workpiece, a three-dimensional display model creation unit that creates a three-dimensional display model from the three-dimensional model of the workpiece in which the hardening range is expressed in a manner corresponding to the target hardening depth, and a display unit that displays the created three-dimensional display model.

[0006] FIG. 1 is a diagram showing an example of a hardening robot system including a simulation apparatus according to this embodiment. FIG. 2 is a hardware configuration diagram of the simulation apparatus according to this embodiment. FIG. 3 is a functional block diagram of the simulation apparatus according to this embodiment. FIG. 4 is a diagram showing an example of a material table stored in the storage unit of FIG. 3. FIG. 5 is a flowchart showing an example of a procedure for creating a hardening program using the simulation apparatus according to this embodiment. FIG. 6 is a flowchart showing an example of a procedure for creating a 3D model for display in step S11 of FIG. 5. FIG. 7 is a diagram showing an example of a setting screen for a method for expressing a hardening range and a hardening depth. FIG. 8 is a diagram showing an example of an expression of a hardening range and a hardening depth. FIG. 9 is a diagram showing an example of a setting screen for hardening conditions. FIG. 10 is a diagram showing an example of a setting screen for laser irradiation conditions. FIG. 11 is a diagram showing an example of a simulation screen. FIG. 12 is a diagram showing another example of a simulation screen. FIG. 13 is a flowchart showing an example of a procedure for registering a teaching point in step S15 of FIG. 5.

[0007] The simulation device according to this embodiment will be described below with reference to the drawings. In the following description, components having substantially the same functions and configurations are designated by the same reference numerals, and redundant description will be given only when necessary.

[0008] Fig. 1 is a diagram showing an example of a hardening robot system 1 including a simulation device 10 according to this embodiment. As shown in Fig. 1, the hardening robot system 1 includes a robot device 5 that performs hardening on a workpiece 9 to be hardened, and a simulation device 10. The robot device 5 is made up of a laser generator 6 that generates a laser, a robot arm mechanism 7 that is equipped with the laser generator 6 as an end effector, and a control device 8 that controls the laser generator 6 and the robot arm mechanism 7. The simulation device 10 according to this embodiment is connected to the control device 8 so as to be able to communicate freely.

[0009] The simulation device 10 according to this embodiment is a computer device having a function capable of using simulation to create a hardening program to be executed by the robot device 5. Typically, the simulation device 10 according to this embodiment is configured as follows.

[0010] Fig. 2 is a hardware configuration diagram of the simulation device 10 according to this embodiment. As shown in Fig. 2, the simulation device 10 according to this embodiment is configured by connecting hardware such as an operation device 12, a display device 13, a communication device 14, and a storage device 15 to a processor 11 (such as a CPU). The simulation device 10 is realized by a general information processing terminal such as a personal computer, a tablet, or a smartphone.

[0011] The operation device 12 is realized by a keyboard, a mouse, a jog, etc. The operation device 12 may be realized by a touch panel that also serves as the display device 13. A user can input various information to the simulation device 10 via the operation device 12. The display device 13 is realized by an LCD, etc. Various screens are displayed on the display device 13 under the control of the processor 11. The communication device 14 is realized by a communication module that complies with any communication standard. The communication device 14 transmits and receives various data to and from external devices such as the robot device 5 under the control of the processor 11. The storage device 15 is realized by an HDD, SSD, etc. A simulation program is stored in the storage device 15.

[0012] As the simulation program stored in the storage device 15 is executed by the processor 11, the simulation device 10 functions as a reception unit 21, a display unit 22, a transmission / reception unit 23, a storage unit 24, a screen creation unit 25, a representation method setting unit 26, a hardening condition setting unit 27, a display 3D model creation unit 28, a virtual space creation unit 29, an irradiation condition setting unit 30, an operation condition setting unit 31, a teaching point registration unit 32, a program creation unit 33, a model operation control unit 34, a trajectory calculation unit 35, and a hardening depth calculation unit 36, as shown in FIG. 3.

[0013] The reception unit 21 receives user operations via the operation device 12. Specifically, the reception unit 21 receives input of a workpiece to be hardened, user operations on a 3D model of the workpiece to be hardened, hardening conditions (hardening range, hardening depth), laser irradiation conditions, and operating conditions of the robot arm mechanism 7.

[0014] The display unit 22 is realized by the function of the display device 13 shown in Fig. 2. The display unit 22 displays various screens related to the hardening simulation created by the screen creation unit 25.

[0015] The transmitting / receiving unit 23 is realized by the function of the communication device 14 shown in Fig. 2. The transmitting / receiving unit 23 transmits and receives data to and from the robot device 5. The simulation device 10 may also receive user operations from an external information processing terminal or the like via a network such as the Internet. In this case, the transmitting / receiving unit 23 functions as the receiving unit 21.

[0016] The storage unit 24 is realized by the function of the storage device 15 shown in Fig. 2. The storage unit 24 pre-stores three-dimensional model data related to the hardening simulation, material table data that associates thermal conductivity with the material of the workpiece, and hardening program data. The three-dimensional model related to the hardening simulation includes a three-dimensional model of the workpiece 9 to be hardened, a three-dimensional model of the robot device 5 including the laser generator 6 and the robot arm mechanism 7 (referred to as a robot model), and the like. Typically, the three-dimensional model data is provided as CAD data.

[0017] The hardening program describes operation commands for the robot device 5 in the order of operation. The operation commands for the robot device 5 include movement commands for the robot arm mechanism 7 and laser generation commands for the laser generator 6. The hardening program also describes operation conditions for the robot arm mechanism 7 and laser irradiation conditions for the laser generator 6.

[0018] The screen creation unit 25 creates various screens related to the creation of a hardening program, including a setting screen for setting the method of expressing the hardening range and hardening depth, a setting screen for setting hardening conditions, a setting screen for setting laser irradiation conditions, a setting screen for setting operating conditions, and a simulation screen for creating a hardening program.

[0019] The representation setting unit 26 sets the representation method of the hardening range and the hardening depth based on a user operation on a setting screen for setting the representation method of the hardening range and the hardening depth. The representation method of the hardening range and the hardening depth will be described in detail later.

[0020] The hardening condition setting unit 27 sets the hardening conditions based on user operations on a setting screen for setting the hardening conditions. The hardening conditions include the hardening range and the target hardening depth of the workpiece 9 to be hardened. The hardening conditions will be described in detail later.

[0021] The display 3D model creation unit 28 creates a display 3D model in which the hardening range is expressed in a manner corresponding to the target value of the hardening depth from the data of the 3D model of the workpiece 9. The display 3D model creation unit 28 also changes at least the manner of the hardening range based on the results of the simulation. Specifically, the hardening range expressed in a manner corresponding to the target value of the hardening depth is changed in accordance with the calculated value of the hardening depth.

[0022] The virtual space creation unit 29 creates a virtual space in software that three-dimensionally represents the operating space of the robot device 5, and places a robot model and a three-dimensional display model in the created virtual space. The virtual space created by the virtual space creation unit 29 is displayed on a simulation screen for creating a hardening program, etc. The robot model and the three-dimensional display model are placed in the virtual space so as to correspond to the positional relationship between the robot device 5 and workpiece 9 in the actual operating space.

[0023] The irradiation condition setting unit 30 sets the laser irradiation conditions based on a user operation on a setting screen for setting the irradiation conditions of the laser generated by the laser generating device 6. The laser irradiation conditions will be described in detail later.

[0024] The operating condition setting unit 31 sets the operating conditions of the robot arm mechanism 7 based on a user operation on a setting screen for setting the operating conditions of the robot arm mechanism 7. The operating conditions include known parameters such as acceleration, operating speed, interpolation type, movement type, etc.

[0025] The teaching point registration unit 32 registers the position of the hand reference point and the hand posture of the robot model as teaching points in response to user operations in the virtual space in which the robot model and the 3D display model are arranged. For example, the position of the hand reference point of the robot model is set to the position of the laser irradiation window of the 3D model of the laser generator 6.

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

[0027] The model operation control unit 34 simulates the operation of the robot model placed in the virtual space on the display unit 22 in accordance with the hardening program. The processing of the model operation control unit 34 moves the robot model, and moves the irradiation spot of the laser irradiated from the robot model.

[0028] The trajectory calculation unit 35 calculates a movement path of the laser irradiation spot on the display 3D model. For example, the trajectory calculation unit 35 can calculate the movement path of the irradiation spot based on a plurality of teaching points defined in the hardening program and the laser irradiation conditions.

[0029] The hardening depth calculation unit 36 ​​calculates the hardening depth for each unit area along the movement path based on the movement speed of the irradiation spot along the movement path and the laser irradiation conditions. Specifically, the hardening depth calculation unit 36 ​​calculates the hardening depth per unit time for each unit area along the movement path based on the thermal conductivity of the object (object irradiated with the laser) along the movement path of the irradiation spot (if the irradiation spot moves over the hardening area, the thermal conductivity of the hardening area), the laser output, and the distance from the light source to the object (if the irradiation spot moves over the hardening area, the distance from the light source to the hardening area). The hardening depth calculation unit 36 ​​also calculates the laser irradiation time for each unit area along the movement path based on the movement speed of the irradiation spot along the movement path. The hardening depth calculation unit 36 ​​then calculates the hardening depth for each unit area along the movement path of the irradiation spot based on the hardening depth per unit time calculated for each unit area along the movement path and the laser irradiation time.

[0030] Through processing by the model movement control unit 34, trajectory calculation unit 35, and hardening depth calculation unit 36, the robot model placed in the virtual space is simulated to operate in accordance with the hardening program, and hardening of the three-dimensional model for display is simulated.

[0031] The material table stored in the storage unit 24 will be described below with reference to Fig. 4. Fig. 4 is a diagram showing an example of the material table stored in the storage unit 24. As shown in Fig. 4, the material table is a correspondence table in which a thermal conductivity λ specific to each material is associated with each of a plurality of types of material. Here, only the thermal conductivity is associated with each material, but a recommended hardening depth may also be associated with each material.

[0032] A procedure for creating a hardening program by the simulation device 10 according to this embodiment will be described below with reference to Fig. 5. Fig. 5 is a flowchart showing an example of a procedure for creating a hardening program by the simulation device 10 according to this embodiment.

[0033] As shown in FIG. 5 , the simulation device 10 creates a 3D display model from a 3D model of the workpiece 9 to be hardened based on user operation (S11), and places the model together with a robot model in a virtual space (S12). The virtual space in which the robot model and the 3D display model are placed is displayed on the simulation screen. Next, the simulation device 10 sets laser irradiation conditions and operating conditions of the robot arm mechanism 7 based on user operation (S13, S14). Next, the simulation device 10 registers multiple teaching points based on user operation on the simulation screen (S15). The simulation device 10 creates a hardening program based on the laser irradiation conditions set in step S13, the operating conditions of the robot arm mechanism 7 set in step S14, and the multiple teaching points registered in step S15 (S16). The simulation device 10 then executes the simulation. Specifically, the robot model placed in the virtual space is simulated to operate based on the hardening program created in step S16 (S17). In step S17, the appearance of the hardening range in the display 3D model is changed according to the calculated hardening depth. By checking the appearance of the hardening range in the display 3D model, the user can determine whether the hardening program has been created appropriately. The processes of steps S13 to S17 are repeatedly executed until the user has completed the hardening program creation work (S18; No). When the user has completed the hardening program creation work, the hardening program creation process is terminated (S18; Yes).

[0034] The procedure for creating a three-dimensional model for display in step S11 of Fig. 5 will be described below with reference to Fig. 6. Fig. 6 is a flowchart showing an example of the procedure for creating a three-dimensional model for display in step S11 of Fig. 5.

[0035] 6 , the simulation apparatus 10 receives a workpiece 9 to be hardened based on a user operation (S111) and sets a representation method for hardening (hardening range and hardening depth) in a 3D model of the received workpiece 9 (S112). Next, the simulation apparatus 10 sets the hardening range and hardening depth based on the user operation on the 3D model of the workpiece 9 (S113, S114). The simulation apparatus 10 then creates a display 3D model from the 3D model of the workpiece 9, representing the hardening range set in step S113 using the representation method set in step S112 in a manner corresponding to the hardening depth set in step S114 (S115), and displays the model (S116). By viewing the display 3D model displayed by the processing of step S116, the user can confirm whether the hardening range is set as planned for the workpiece 9 and whether the target value of the hardening depth is correctly set for the hardening range. The processing of steps S112 to S116 is repeatedly executed until the user has completed the creation of the three-dimensional model for display, in other words, until the work of setting the hardening range and hardening depth for the three-dimensional model of the workpiece 9 is completed (S117; No). Based on the completion of the work of creating the three-dimensional model for display by the user, the process of creating the three-dimensional model for display is terminated (S117; Yes).

[0036] 7 and 8, a description will be given of a method for expressing the hardening range and hardening depth by the expression method setting unit 26 in step S112 of Fig. 6. Fig. 7 is a diagram showing an example of a setting screen 100 for a method for expressing the hardening range and hardening depth. Fig. 8 is a diagram showing an example of an expression of the hardening range and hardening depth.

[0037] As shown in FIG. 7, the method of expressing the hardening range is selected by the user from a number of options including "adding a block model to the 3D model of the workpiece" and "changing the surface appearance of the 3D model of the workpiece."

[0038] "Adding a block model to a 3D model of a workpiece" is a method of expressing the hardening range by overlaying a block model representing hardening on the surface of the 3D model of the workpiece 9. The shape of the block model is selected by a user operation from multiple options including "spherical" and "cubic." The shape of the block model is not limited to these and can be any shape such as a rectangular parallelepiped, an oval sphere, or an oblong sphere. In addition, the method of expressing the hardening depth is selected by a user operation from multiple options including "color of the block model," "adding numerical values," and "number of block models." The method of expressing the hardening depth is not limited to these and can also employ patterns, etc.

[0039] As shown in FIG. 8 , when the "cubic shape" block model 95 shape and the "block model color" hardening depth representation method are selected, block models 95a and 95b are placed in the hardening range of the display 3D model 91. The size of one block model 95 (the area of ​​one side of the cube) corresponds to the unit area of ​​the hardening range. Therefore, the number of block models 95 corresponding to the area of ​​the hardening range are placed in the hardening range. The hardening range configuration can be set for each unit area. Block models 95a and 95b with different colors represent hardening depths of "0.5 mm" and "1.0 mm," respectively. When the "cubic shape" block model 95 shape and the "numerical notation" hardening depth representation method are selected, block models 95c and 95d are placed in the hardening range of the display 3D model 91. Block models 95c and 95d with different notated numbers represent hardening depths of "0.5 mm" and "1.0 mm," respectively. When "cubic shape" is selected as the shape of the block model 95 and "number of block models" is selected as the method for expressing the hardening depth, block models 95e and 95f are placed in the hardening range of the display 3D model 91. Block model 95e is a model in which one unit block model 97 is placed in a square frame 96 corresponding to a unit area, and represents a hardening depth of "0.5 mm." Block model 95f is a model in which two unit block models 97 are placed in a square frame 96 corresponding to a unit area, and represents a hardening depth of "1.0 mm."

[0040] As shown in Figure 7, "changing the surface of the model to be cleaned" is a method of expressing the hardening range by changing the state of the surface of the three-dimensional model of the workpiece 9, rather than expressing hardening using an object such as a block model 95 (see Figure 8). The hardening depth expression method is selected by user operation from multiple options including "color" and "numerical notation." The hardening depth expression method is not limited to these, and patterns, etc. can also be used.

[0041] As shown in FIG. 8 , when the "Color" hardening depth representation method is selected, the color of the hardened area in the display 3D model 91 is changed to hardened areas 91a and 91b. The size of each square frame represented by the hardened areas 91a and 91b corresponds to the unit area of ​​the hardened area. In other words, the hardened area configuration can be set for each unit area. Hardened areas 91a and 91b with different colors represent hardened depths of "0.5 mm" and "1.0 mm," respectively. When the "Numerical Value" hardening depth representation method is selected, numerical values ​​representing the hardened depth are appended to the hardened areas in the display 3D model 91, as in hardened areas 91c and 91d. Hardened areas 91c and 91d with different appended numerical values ​​represent hardened depths of "0.5 mm" and "1.0 mm," respectively.

[0042] 9, a method for setting the hardening conditions by the hardening condition setting unit 27 in steps S113 and S114 in Fig. 6 will be described. Fig. 9 is a diagram showing an example of a hardening condition setting screen 200. The hardening condition setting screen 200 is configured to allow at least the hardening range and hardening depth to be set as the hardening conditions.

[0043] As shown in FIG. 9A , a hardening condition setting screen 200 displays a three-dimensional model 90 of the workpiece 9 and a hardening depth input form 210. The user can designate the area enclosed by the figure 220 as the hardening area by enlarging or reducing a band-shaped figure 220 and placing it on the surface of the three-dimensional model 90 of the workpiece 9. As shown in FIG. 9B , the user can input the hardening depth of the hardening area enclosed by the figure 220 by inputting a numerical value in a text box corresponding to the item "hardening depth" displayed in the hardening depth input form 210. When the hardening area and hardening depth are input, a three-dimensional display model 91 is created from the three-dimensional model 90 of the workpiece 9, in which the hardening area is expressed in a manner corresponding to the hardening depth, and is displayed. The hardening area and hardening depth are decided based on the user clicking the OK button.

[0044] In this way, the user can specify the hardening range on the three-dimensional model 90 of the workpiece 9 by intuitively operating the three-dimensional model 90 of the workpiece 9. The method of specifying the hardening range is not limited to this, and as shown in Fig. 9, the hardening range may be specified using coordinate values ​​in a coordinate system common to the three-dimensional model 90 of the workpiece 9, or the hardening range may be specified by placing an arbitrary graphic, such as a circle, on the surface of the three-dimensional model 90 of the workpiece 9. Of course, the entire surface of the workpiece 9 may be specified as the hardening range all at once, or the hardening range may be specified on a part-by-part (face-by-face) basis that makes up the workpiece 9. Furthermore, the hardening depth may be automatically set to a recommended hardening depth according to the material.

[0045] The user can check the hardening range and hardening depth simply by viewing the display 3D model 91, and can therefore efficiently perform hardening condition setting work such as adding and correcting the hardening range and hardening depth.

[0046] Hereinafter, with reference to FIG. 10 , a method for setting laser irradiation conditions by the irradiation condition setting unit 30 in step S13 of FIG. 5 will be described. FIG. 10 is a diagram showing an example of a laser irradiation condition setting screen. The irradiation condition setting screen 300 is configured to allow setting of laser irradiation conditions such as laser output, the distance from the light source (irradiation window) to the three-dimensional model of the workpiece, the irradiation angle, the spot shape, and the spot diameter. As shown in FIG. 10 , the irradiation condition setting screen 300 displays an irradiation condition input form 310, a laser irradiation model 60 represented simply in two dimensions, and an irradiation spot 61. The irradiation spot 61 changes depending on the spot shape and spot diameter. The user can set the irradiation conditions by entering characters, numbers, etc. in multiple text boxes corresponding to the multiple items displayed in the irradiation condition input form 310 and clicking the OK button.

[0047] The simulation execution process of step S17 in Fig. 5 will be described below with reference to Fig. 11 and Fig. 12. Fig. 11 is a diagram showing an example of a simulation screen. Fig. 12 is a diagram showing another example of a simulation screen. Fig. 11(a) shows the state before the simulation is executed, and Fig. 11(b), Fig. 12(a), and Fig. 12(b) show the state after the simulation is executed.

[0048] The simulation screen 400 is displayed when a hardening program is created. The simulation screen 400 displays a virtual space in which the display three-dimensional model 91 and the robot model 50 are arranged. When the display three-dimensional model 91 is irradiated with a laser, an irradiation spot 61 is displayed superimposed on the display three-dimensional model 91. For example, a user can manually register teaching points while moving the robot model 50 displayed on the simulation screen 400 by operating a cursor or the like.

[0049] When a simulation based on the hardening program is executed, multiple teaching points P1 to P4 defined in the hardening program are displayed in virtual space. A legend 410 is also displayed to explain the hardening depth represented in the display 3D model 91. The coordinate system of the virtual space is defined as follows: the width direction (left-right direction of the robot model 50) of the display 3D model 91 is defined as the X direction, the depth direction (front-rear direction of the robot model 50) is defined as the Y direction, and the height direction (up-down direction of the robot model 50) is defined as the Z direction. As shown in FIGS. 11 and 12 , it is desirable to display an irradiation spot 61 when executing a hardening simulation or registering teaching points. This allows a user to see at a glance whether the laser is irradiating the hardening range 91s of the display 3D model 91, thereby efficiently registering teaching points and correcting the hardening program.

[0050] 11A, a target hardening depth of 1.0 mm is set in the hardening range 91s in the display 3D model 91. When the simulation is executed, the hand reference point of the robot model 50 is moved sequentially from teaching point P1 to P4. While the hand reference point of the robot model 50 moves from teaching point P1 to P2 and from teaching point P3 to P4, the laser is irradiated, and the irradiation spot 61 moves on the display 3D model 91 as the robot model 50 moves.

[0051] As shown in FIG. 11B , when the simulation results in a calculated hardening depth of 1.0 mm in the hardening area 91s, the appearance of the hardening area 91s is changed from the appearance corresponding to the target hardening depth of 1.0 mm to an appearance corresponding to “hardening completed,” indicating that hardening has been performed as intended. By representing the hardened area using a color, pattern, or the like, the location of the hardened area can be identified even after the simulation has been performed. By confirming that the overall display appearance of the hardening area 91s has changed to an appearance indicating that hardening has been performed as intended, the user can confirm that a hardening program capable of performing hardening as intended has been created. Alternatively, “hardening completed” may be represented by returning the appearance of the hardening area to its original state before the hardening area was set.

[0052] As shown in FIG. 12A , when the calculated hardening depth for the two first sub-regions 91s1 (located above and below the hardening region 91s) is 1.0 mm, the state of the first sub-region 91s1 changes from a state corresponding to the target hardening depth of 1.0 mm to a state corresponding to "hardening completed," indicating that hardening was performed as intended. When the calculated hardening depth for the second sub-region 91s2 (located in the center of the hardening region 91s) is 2.0 mm, the state of the second sub-region 91s2 changes from a state corresponding to the target hardening depth of 1.0 mm to a state corresponding to "over-hardened," indicating that hardening was performed deeper than intended. The calculated hardening depth may be displayed, or the difference between the calculated hardening depth and the target hardening depth may be displayed. By viewing the simulation results in FIG. 12A , the user can confirm that hardening was performed twice in the center of the hardening region 91s. This allows correction of the hardening program, such as changing the spot diameter or the position of the teaching point.

[0053] As shown in FIG. 12(b), when the simulation results show that the calculated hardening depth for the entire hardening area 91s is 0.8 mm, the state of the hardening area 91s is changed from the state corresponding to the target hardening depth of 1.0 mm to the state corresponding to "insufficient hardening," indicating that the hardening depth is shallower than the target. At this time, the calculated hardening depth may be displayed, or the difference between the calculated value and the target hardening depth may be displayed. By viewing the simulation results in FIG. 12(b), the user can confirm that the hardening of the entire hardening area 91s is insufficient. This allows the user to make corrections to the hardening program, such as increasing the laser output or slowing the movement speed from teaching point P1 to teaching point P2 and from teaching point P3 to teaching point P4.

[0054] The simulation device 10 according to this embodiment can create and display a three-dimensional display model 91, in which the hardening range is expressed in a manner corresponding to the hardening depth, from a three-dimensional model 90 of the workpiece 9 to be hardened. This allows a user to intuitively grasp, simply by viewing the three-dimensional display model 91, which range of the three-dimensional model 90 of the workpiece 9 has been set as the hardening range and the hardening depth of the hardening range, thereby enabling efficient setting of hardening conditions, such as deleting, adding, or modifying the hardening range or modifying the hardening depth. This is one of the useful techniques for implementing hardening simulation.

[0055] In the hardening simulation, the calculated value of the hardening depth in the hardening range of the display 3D model 91 is compared with the target value, and the mode of the hardening range can be changed depending on the comparison result. For example, when the calculated value of the hardening depth in the hardening range matches the target value, the mode of the hardening range is changed to a mode representing that the hardening has been achieved as targeted. When the calculated value of the hardening depth in the hardening range is deeper than the target value, the mode of the hardening range is changed to a mode representing that the hardening has been achieved deeper than targeted. When the calculated value of the hardening depth in the hardening range is shallower than targeted, the mode of the hardening range is changed to a mode representing that the hardening has been achieved shallower than targeted. At least, the mode of the hardening range when the calculated value reaches the target hardening depth differs from the mode of the hardening range when the calculated value does not reach the target hardening depth.

[0056] By simply viewing the display three-dimensional model 91 after the simulation has been executed, the user can intuitively understand whether the hardening has been performed as intended for the display three-dimensional model 91. Furthermore, from the change in the appearance of the display three-dimensional model 91 after the simulation has been executed, it is possible to understand areas where the hardening is shallower than the target, areas where the hardening is deeper than the target, areas where no hardening has been performed, areas where unplanned hardening has been performed, etc., which makes it easy to consider how to modify the hardening program, and allows the hardening program to be modified efficiently.

[0057] In this way, the simulation device 10 according to this embodiment can create and display a three-dimensional display model 91 in which the hardening range is expressed in a manner corresponding to the hardening depth from a three-dimensional model 90 of the workpiece 9 to be hardened. This is a useful technique for realizing a simulation that reproduces hardening, and contributes to improving the efficiency of the user's work of setting the hardening range and hardening depth and of correcting the hardening program.

[0058] In the process of creating the hardening program described with reference to Fig. 5, the work of setting irradiation conditions (step S13), the work of setting operating conditions (step S14), the work of registering teaching points (step S15), and the work of checking and correcting the hardening program (step S18) are performed manually by the user. However, all or part of these steps may be performed automatically. By automating some or all of these steps, the effort required by the user to create the hardening program can be reduced.

[0059] For example, the teaching point registration work in step S15 in Fig. 5 can be automated according to the following procedure. The automatic teaching point registration process in step S15 in Fig. 5 will be described below with reference to Fig. 13. Fig. 13 is a flowchart showing an example of the procedure for the teaching point registration process in step S15 in Fig. 5. It is assumed that the robot model 50 is placed at a preset standby position.

[0060] As shown in FIG. 13 , when automatic teaching point registration is initiated, the hardening area located closest to the current position is searched for (S151). If there is a hardening area that has not yet been hardened (S152; Yes), the robot model 50 is moved to a position where the hardening area can be irradiated with a laser (S153), and the position and posture after the movement are registered as teaching points (S154). The simulation device 10 then changes the appearance of the hardening area irradiated with the laser by the robot model 50 to an appearance indicating that hardening has been completed (S155). Steps S151 to S155 are repeatedly executed until there are no hardening areas that have not yet been hardened, i.e., until hardening is completed. The automatic teaching point registration process of FIG. 13 automatically registers multiple teaching points capable of hardening the entire hardening area in accordance with the movement order. Similar to the case of manually registering teaching points, the simulation device 10 creates a hardening program based on the automatically registered multiple teaching points.

[0061] The simulation device 10 can automatically set the laser irradiation conditions based on the size, material, and hardening depth of the hardened area in the display 3D model 91. Similarly, the simulation device 10 can automatically set the laser irradiation conditions according to the material of the hardened area, hardening depth, etc.

[0062] In this embodiment, hardening is performed using a laser. However, the hardening method is not limited to laser as long as partial hardening can be performed. For example, high frequency waves can be used for hardening. In this case, the laser generator 6 is replaced with a high frequency coil.

[0063] In this embodiment, the hardening depth is set for the hardening range, and the hardening range configuration is changed according to the hardening depth. However, other parameters may be set for the hardening range. For example, the absorbed energy may be set for the hardening range, and the hardening range configuration may be changed according to the amount of absorbed energy.

[0064] The simulation device 1 according to this embodiment has a function of creating and displaying a 3D display model, in which the hardening range is expressed in a manner corresponding to the hardening depth, from a 3D model of a workpiece to be hardened. This function can be applied not only to hardening but also to paint stripping and rust removal. In this case, the 3D model of the workpiece to be hardened can be replaced with a 3D model of the workpiece to be stripped of paint or rust removal, the hardening range can be replaced with the range to strip the paint or the range to remove rust, and the hardening depth can be replaced with the thickness of the paint or the thickness of the rust. This makes it possible to realize a simulation of paint stripping and rust removal.

[0065] Various data such as the simulation program stored in the storage device 15 may be recorded on removable media and distributed to users, or may be distributed by being downloaded to the simulation device 10 via a network.

[0066] The following supplementary notes are further disclosed regarding this embodiment and the modified examples. (Supplementary Note 1) The simulation device 10 includes a storage unit 24 that stores a three-dimensional model 90 of a workpiece 9 to be hardened, a reception unit 21 that receives user operations for specifying the hardening range and the target hardening depth of the three-dimensional model 90 of the workpiece 9, a display three-dimensional model creation unit 28 that creates a display three-dimensional model 91 from the three-dimensional model 90 of the workpiece 9, in which the hardening range is expressed in a manner corresponding to the target hardening depth, and a display unit 22 that displays the created display three-dimensional model 91. (Supplementary Note 2) In the simulation device 10 described in Supplementary Note 1, the display three-dimensional model 91 represents the surface of the hardening range in the three-dimensional model 90 of the workpiece 9 in a manner corresponding to the target hardening depth. (Supplementary Note 3) In the simulation device 10 described in Supplementary Note 1, the display 3D model 91 is formed by adding a block model having a configuration corresponding to the target value of the hardening depth to the hardening range on the 3D model 90 of the workpiece 9. (Supplementary Note 4) In the simulation device 10 described in Supplementary Note 3, the block model is expressed as a spherical or cubic shape. (Supplementary Note 5) The simulation device 10 described in any of Supplements 1 to 4 further includes a trajectory calculation unit 35 that calculates a movement path of the irradiation spot of the hardening laser on the display 3D model 91, and a hardening depth calculation unit 36 ​​that calculates a calculated value of the hardening depth on the movement path for each unit area based on the irradiation conditions of the hardening laser and the movement speed of the irradiation spot on the movement path. The display 3D model creation unit 28 changes the configuration corresponding to the target value of the hardening depth based on the calculated value of the hardening depth. (Appendix 6) In the simulation device 10 described in Appendix 5, the state when the calculated value of the hardening depth reaches the target value of the hardening depth is different from the state when the calculated value of the hardening depth does not reach the target value of the hardening depth.(Supplementary Note 7) The simulation device 10 described in any one of Supplementary Notes 1 to 6 further includes a program creation unit 33 that creates a hardening program based on a plurality of positions of the hardening robot model 50 that can irradiate the hardening laser onto the hardening range of the display three-dimensional model 91. (Supplementary Note 8) The program causes a computer that stores a three-dimensional model of the workpiece 9 to be hardened to realize the following: means for accepting a user operation to specify the hardening range and the target value of the hardening depth of the three-dimensional model 90 of the workpiece 9, means for creating a display three-dimensional model 91 from the three-dimensional model 90 of the workpiece 9 in which the hardening range is expressed in a manner corresponding to the target value of the hardening depth, and means for displaying the created display three-dimensional model 91.

[0067] Although the embodiments of the present disclosure have 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 invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. 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.

[0068] 1...hardening robot system, 5...robot device, 6...laser generating device, 7...robot arm mechanism, 8...control device, 9...workpiece, 10...simulation device, 11...processor, 12...operation device, 13...display device, 14...communication device, 15...storage device, 21...receiving unit, 22...display unit, 23...transmitting / receiving unit, 24...memory unit, 25...screen creation unit, 26...representation method setting unit, 27...hardening condition setting unit, 28...display 3D model creation unit, 29...virtual space creation unit, 30...irradiation condition setting unit, 31...operation condition setting unit, 32...teaching point registration unit, 33...program creation unit, 34...model operation control unit, 35...trajectory calculation unit, 36...hardening depth calculation unit, 50...robot model, 90...3D model of workpiece, 91...3D model for display.

Claims

1. a storage unit that stores a three-dimensional model of a workpiece to be hardened; a receiving unit that receives a user operation for specifying a hardening range and a target hardening depth of the three-dimensional model of the workpiece; a display 3D model creation unit that creates a display 3D model from the 3D model of the workpiece, in which the hardening range is expressed in a manner corresponding to the target value of the hardening depth; a display unit that displays the created three-dimensional model for display; A simulation device comprising:

2. the display three-dimensional model is such that the surface of the hardening range in the three-dimensional model of the workpiece is expressed in a manner corresponding to the target value of the hardening depth; The simulation device according to claim 1.

3. The display three-dimensional model is formed by adding a block model of a form corresponding to the target value of the hardening depth to the hardening range on the three-dimensional model of the workpiece. The simulation device according to claim 1.

4. 4. The simulation device according to claim 3, wherein the block model is expressed in a spherical or cubic shape.

5. a trajectory calculation unit that calculates a path along which an irradiation spot of a hardening laser moves on the three-dimensional model for display; a hardening depth calculation unit that calculates a hardening depth on the movement path for each unit area based on the irradiation conditions of the hardening laser and the movement speed of the irradiation spot on the movement path, 5. The simulation device according to claim 1, wherein the display three-dimensional model creation unit changes the aspect corresponding to the target value of the hardening depth based on the calculated value of the hardening depth.

6. 6. The simulation device according to claim 5, wherein a state when the calculated value of the hardening depth reaches the target value of the hardening depth is different from a state when the calculated value of the hardening depth does not reach the target value of the hardening depth.

7. 5. The simulation device according to claim 1, further comprising a program creation unit that creates a hardening program based on a plurality of positions of the robot model for hardening at which a hardening laser can be irradiated onto the hardening range of the three-dimensional model for display.

8. a computer storing a three-dimensional model of a workpiece to be hardened; a means for receiving a user operation for specifying a hardening range and a target hardening depth of the three-dimensional model of the workpiece; means for creating a three-dimensional display model from the three-dimensional model of the workpiece, in which the range of hardening is expressed in a manner corresponding to the target value of the hardening depth; a means for displaying the created three-dimensional model for display; A program to achieve this.