JPH1133963A - Welding robot operation simulating and displaying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding robot operation simulating and displaying device capable of planning suitable work including the welding state by simulating and displaying the operation including the result of welding work to be performed by a robot when the robot operation is simulated and displayed. SOLUTION: In a simulating and displaying device, a welding amount calculating means 5 and a welding shape calculating means 7 are provided, the welding shape in the welding part is calculated by the welding shape calculating means 7 by using the operating attitude of a robot, to be obtained from a robot machinery kinematics calculating means 3 and the welding amount to be obtained from the welding amount calculating means 5, and the simulation display of the welding result can be performed in addition to the simulation display of the robot operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot operation simulation display device capable of simulating and displaying the operation of a robot on a computer screen, confirming the operation, and confirming the result of the welding operation realized by the operation. About.

[0002]

2. Description of the Related Art A conventional robot operation simulation display device is:
For the purpose of checking how the robot moves via given coordinate values, the operation of the robot is simulated and displayed on a screen. Therefore, the information signal of the mechanism of the robot is stored, the angle of the axis of the robot is calculated from the given coordinate data, and the form of the robot is displayed on the screen according to it. FIG. 7 is a block diagram of a conventional robot operation simulation display device. 1 is a robot mechanism element storage means, which is a link configuration of a robot, a link length,
Data such as a coordinate system conversion matrix is stored. Reference numeral 2 denotes a robot operation program storage unit that stores an operation program of a robot that performs a simulation display. Numeral 3 is a robot mechanics arithmetic means, which converts an operation program stored in the robot operation program storage means 2 into robot angle data based on the robot element data stored in the robot mechanism element storage means 1, and displays it on a screen. Create motion data of a simulated robot. Reference numeral 8 denotes an image display means for displaying the simulation robot obtained by the robot dynamics calculation means 3.

FIG. 8 schematically shows a computer system for implementing the robot operation simulation display device. In FIG. 8, reference numeral 14 denotes a microcomputer which performs calculations necessary for performing a simulated display and stores necessary information signals. 1
Reference numeral 5 denotes a CRT for simulating display of a robot, a workpiece, and a welded portion as display data calculated by the microcomputer 14. Reference numeral 16 denotes a keyboard for inputting an information signal of numerical values and characters for simulation display. A pointing device 17 is used to indicate a position on the CRT 15.

[0004]

In order to simulate and display the operation performed by the robot in the welding operation, it is necessary to confirm whether the welding result is desirable, in addition to the problem of the robot's motion trajectory and interference. However, in the conventional robot operation simulation display device, although the operation of the robot can be confirmed, the simulation display is not performed for the welding. For this reason, it is not possible to confirm whether a required welding result can be obtained over the entire welding site by the set welding conditions.

As described above, even if a robot operation is created by setting welding conditions for a welded portion, it is possible to check how much welding is generated by actual robot operation. Did not. Further, when the operation of the robot needs to be corrected by the robot operation simulation display device, it is necessary to confirm the welding conditions again.

The present invention has been made in view of the above points, and has as its object to provide a robot operation simulation display device capable of displaying not only the operation of the robot but also the result of welding performed by the robot. .

[0007]

In order to achieve this object, a first means of the present invention comprises a robot operation program storage means for calculating a robot operation direction from a stored robot operation program; Welding amount calculating means for calculating the welding amount from the welding conditions and the robot operation direction; and welding shape calculating means for calculating the welding shape of the welded material from the calculated welding amount and the stored shape of the welding portion. In addition, while simulating the operation of the robot, the welding state on the welding line is simulated and displayed on the image display means.

Further, the second means of the present invention, in addition to the first means, compares the welded shape for the welded part obtained by the welded shape calculating means with the specified welded shape set by the specified welded shape storage means. A welding shape determining means for determining whether the obtained welding shape satisfies a prescribed shape, simulating and displaying the welding shape on the welding line while simulating the operation of the robot, and determining whether the welding is good or bad. In this configuration, the determination is also made.

Further, the third means of the present invention includes a robot operation program storage means for calculating a robot operation direction from a stored robot operation program, and a welding amount database based on the set welding conditions and the robot operation direction. And a welding shape calculating means for calculating the welding shape of the welded product from the searched welding amount and the stored shape of the welding portion. This is to simulate and display the welding state on the welding line while simulating the operation.

[0010] The fourth means of the present invention, in addition to the third means,
Provided welding shape determination means for comparing the welding shape to the obtained welding site, the specified welding shape set in the specified welding shape storage means, to determine whether the obtained welding shape satisfies the specified shape, In this configuration, the welding shape on the welding line is simulated while the operation of the robot is simulated, and the quality of the welding is also determined.

The fifth means according to the present invention is characterized in that, in the welding robot operation simulation display device described in the third means, when the welding amount database is searched to find the welding amount, if there is no condition matching the database, A welding amount interpolation calculating means for interpolating between the stored values with the value of the designated condition is added, and the welding shape of the welded material is determined based on the obtained welding amount and the stored shape of the welding portion. By calculating by the calculating means, the welding state on the welding line is simulated and displayed while simulating the operation of the robot.

A sixth means of the present invention compares the obtained welding shape for the welded part with the specified welding shape set in the specified welding shape storage means on the welding robot operation simulation display device as the fifth means. By adding welding shape determining means for determining whether the obtained welding shape satisfies the prescribed shape, the welding shape is displayed on the welding line while simulating the operation of the robot, and the welding process is performed. It is configured to also determine pass / fail.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The first means according to the present invention is characterized in that, when a simulation display is performed to display the operation of a robot, the operation of the robot to be subjected to the simulation display is stored as a program in the robot operation program storage means. The welding conditions for the welding part corresponding to the operation are stored in the welding condition storage means. The display of the form of the robot is performed by obtaining the angle of each axis of the robot by the robot mechanics calculation means from the data of the target position of the robot stored in the robot operation program storage means, and the dimensions of each part required for display. This is done by obtaining a value. The display of the work to be worked is performed using the work data from the welding site shape data storage means.

In order to display the shape of the welding part after the robot operation, first, the welding position and welding speed of the robot are obtained from the data of the robot operation program storage means, and the welding part is obtained from the current value of the robot and the next operation target. Is calculated. Also, the welding current and the welding voltage for the wire diameter and the welding site can be obtained from the welding condition storage means. From these values, the welding amount calculating means calculates the melting amount of the wire from the welding current and welding voltage, the wire diameter, and the required wire supply speed based on the known relational expression, based on the wire diameter and the protrusion length of the wire. Further, the amount of melting per unit moving amount is calculated using the welding speed as a parameter, and this is defined as the amount of welding. Further, the welding part shape data storage means calculates a welding area in a welding cross section based on the obtained welding amount and the sectional shape of the welding part obtained from the welding part shape data storage means, and calculates the welding shape. Ask. The obtained welded shape of the welded line at the weld line segment cross section is sent to the image display means and displayed in a manner superimposed on the work data, whereby a simulation display of the welding result is performed.

The second means of the present invention compares the weld shape obtained by the weld shape calculation means with the specified weld shape stored in the specified weld shape storage means by means of the weld shape determination means. It is determined whether or not the shape given as the welding portion is covered and sufficient welding is performed. In the determination, for example, the ratio of the simulated welding amount to the required welding cross-sectional area is used, and it is determined that the welding amount is sufficient if the welding amount is 100% to 120% of the cross-sectional area. It is determined that the welding is excessive.
Further, even if the area is sufficient, if the matching rate with the prescribed shape is, for example, 80% or less, it is determined that the welding is defective.

The third means of the present invention does not use a calculation formula described by a welding current and a welding voltage as in the first means when obtaining the welding deposition amount. It has a database that stores the relationship between the wire melting amount and the wire type and the diameter, and obtains the wire melting amount by referring to this database.

The fourth means of the present invention is characterized in that the welding shape obtained by the welding shape calculating means is determined by the welding means at the welding portion as in the second means, which is added to the operation of the third means. Things.

According to a fifth aspect of the present invention, a condition existing by the welding amount interpolation calculating means when the condition given for the welding amount search by the welding amount searching means does not match the condition stored therein. The welding amount is calculated by interpolating between. Thus, even when the conditions stored in the database are rough, the amount of welding can be obtained. Interpolation can be realized by proportionally distributing between known conditions, but it is also possible to perform various interpolations based on actual experimental results.

The sixth means of the present invention is characterized in that the welding shape determined by the welding shape calculating means in the fifth means is used to determine the welded shape of the welded portion as in the second means. It is added to the action. Hereinafter, Embodiments 1 to 6 of the present invention will be described.

First Embodiment First, a welding robot operation simulation display device according to a first embodiment of the present invention will be described with reference to FIG.

1, 2, and 3 are the same as those in the conventional example, and the description is omitted. Reference numeral 4 denotes a welding condition storage means, which stores information on a welded material such as a diameter and a type of a wire and welding conditions such as a welding current and a welding voltage at each welding portion set for a welding operation together with a robot operation program. I do. 5
Is a welding amount calculating means, based on the welding conditions stored in the welding condition storing means 4 and the information signals of the posture, welding direction, and moving speed of the robot stored in the robot operation program storing means 2, to the welding part. Calculate the welding amount of the weldment. Numeral 6 denotes a welded part shape data storage means for storing information relating to abnormalities of a work to be worked and information signals relating to a sectional shape such as a groove of a welding line. Reference numeral 7 denotes a welding shape calculating means for calculating the shape of the welding result for performing a simulated display from the welding amount of the welding object and the cross-sectional shape of the welding site. Reference numeral 8a denotes an image display means for displaying the simulated robot obtained by the robot dynamics calculation means 3 and the welding shape of the welded part on the workpiece obtained by the welding shape calculation means 7. Next, the operation of the first embodiment will be described.

First, the welding amount calculating means 5 obtains the welding posture and the welding speed of the robot from the data of the robot operation program storage means 2 so as to determine the inclination of the welding part from the current value of the robot and the next operation target. calculate.
Also, by obtaining the welding current and welding voltage for the wire diameter and the welding site from the welding condition storage means 4,
The amount of melting of the wire is calculated from the welding current and the welding voltage, the wire diameter, and the protrusion length of the wire through a necessary wire supply speed by a known relational expression. Further, the melting amount per unit moving amount is calculated using the welding speed as a parameter.
As described above, the amount of welding at the welding site is calculated. Next, in the welding shape calculating means 7, based on the information signal of the welding amount calculated by the welding amount calculating means 5 and the sectional shape of the welding part obtained from the welding part shape data storage means 6, the welding shape is calculated. By calculating the welding area, the shape of the welding at the welding site is determined. Then, the image display means 8a superimposes and displays the welded shape of the welded product at the weld line segment section obtained from the welded shape calculation means 7 and the simulated robot information signal obtained from the robot dynamics calculation means 3. By doing so, a simulation display of the welding result is performed.

The calculation for determining the robot form for the simulation display of the robot operation, the database search processing for the welding conditions, and the calculation processing for the welding amount at the welded part are realized by microcomputer program processing. The display data as the calculation result is displayed on a display device such as a CRT.

(Embodiment 2) Next, a welding robot operation simulation display device according to Embodiment 2 of the present invention is shown in FIG.
It is explained along. Since 1 to 7 are the same as those in the first embodiment, the description is omitted. Reference numeral 8b denotes image display means for displaying the simulated robot determined by the robot mechanics calculation means 3 and the welded shape of the welded part on the workpiece determined by the welded shape calculation means 7, and the validity of the welded shape. The result of the judgment is displayed. Reference numeral 9 denotes a prescribed welding shape storage means for storing a prescribed welding shape for a welding site. Numeral 10 denotes a welding shape judging means.
It is determined whether the welding shape obtained by the above covers the shape given as the welding portion and whether sufficient welding is performed.

The welding shape determining means 10 receives as input the information signal on the welding shape obtained by the welding shape calculating means 7 and the information on the prescribed welding shape stored in the prescribed welding shape storage means 9. By comparing the shapes, it is determined whether or not the welding covers the shape given as the welding portion and sufficient welding is performed. In the determination, for example, the ratio of the simulated welding amount to the required welding cross-sectional area is used, and the welding amount is changed from 100% to 120% of the sectional area.
%, It is determined that it is sufficient. If it is less than that, it is determined that welding is insufficient, and if it is more than that, it is determined that welding is excessive. Further, even if the area is sufficient, when the matching rate with the prescribed shape is, for example, 80% or less, it is determined that the welding is defective. In the image display means 8b, the robot dynamics calculation means 3
In addition to displaying the simulated robot obtained by the above and the welding shape of the welding portion on the workpiece obtained by the welding shape calculating means 7, the result of the determination of the validity of the welding shape is displayed, for example, by displaying the display color of the welding portion shape. Display by changing or popping up an error.

(Embodiment 3) Next, a welding robot operation simulation display apparatus according to Embodiment 3 of the present invention is shown in FIG.
It is explained along. 1-4 and 6-8a
Are the same as in the first embodiment, and a description thereof will be omitted. 1
Reference numeral 1 denotes a welding amount database which stores data describing welding conditions and a relationship between a welding posture and a welding amount. Reference numeral 12 denotes a welding amount search means for searching the welding amount database from welding conditions given in relation to the work, and determining the welding amount of the welded article from the given conditions without performing calculations.
The welding amount search means 12 first obtains the welding posture and welding speed of the robot from the data of the robot operation program storage means 2, and calculates the inclination of the welding part from the current value of the robot and the next operation target. . Also,
By obtaining the diameter of the wire, the welding current and the welding voltage for the welding site from the welding condition storage means 4, the necessary wire supply speed can be obtained from the welding current and the welding voltage, the wire diameter, and the protrusion length of the wire according to a known relational expression. Calculate the amount of melting of the wire via Further, a welding amount database 11 in which welding amounts for various welding conditions are recorded is input. As described above, the welding amount at the welded part is searched from the given information signal such as the inclination of the welded part and the welding conditions. In the welding shape calculating means 7, based on the information signal of the welding amount calculated by the welding amount calculating means 5 and the sectional shape of the welding part obtained from the welding part shape data storing means 6,
By calculating the welding area in the welding cross section, the welding shape at the welding site is obtained. Then, the image display means 8a displays the welded shape of the welded product in the section of the welding line obtained from the welded shape calculation means 7 and the simulated robot information obtained from the robot dynamics calculation means 3 in a superimposed manner. Thus, a simulation display of the welding result is performed.

(Embodiment 4) Next, a welding robot operation simulation display device according to Embodiment 4 of the present invention is shown in FIG.
It is explained along. 1 to 7 and 11 to 12
The steps up to this point are the same as those of the third embodiment, and a description thereof is omitted.
8b is an image display means, and the robot dynamics operation means 3
And the welding shape of the welded part on the workpiece obtained by the welding shape calculation means 7 and the result of the determination of the validity of the welding shape are displayed. Reference numeral 9 denotes a prescribed welding shape storage means for storing a prescribed welding shape for a welding site. Reference numeral 10 denotes a welding shape determining means, and the welding shape obtained by the welding shape calculating means 7 is
It is determined whether or not the shape given as the welding portion is covered and sufficient welding is performed.

The welding shape judging means 10 receives as inputs the information signal on the welding shape obtained by the welding shape calculating means 7 and the information signal on the prescribed welding shape stored in the prescribed welding shape storage means 9. By comparing the two shapes, it is determined whether or not the welding covers the shape given as the welding portion and sufficient welding is performed. In the determination, for example, the ratio of the simulated welding amount to the required welding cross-sectional area is used, and the welding amount is changed from 100% to 1% of the sectional area.
If it is 20%, it is determined that it is sufficient. If it is less than 20%, it is determined that welding is insufficient. Further, even if the area is sufficient, when the matching rate with the prescribed shape is, for example, 80% or less, it is determined that the welding is defective. In the image display means 8b, the robot dynamics calculation means 3
In addition to displaying the simulated robot obtained by the above and the welding shape of the welding portion on the workpiece obtained by the welding shape calculating means 7, the result of the determination of the validity of the welding shape is displayed, for example, by displaying the display color of the welding portion shape. Display by changing or popping up an error.

(Embodiment 5) Next, a welding robot operation simulation display apparatus according to Embodiment 5 of the present invention is shown in FIG.
It is explained along. 1 to 8a and 11 to 1
2 is the same as in the third embodiment, and a description thereof will not be repeated.
Reference numeral 13 denotes a welding amount interpolation calculating means, which interpolates between existing conditions when the condition given for welding amount search by the welding amount searching means 12 does not match the condition stored therein. Calculate the welding amount.

Further, the welding amount interpolation calculating means 13 reads the welding amount database 11 from the welding amount database 11 when the conditions given for the welding amount search by the welding amount searching means 12 do not match the conditions stored therein. By searching and inputting a plurality of data in the vicinity of the given condition, interpolating the existing condition and the condition to be obtained, and interpolating the searched condition under the same condition, the welding amount for the given condition is obtained. Is interpolated. Thus, even when the conditions stored in the database are rough, the amount of welding can be obtained. It should be noted that the interpolation can be realized by proportionally distributing between known conditions, but it is also possible to perform various interpolations based on actual experimental results.

(Embodiment 6) Next, a welding robot operation simulation display device according to Embodiment 6 of the present invention is shown in FIG.
It is explained along. 1 to 7 and 11 to 13
Are the same as in the fifth embodiment, and a description thereof will not be repeated. 8
b is an image display means for displaying the simulated robot determined by the robot mechanics calculation means 3 and the welded shape of the welded part on the workpiece determined by the welded shape calculation means 7, and the validity of the welded shape. The result of the judgment is displayed. Reference numeral 9 denotes a prescribed welding shape storage means for storing a prescribed welding shape for a welding site. Reference numeral 10 denotes a welding shape judging means, and the welding shape obtained by the welding shape calculating means 7 is
It is determined whether or not the shape given as the welding portion is covered and sufficient welding is performed.

The welding shape determining means 10 outputs an information signal on the welding shape obtained by the welding shape calculating means 7 and
By inputting the information signal on the prescribed welding shape stored in the prescribed welding shape storage means 9 and comparing the two shapes, the welding is covered by the given shape as the welding portion, and sufficient welding is performed. Is determined. In the determination, for example, the ratio of the simulated welding amount to the required welding cross-sectional area is used, and the welding amount is changed from 100% to 120% of the sectional area.
%, It is determined that it is sufficient. If it is less than that, it is determined that welding is insufficient, and if it is more than that, it is determined that welding is excessive. Further, even if the area is sufficient, when the matching rate with the prescribed shape is, for example, 80% or less, it is determined that the welding is defective. In the image display means 8b, the robot dynamics calculation means 3
In addition to displaying the simulated robot obtained by the above and the welding shape of the welding portion on the workpiece obtained by the welding shape calculating means 7, the result of the determination of the validity of the welding shape is displayed, for example, by displaying the display color of the welding portion shape. Display by changing or popping up an error.

[0033]

According to the first means of the present invention, the shape of the welding portion generated with the robot welding operation can be simulated and displayed simultaneously with the simulated display of the robot operation.
By simulating the entire welding work performed by the robot, the robot operation and the confirmation of the welding result, which had to be performed separately in the past, can be performed simultaneously, and the work can be performed without operating the actual robot It is possible to greatly reduce the number of man-hours, thereby achieving an excellent effect.

According to the second means of the present invention, the shape of the welding portion generated in accordance with the robot welding operation can be simulated and displayed simultaneously with simulating the operation of the robot, and the result can be determined. The welding result can be determined without actually operating the robot, and an excellent effect of greatly reducing the number of steps for confirmation and the number of steps for work correction can be achieved.

According to the third means of the present invention, it is possible to determine the shape of the welding portion generated in accordance with the robot welding operation without performing an operation, and therefore, simulate the entire welding operation performed by the robot. In this case, the calculation time can be reduced, and an excellent effect of greatly reducing the number of confirmation steps can be achieved.

According to the fourth means of the present invention, the shape of the welding portion generated in accordance with the robot welding operation can be simulated and displayed at the same time as the operation of the robot, and the result can be determined. In addition, the welding result can be determined without operating the actual robot, and an excellent effect that the number of steps for confirmation and the number of steps for work correction can be significantly reduced can be obtained.

According to the fifth aspect of the present invention, the necessary values are calculated even when the database for calculating the amount of welding necessary for calculating the shape of the welded portion generated with the robot welding operation is small. Therefore, it is not necessary to store an information signal relating to the amount of welding in many experiments, and an excellent effect that the number of steps required for data collection in actual work can be significantly reduced is obtained.

According to the sixth aspect of the present invention, the shape of the welding portion generated with the robot welding operation can be simulated simultaneously with the operation of the robot, and the result can be determined. It is possible to judge the welding result without operating the robot described above, and an excellent effect that the man-hour for confirmation and the man-hour for work correction can be greatly reduced can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a welding robot operation simulation display device according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram showing a welding robot operation simulation display device according to Embodiment 2 of the present invention.

FIG. 3 is a block diagram showing a welding robot operation simulation display device according to Embodiment 3 of the present invention.

FIG. 4 is a block diagram showing a welding robot operation simulation display device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a welding robot operation simulation display device according to a fifth embodiment of the present invention.

FIG. 6 is a block diagram showing a welding robot operation simulation display device according to a sixth embodiment of the present invention.

FIG. 7 is a block diagram showing a conventional robot operation simulation display device.

FIG. 8 is a block diagram of a computer system that implements the robot operation simulation display device.

[Explanation of symbols]

 4 Welding condition storage means 5 Welding amount calculating means 6 Welding part shape data storing means 7 Welding shape calculating means 8a, 8b Image display means 9 Welding shape storing means 10 Welding shape judging means 11 Welding amount database 12 Welding amount searching means 13 Welding Amount interpolation calculation means

Claims (6)

[Claims] 1. A robot mechanism element storage means for storing an information signal relating to a robot mechanism, a robot operation program storage means for storing an information signal relating to an operation target position of the robot, and a robot mechanics for calculating a form of the robot. What is claimed is: 1. A welding robot operation simulation display device comprising an arithmetic unit and an image display unit for displaying an operation of a robot, comprising: a welding condition storage unit for storing welding conditions set for performing welding; A welding amount calculating means for calculating a welding amount of the welding object to the welding condition stored in the welding condition storing means, and from the information signal of the operation direction of the robot stored in the robot operation program storing means, A welding part shape storing the shape of the welding part while calculating the welding amount to the welding part by the welding amount calculating means. Data storage means, and a welding shape calculating means for calculating a welding shape at the welding portion based on the shape of the welding portion, the welding amount calculated from the welding amount calculating means, and the robot operation program storing means. The welding shape of the robot is calculated by calculating the welding shape on the welding part by the welding shape calculating means from the welding position and the direction of the welding part obtained from the welding part shape stored by the welding part shape data storage means. When performing simulation display, a robot operation simulation display device for welding that simulates and displays a welded shape generated by welding accompanying the operation of the robot. 2. The welding robot operation simulation display device according to claim 1, wherein a prescribed welding shape storage means for storing a prescribed welding shape for the welding shape, a welding shape calculated by the welding shape calculating means, and a prescribed welding shape. By adding a welding shape determining means for comparing and judging the calculated welding shape and comparing and determining the calculated welding shape with a prescribed shape, when the necessary condition is not satisfied, the part is displayed as an error on the image display means, A welding robot operation simulation display device capable of judging the quality of set conditions. 3. A robot mechanism element storage means for storing information signals related to the robot mechanism, a robot operation program storage means for storing information signals related to the operation target position of the robot, and a robot mechanics for calculating the form of the robot. What is claimed is: 1. A welding robot operation simulation display device comprising an arithmetic unit and an image display unit for displaying an operation of a robot, comprising: a welding condition storage unit for storing welding conditions set for performing welding; A welding amount database storing a welding amount of a welding object to the welding machine; a welding amount searching means for searching the welding amount database; a welding condition stored in the welding condition storing means; and a robot operation program storing means. Searching the welding amount from the welding amount database using the information signal of the operation direction of the robot stored in the A welding part shape data storage means for retrieving a welding amount to a welding part by a step and storing a shape of the welding part, and a welding shape calculating means for calculating a welding shape at the welding part based on the shape of the welding part are provided. From the welding amount calculated by the welding amount calculating means, the welding posture and the direction of the welding part obtained from the robot operation program storing means, and the welding part shape stored by the welding part shape data storing means, When simulating the welding operation of the robot by calculating the welding shape on the welding site by the shape calculating means, a welding robot that simulates and displays the welding shape generated by the welding generated with the operation of the robot. Operation simulation display device. 4. The welding robot operation simulation display device according to claim 3, wherein a prescribed welding shape storage means for storing a prescribed welding shape for the welding shape, a welding shape calculated by said welding shape calculating means and said prescribed welding. By adding welding shape determining means for comparing the shape with the shape and comparing and determining the calculated welding shape with the prescribed shape, if the necessary condition is not satisfied, the portion is displayed as an error on the image display means. And a welding robot operation simulation display device capable of determining whether the set conditions are good or bad. 5. A welding robot operation simulation display device according to claim 3, further comprising: a welding amount interpolating means for interpolating a plurality of welding amounts, wherein the welding amount retrieving means matches the welding amount database. Is not found, a plurality of conditions close to the given condition are searched, and the plurality of search results are interpolated by the welding amount interpolation calculating means, thereby simulating a welding robot operation for obtaining a necessary welding amount. Display device. 6. A welding robot operation simulating apparatus according to claim 5, wherein a prescribed welding shape storage means for storing a prescribed welding shape for the welding shape, a welding shape calculated by the welding shape calculating means, and the prescribed welding shape. By adding a welding shape determining means for comparing and judging the calculated welding shape and comparing and determining the calculated welding shape with a prescribed shape, when the necessary condition is not satisfied, the part is displayed as an error on the image display means, A welding robot operation simulation display device capable of judging the quality of set conditions.