451 results about "Working space" patented technology

The invention provides a filter stick defective product sorting method for reinforcement learning self-adaptive grabbing, and relates to the technical field of filter stick sorting. The defects of the filter stick are recognized through a multi-view visual module, image coordinates are compensated in real time in combination with the speed of a conveying belt, and the image coordinates are accurately mapped to a three-dimensional working space of a mechanical arm; then, defect poses, production line states and mechanical arm parameters are input to a reinforcement learning module, so that the optimal grabbing action and clamping pressure are output, and efficient sorting of the driving mechanical arm and the soft clamping jaw is achieved; and meanwhile, the feedback evaluation unit acquires a grabbing result through a sensor, generates a reward signal optimization strategy network, and realizes continuous online learning. The technical problems that in a high-speed flexible production line, a traditional sorting system is insufficient in grabbing precision and high in false grabbing rate due to the fact that visual recognition and a mechanical grabbing strategy are disjointed are solved. According to the invention, the collaborative precision of defect identification and grabbing and the sorting efficiency in the filter stick production line are obviously improved.

A system for performing minimally invasive procedures in a body lumen of a patient including a flexible catheter having a first lumen configured and dimensioned to receive an endoscope therethrough and a second lumen configured and dimensioned to receive a first flexible tube therethrough. The first flexible tube is movable through the second lumen and has a distal portion including a first curve extending in a first direction with respect to the longitudinal axis and a second curve extending in a second different direction with respect to the longitudinal axis. A retractor system is positioned at a distal portion of the catheter and is movable from a non-expanded insertion position to an expanded position forming an expanded cage to form a larger working space. The distal portion of the first flexible tube is movable within the expanded cage.

The invention relates to the technical field of parallel machine mechanisms, in particular to a position symbol positive solution two-translation and one-rotation parallel robot. The working space of a conventional 2T1R parallel robot is greatly limited by the singular configuration of a mechanism or the rotating capacity of a movable platform is limited, so that the conventional 2T1R parallel robot is difficult to adapt to the machining operation of a large-dip-angle inclined plane. In order to solve the problems, the position symbol positive solution two-translation and one-rotation parallel robot is provided, the topological structure of the position symbol positive solution two-translation and one-rotation parallel robot comprises a static platform, a movable platform, a mixed branch chain I, a simple branch chain II and a simple branch chain III, and the mixed branch chain I, the simple branch chain II and the simple branch chain III are connected with the static platform and the movable platform. The positive solution problem of the position of the mechanism is successfully decoupled, and the motion of any driving revolute pair located on the static platform in the space sub-parallel mechanism in the mixed branched chain determines the translation of the movable platform along the z axis. The two simple branch chains are independently responsible for rotation of the movable platform around the y axis and translation of the movable platform along the x axis. According to the highly-decoupled driving mode, the risks of internal interference and singular configuration are reduced.

The invention provides a humanoid apple picking robot which comprises a first humanoid picking mechanism, the first humanoid picking mechanism is installed on a power chassis through a first supporting stand column, and apple picking operation is conducted through two first end effectors on the first humanoid picking mechanism; the second humanoid picking mechanism is installed on the power chassis through a second supporting stand column, two second end executors are movably connected to the second humanoid picking mechanism, and apple picking operation is conducted through the two second end executors. The robot is composed of the two humanoid picking mechanisms, the advantages of a Cartesian mechanical arm and a joint mechanical arm are fused, a heterogeneous complementary cooperative structure is used for replacing a traditional picking mechanical arm with the single height adjustment function, the robot operation space is expanded, the upper-layer and lower-layer operation coverage range is achieved, and the picking efficiency is improved. The fruit picking device is suitable for automatic picking operation in different orchard environments, convenient to use and practical.

The invention discloses a user working environment persistent storage method based on a double-layer container. The method comprises the steps that mirror images of all public containers in mirror image private server are pulled to a shared storage space to form a hot loading area; dividing a corresponding working space from the shared storage space, querying a target storage block corresponding to a target public container mirror image from a hot loading area based on a public container mirror image identifier in a creation request from a client, copying the target storage block to the working space to serve as a system disk, and further establishing a double-layer container and starting the double-layer container; in response to a modification request of a client, performing corresponding modification operation on the initial state inner layer container to obtain a target state inner layer container, so as to run a user working environment based on the target state inner layer container to execute a computing power task; and storing a file corresponding to the modification operation in the remaining space except the system disk in the workspace to form a user mirror image layer. According to the invention, the persistent storage efficiency of the container state and the user working environment can be improved, and the rapid restarting of the container can be realized.

The invention provides a large-diameter storage tank and isolation lining synchronous installation device and an installation method thereof.The large-diameter storage tank and isolation lining synchronous installation device comprises a tank body and lifting devices annularly arrayed on the periphery of the bottom of the tank body, the tank body is formed by splicing a plurality of ring cylinder sections in a lap joint mode, the cylinder sections are formed by splicing a plurality of arc-shaped pieces in a lap joint mode, and lifting pieces are detachably and fixedly arranged at the bottoms of the vertical lap joint positions of the cylinder sections; the lifting devices are used for being connected with the even number of lifting devices and used for alternately lifting the installed shell ring and the newly-added shell ring. The lifting device is arranged outside the tank body, so that the working space in the tank body is effectively released, the isolation lining can be synchronously mounted in the tank body assembling process, the process splitting caused by the fact that the lifting mechanism occupies the area in the tank body in the traditional process is avoided, the whole construction period is obviously shortened, and the construction efficiency is improved. The management and coordination cost caused by secondary entering is reduced, the lining can be accurately laid and attached under the open, safe and visible working conditions, and the lap joint sealing performance and the structural consistency are greatly improved.

The invention belongs to the field of mechanical arm control, and relates to a method and device for controlling a mechanical arm by utilizing double-macro lens constraint, and the method comprises the following steps: carrying out system calibration on a double-macro endoscope and the tail end of the mechanical arm to obtain transformation parameters; acquiring an image of a target object in the working space to obtain an original image; performing preprocessing and target detection on the original image to obtain a preprocessed image containing target object features; performing attitude estimation on the preprocessed image to obtain pose information of the target object in a lens coordinate system; a hierarchical iterative approximation strategy of visual feedback is adopted, and a mechanical arm is controlled to drive a double-macro endoscope to gradually approach a target object; the pose information of the target object under the lens coordinate system is converted into a base coordinate system of the mechanical arm; based on the pose information of the target object under the base coordinate system, a mechanical arm joint rotation angle instruction is solved and generated, and a mechanical arm is controlled to complete grabbing operation on the target object; therefore, the fine operation requirement of the manipulator in a narrow working space is met.

This invention relates to the field of deep foundation pit support construction technology, specifically a nested support construction process for deep foundation pit elevator shafts and sump pits. It solves the problem that traditional caisson waterproofing technology is prone to failure due to pit wall collapse in highly permeable gravel strata, making it difficult to create stable construction conditions. The process includes a steel caisson support structure, within which a steel caisson waterproofing structure is nested. This steel caisson waterproofing structure is used in conjunction with the steel caisson support structure for nested construction. This invention, through the nested cooperation of the steel caisson support structure and the steel caisson waterproofing structure, and the injection of a self-compacting concrete filling layer, achieves an integrated support and waterproofing effect during construction. It creates a stable, dry, and enclosed working space in easily collapsible, highly permeable strata, solving the problem of failure of traditional single waterproofing technology and creating safe and reliable conditions for subsequent structural construction.

This utility model discloses a universal filter for amination reactions, belonging to the field of filter technology. The filter includes a tank, a cover, and a filter basket. A first pipe is connected to the tank, and a second pipe is connected to the cover. The filter basket divides the internal space of the tank into a first working space and a second working space. The filter basket includes an annular plate and a bottom plate, with a receiving container on the bottom plate. Liquid in the first working space enters the second working space after being filtered by the filter basket. The receiving container protrudes towards the second working space. This utility model, by providing a receiving container on the filter basket, facilitates the collection of some trapped particles, reduces particles retained on the filter basket, reduces the possibility of particles getting stuck in the filter holes, and reduces the frequency of the filter basket needing to be removed for cleaning. A baffle covers the receiving container, reducing the direct impact of the liquid flow on the internal cavity of the receiving container. The baffle and connecting rod are detachably connected, facilitating the collection of particles inside the receiving container.

The utility model relates to belt dismounting technical field, propose a kind of device for fixing adhesive tape conveyer belt, including bottom plate, the top of the bottom plate is fixedly connected with support rod, the top of the bottom plate is provided with support replacement subassembly, the support replacement subassembly includes fixed bolster, one end of the fixed bolster is fixedly connected in the top of bottom plate, the side of the fixed bolster is provided with adjustment bracket, the top of the fixed bolster is fixedly connected with jack, the side of the support rod is provided with tail wheel, the circumference of the tail wheel is provided with belt, the end of the jack away from fixed bolster is set in the bottom of adjustment bracket, the belt is located on the displacement locus of adjustment bracket, the fixed bolster is provided with two. Through the above technical scheme, the technical problem that it is difficult to provide larger working space in the prior art, so that the operator can more easily dismount the old belt, the tail wheel roller.

This application discloses a linkage control method, device, control equipment, and computer storage medium for a multi-split air conditioning system, relating to the field of air conditioning equipment control technology. The multi-split system includes multiple linked devices, and the linkage control method for the multi-split system includes: periodically acquiring the outlet water temperature of each linked device; based on the outlet water temperature, periodically acquiring the temperature rise parameters of the corresponding working space of each linked device; and controlling the online auxiliary heating function status of each linked device according to the temperature rise parameters and the outlet water temperature. This application can improve the temperature control accuracy of the multi-split system, thereby enhancing the user experience.

The present invention relates to a fire extinguishing apparatus for extinguishing fires in vehicles. The object of the invention is to provide a product and a method for extinguishing fires in a vehicle, especially when it is in an area with limited working space around it. The fire extinguishing apparatus for extinguishing fires in vehicles comprises: - at least one lower tube, wherein said lower tube has at least one inlet opening and at least one closed end, the lower tube is provided with at least one nozzle, - at least one first side tube and at least one second side tube, each with at least one inlet opening and at least one closed end, said first side tube and said second side tube are each provided with at least one nozzle, and said first side tube and said second side tube are arranged substantially parallel to said lower tube.- an inlet distributor is arranged in fluid communication with the inlet opening in said lower tube and the inlet opening in said first side tube and the inlet opening in said second side tube, wherein said first side tube is arranged in a first position with respect to the lower tube and a second side tube is arranged in a second position with respect to the lower tube, wherein in use the inlet distributor is capable of distributing fluid to said lower tube and said first side tube and said second side tube, such that the fluid flows through the nozzles of said lower tube and the nozzles of said first side tube and the nozzles of said second side tube, towards a fire extinguishing zone.

The invention relates to the technical field of agricultural instruments, and discloses a pull-type straw high-density bundling machine which comprises a first rack, a second rack, a picking mechanism and a bundling mechanism, the picking mechanism and the bundling mechanism are arranged on the inner side of the first rack, the second rack is rotationally connected with the first rack, and a first air cylinder used for driving the second rack to rotate is installed on the first rack; lifting plates are arranged on the two sides of the first rack in a sliding mode. Through the arrangement of the first partition plate, the second partition plate, the first elastic sealing strip and the second elastic sealing strip, a semi-closed operation space is constructed, and smashed grass and tree chippings, dust and other impurities raised in the straw picking and compressing stage are effectively prevented from dispersing to the outside; meanwhile, by combining the matched design of the electrostatic generator and the electrostatic plate, stable electrostatic adsorption force is generated on the surface of the electrostatic plate, suspended impurities dispersed in the operation space are rapidly captured, flying dust diffusion is restrained from the source, and the technical problem that the flying dust pollutes the operation environment in the operation process of the pull-type straw bundling machine is successfully solved.

The utility model provides a logistics turnover box convenient to move and take materials, and relates to the field of logistics turnover boxes, the logistics turnover box comprises a turnover box body, reinforcing ribs are fixedly connected to the periphery and the bottom of the turnover box body, a through groove is formed in the bottom of the turnover box body, and trapezoidal grooves are formed in the front face and the back face of the turnover box body; according to the three-dimensional warehouse robot, through the arrangement of the through groove, the effect that the robot can conveniently eject objects out from the bottom is achieved, the trapezoid-shaped groove provides more working space for the mechanical arm so that the special-shaped objects can be conveniently clamped and taken, and through the arrangement of the grabbing opening, a grabbing system of the three-dimensional warehouse robot usually adopts the mechanical arm or a suction cup or other modes; a plurality of grabbing openings are formed in the surface of the turnover box body, the grabbing efficiency and accuracy of a robot can be guaranteed, so that the purpose of facilitating grabbing and moving is achieved, a containing groove and a taking handle are arranged, the containing groove is used for containing the taking handle, and the taking handle plays a role in facilitating a worker to take and move the turnover box body.

The utility model relates to the technical field of capacitive touch screen production, in particular to a UV (ultraviolet) machine for capacitive touch screen processing, which is provided with a rack in which a working space for placing a to-be-cured product is arranged, and comprises a conveying mechanism comprising a conveying platform and a telescopic carrying platform, the telescopic carrying platform is arranged on the conveying platform, the conveying platform can move on the rack along a first direction, and the telescopic carrying platform can move on the rack along a second direction; a to-be-cured product placed on the telescopic carrying table is conveyed into the working space from the exterior of the rack; and the downward pressing irradiation mechanism is arranged at the top of the working space, the downward pressing irradiation mechanism moves in the vertical direction and pushes the telescopic carrying table to stretch out and draw back, and after downward pressing is completed, the downward pressing irradiation mechanism and the conveying platform define a closed irradiation cavity, so that the to-be-cured product in the irradiation cavity is subjected to UV curing. According to the utility model, products can be placed in batches, and the curing efficiency is ensured. And meanwhile, the to-be-cured product can be prevented from being in direct contact with the downward pressing irradiation mechanism, and it is guaranteed that the to-be-cured product is not deviated or fractured.

The invention discloses a high-folding-unfolding-ratio rope-driven mechanical arm, and belongs to the technical field of mechanical arms. Comprising a vehicle body, a control box, a rotating disc, a driving rope guiding piece, a mechanical arm base, a deflection type mechanical arm, a detection device and a joint driving system. When the robot is in a non-working state, the deflection type mechanical arm can be wound on the rotating disc, so that the occupied space is reduced. In the working state, in order to enable the mechanical arm to stretch out and reach a preset pose, the joint driving system and the rotating disc driving system in the control box need to be controlled respectively, so that the mechanical arm joint and the rotating disc rotate in a matched mode; in the extending process of the mechanical arm, the torque compensation support can effectively reduce driving torque needed by most joints of the mechanical arm. The obstacle avoidance function can be rapidly achieved by adjusting the angles of all joints of the mechanical arm. The invention has the characteristics of flexible deployment, high folding-unfolding ratio, small occupied space in a non-working state, large working space and the like.

The present application relates to the technical field of material supporting device of bending machine, and discloses a follow-up supporting device of bending machine and a follow-up supporting method thereof, which comprises a rack, a lifting mechanism, a first supporting table, an angle adjusting mechanism, a translation mechanism, an extension frame, universal ball bearings, first anti-skid pads, second anti-skid pads and an angle detector; the output end of the lifting mechanism is provided with a movable table; the first supporting table is rotatably connected with the movable table; the angle adjusting mechanism drives the first supporting table to rotate; the two movable frames of the translation mechanism are detachably connected with second supporting tables; the extension frame is arranged in the first supporting table and is provided with a third supporting table; a plurality of universal ball bearings are arranged in the first supporting table; a plurality of first anti-skid pads are arranged in the first supporting table; a plurality of second anti-skid pads are arranged in the two second supporting tables; the device can flexibly adjust the transverse and front-back coverage range of the supporting surface, adapt to the bending requirements of different sizes of plates, and improve the universality and avoid occupying the working space.

An integrated heat dissipation module structure includes a metallic top cover, a metallic bottom cover, a working space, capillary structures and a working fluid in the working space. The top cover includes oppositely an outer heat-dissipating surface having a plurality of columnar heat dissipation structures protruding therefrom and an inner condensation surface surrounded by a top frame. The inner condensation surface has parallel top grooves. The bottom cover includes oppositely an outer heat-absorption surface having screw holes for locking electronic elements and an inner evaporation surface surrounded by a bottom frame. The inner evaporation surface has parallel bottom grooves, protrusive supporting structures disposed between the bottom grooves, and screw-hole protrusions corresponding to the screw holes. The capillary structures are disposed within the bottom grooves or both the bottom and top grooves. The working fluid is in the working space and the capillary structures.

The embodiment of the utility model provides a prestressed beam mold, and relates to the field of prefabricated beam manufacturing. The prestressed beam mold comprises a mold table, a side mold part, a movable part and a guide part, wherein the side mold piece comprises a middle side mold and a side mold, the middle side mold and the side mold are both located on the upper side of the mold table, one of the movable piece and the guide piece is arranged on the mold table, the other one of the movable piece and the guide piece is arranged on the middle side mold and / or the side mold, and the movable piece is matched with the guide piece. In the working process, the middle side dies or the side dies can be driven to move relative to the die table through cooperation of the movable pieces and the guide pieces, then the distance between the middle side dies and the side dies is adjusted, and compared with the prior art, the working space is enlarged, the safety risk is reduced, and the working efficiency and the product compatibility are improved.

The invention provides a rope-driven parallel mechanism configuration optimization method for adjusting the position of a tail end connection point, and the method comprises the steps: determining a plurality of rope-driven parallel mechanism configurations meeting constraint conditions based on the installation space needed by a target motion simulator, the shape and load of a tail end actuator, and the motion freedom degree and target motion range of the tail end actuator; respectively calculating a force closed working space of each configuration and screening out at least two to-be-selected configurations; respectively calculating a force helix feasible working space and an attitude rotation range of each to-be-selected configuration; respectively comparing the attitude rotation range of each to-be-selected configuration with the target motion range, and determining whether the to-be-selected configuration is a basic target configuration or not; on the basis of the selected basic target configuration, traversing and calculating a force spiral feasible working space when different connection positions on the rope and the end effector are fixed; and determining a rope connection point on the end effector according to the position and posture number distribution relationship between the connection position and the force spiral feasible working space. And the optimal configuration meeting the requirements is obtained.

The flexible structure capable of enlarging the opening of the punching gun die comprises a clamping block, one end of the clamping block is rotatably provided with a hollow resisting block through a rotating shaft or a hinge, the side face of the hollow resisting block is symmetrically and fixedly provided with second magnetic blocks, one end of the clamping block is symmetrically and fixedly provided with first magnetic blocks, and the second magnetic blocks are symmetrically and fixedly provided with second magnetic blocks. The first magnetic block and the second magnetic block attract each other. The utility model relates to the technical field of punching guns. According to the punching gun die, an opening flexible structure can be enlarged, a hollow resisting block is rotated through a rotating shaft or a hinge, and a clamping opening of a clamping block is enlarged, so that the clamping block can be inserted into a steel plate, and when an obstacle is encountered in a limited working space by changing the size of the opening, the clamping block can be inserted into the steel plate; therefore, the die, namely the clamping block, can be adjusted and adapt to profile steel of different specifications, and the working efficiency of punching is improved.

This utility model discloses a downhole fishing tool, including a guide cylinder and a claw assembly located inside the guide cylinder. The upper section of the guide cylinder is equipped with a spring assembly, and the lower section is equipped with a claw assembly. The lower end of the spring assembly abuts against the upper end of the claw assembly. The lower inner wall of the guide cylinder has an inwardly inclined guide surface, which corresponds to the elastic claw of the claw assembly. This utility model has a simple structure, is easy to operate, easy to maintain and repair, has good fishing performance, can adapt well to narrow working spaces, effectively avoids secondary damage to the instrument, and has both self-locking and unlocking functions. It is suitable for various instrument compartments or other downhole equipment that can be connected to a fishing head.

The present invention aims to provide a solution that avoids the troublesome task of raising the frame every time a large vehicle or ship passes by, while also ensuring sufficient working space between the frame and the underside of the structure. [Solution] The present invention comprises a frame 10 formed by connecting the ends of a plurality of beam members 1 having upper chord members 1a and lower chord members 1b arranged in a vertical line, a chain 2 for suspending the frame 10, and a floor structure 3 having a floor plate 30 connected to the frame 10 and positioned inside the frame 10 and at least below the upper end of the upper chord member 1a, wherein the lower end of the floor structure 3 is positioned at a height at least equal to or greater than the lower end of the lower chord member 1b.

The application discloses a tunnel lining modularization endless longitudinal grouting method, which comprises the following steps: step S1, three grouting holes for grouting pipes to pass through are symmetrically reserved on the vault of a tunnel lining pouring formwork, and the left and right side walls of the tunnel lining formwork are first grouted by using a punch grouting mode; step S2, a plurality of grouting pipes are installed by using a longitudinal grouting pipe mounting and dismounting system, and each grouting pipe is sequentially pushed into the grouting hole on the vault of the tunnel lining pouring formwork; step S3, the grouting pipes are pulled out and dismounted by the longitudinal grouting pipe mounting and dismounting system; and step S4, grouting is sequentially performed on one grouting hole on the left side or the right side and the grouting hole on the middle top according to steps S2 to S3, so that the working space of the grouting pipes is greatly reduced, the design is in line with actual demands, the conception is novel, and the concrete pouring effect is good.

To provide an information processing device and the like capable of simulating robot control without exceeding a limit of a movable range of an operation in simulation of robot control of a multi-axis robot.SOLUTION: The information processing device includes a learning unit configured to generate a learning model learned by simulation in a virtual space, a storage unit configured to store robot configuration information, a reception unit configured to receive work space information for executing teaching and a work requirement set in advance for a workpiece, and a generation unit configured to generate a three dimensional model of a work space including the robot and the workpiece in the virtual space based on the robot configuration information and the work space information. And a simulation unit that outputs a result of simulating an operation of the robot satisfying the work requirements as control information of the movable range in the real space based on the learning model.SELECTED DRAWING: Figure 1

The application discloses a control system of an intelligent drilling-anchor robot for cooperation of a mechanical arm and a drilling machine, a task timing and parallel arrangement subsystem comprises a task timing and parallel characteristic analysis module and a device task sequencing module; a scanning detection strategy task allocation system comprises a device scanning detection module, a task process detection module and a task allocation module; a path planning obstacle avoidance system comprises a motion device working space construction module, a shortest path analysis module, a rod expansion module and a trajectory obstacle avoidance analysis module; a visual positioning system comprises a body position calibration module, an interactive point visual identification module and an interactive calibration module; and a device motion control system comprises a body advancing control module, a path point picking module, a joint variable calculation module, a fuzzy control module and an interactive device adjustment module. The application greatly promotes the intelligentization and unmanned development of downhole operations, reduces the work intensity of artificial labor and improves the work efficiency of the drilling-anchor robot.

vibration damper (2) comprising - a damper tube at least partially filled with damping fluid, in which a piston rod is movable back and forth, wherein a working piston is movable along with the piston rod, by which the interior of the damper tube is divided into a working space on the piston rod side and a working space away from the piston rod, - at least one pressure stop buffer (1), wherein the at least one pressure stop buffer (1) comprises an outer contour (4) for at least partial inclusion in a dome bearing housing (3) and a hollow cylindrical basic structure with an inner contour (6) for coaxial arrangement on a piston rod (5) of the vibration damper (2), characterized by the fact that the outer contour (4) of the pressure stop buffer (1) has at least in an area relating to the at least partial reception in the strut bearing housing (3) a three-dimensionally structured surface (7) with several protrusions (8, 8', 8'', 8''') and / or several depressions (9, 9', 9'', 9'''), wherein the multiple protrusions (8, 8', 8'', 8''') and / or depressions (9, 9', 9'', 9''') are at least partially homogeneously distributed, at least in the area of ​​at least partial reception in the strut bearing housing (3), wherein more than 5% of the multiple protrusions (8, 8', 8'', 8''') at least in the area of ​​at least partial reception in the strut bearing housing (3) have a height in the range of 0.2 to 0.3 mm relative to the zero plane of a forming tool with which the pressure stop buffer (1) was manufactured.

The utility model provides a pair of crimping pliers for extruding U-shaped and circular wiring terminals. The crimping pliers comprise a pliers head, a connecting mechanism and a pressure handle which are sequentially connected together. Wherein the plier head comprises an extrusion mechanism, and an airtight extrusion cavity used for containing a to-be-pressed object is formed in the extrusion mechanism in a selective mode. The pressure handle is used for applying acting force, and the acting force drives the extrusion mechanism to move towards the extrusion cavity in the circumferential direction after being transmitted to the extrusion mechanism through the connecting mechanism so that the to-be-pressed object located in the closed extrusion cavity can be extruded. In this way, the extrusion cavity can be closed in a selected manner. Therefore, in the using process, the wire sleeve and the wire can be placed in the extrusion cavity after being connected, and therefore the problem that the working space for connecting the wire sleeve and the wire in the extrusion cavity is limited is solved.

A simulation data creation method, a preview image display method, and a simulation device that enable grasping of the contents of simulation before construction of a virtual space. The simulation data creation method includes the following steps: (a) causing a virtual robot disposed in a virtual work space to act based on an operation instruction by a user, and displaying a simulator image representing the action of the virtual robot in the virtual work space on a display device, the virtual work space being a virtual three-dimensional work space; (b) outputting a snapshot representing a two-dimensional image obtained by a virtual camera capturing a state in which a virtual three-dimensional object including the virtual robot is disposed in the virtual work space; and (c) saving, as simulation data, in a memory, an action program representing a target action of the virtual robot based on the operation instruction, layout data representing positions and postures of objects in the virtual work space, attribute data representing attributes of the objects, and the snapshot.