JP3913666B2 - Simulation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a simulation apparatus for verifying the operation of a system having an articulated robot, and in particular, a system having a robot controller for controlling the operation of the robot and a sequencer connected to the robot controller via communication means. The present invention relates to a simulation apparatus that performs operation verification.
[0002]
[Prior art]
Articulated robots are used in the joining process of press parts of automobiles. For such robot operation teaching, off-line teaching, that is, so-called off-line teaching, which does not require an actual robot by using three-dimensional CAD or the like is performed.
[0003]
In practice, the robot does not operate alone. For example, in the case of the system 500 configured as shown in FIG. 10, the robot controller 512 that controls the robot 502 and operations such as starting and stopping the robot operation are performed. And a sequencer (also referred to as a programmable logic controller) 508 provided between the robot controller 512 and the operation panel 518. The sequencer 508 and the robot controller 512 are connected by a network 510 for FA. Further, the sequencer 508 is connected to a transfer line (not shown) or the like for control. The basic operation of the system 500 can be operated by an operator through an operation panel 518.
[0004]
As the robot 502, for example, an articulated industrial robot having six degrees of freedom by the operation of six joints is used. A welding gun 520 is provided at the tip of the robot 502, and the workpiece 524 can be welded by the welding gun 520.
[0005]
By the way, after performing teaching operation by offline teaching, it is necessary to perform a simulation in order to verify the operation. However, this simulation requires a high positional accuracy and execution time accuracy for the actual machine. .
[0006]
As a simulation method, a model on a simulation apparatus and an actual machine are simultaneously operated to mutually check the operation of the model and an actual robot (for example, refer to Patent Document 1), or a plurality of types having different robot languages. For this robot, a method for confirming the consistency of motion at each teaching point has been proposed (for example, see Patent Document 2).
[0007]
[Patent Document 1]
JP-A-8-87316 (FIG. 1)
[Patent Document 2]
JP 2002-36156 A (paragraphs [0027] to [0038])
[0008]
[Problems to be solved by the invention]
By the way, when a simulation of the system 500 (see FIG. 10) including the robot 502 is performed, an error may occur in comparison with the actual operation time for the following reason.
[0009]
That is, in the system 500 in which the robots 502 are arranged at high density, the communication time by the network 510 between the robot controller 512 and the sequencer 508 is not taken into consideration, and an error based on this communication time occurs. Furthermore, since the processing speed of the sequencer 508 differs depending on the type, it is difficult to accurately simulate the system 500 including the sequencer 508 within one computer.
[0010]
Moreover, in the method disclosed in Patent Document 1 among the above-described prior arts, since the operation verification is performed by moving an actual robot, the off-line teaching feature that an actual machine is unnecessary for teaching processing is not utilized.
[0011]
In the method disclosed in Patent Document 2, the simulation process is interrupted at the teaching point in order to verify the operation for each teaching point, and an error occurs when the robot performs a complex operation continuously. . In other words, in order to check the operation for each teaching point, it is impossible to perform a prefetching operation of the teaching point in which a calculation that precedes in time is performed. Furthermore, since simulation is performed while teaching data is output from the robot simulator to the robot controller, the accuracy and time of the simulation depend on the ability of the robot simulator.
[0012]
Furthermore, in the methods disclosed in Patent Documents 1 and 2, since the actions of the sequencer and the communication means are not taken into consideration, errors due to these sequencers and the communication means occur.
[0013]
The present invention has been made in consideration of such problems, and an object of the present invention is to provide a simulation apparatus that enables simulation of robot operation based on teaching data created by off-line teaching in a highly accurate operation time. And
[0014]
[Means for Solving the Problems]
The simulation apparatus according to the present invention is a simulation apparatus for performing an operation verification of a system having an articulated robot. Teaching data for the robot is stored, and based on the teaching data, operation control of the virtual robot indicating the robot is performed. And a pseudo controller that generates simulation data indicating the movement amount of each joint of the virtual robot in real time , main Via a communication means, a sequencer that controls at least the pseudo controller, a pseudo operation panel that transmits / receives operation signals to / from the sequencer, and a viewer that displays information related to the posture of the virtual robot based on the simulation data. And a sub-communication means for connecting the pseudo controller and the viewer, wherein the pseudo controller supplies the simulation data to the viewer via the sub-communication means.
[0015]
By selecting devices similar or identical to the devices in the actual system for the pseudo controller, pseudo operation panel, sequencer, and main communication means, the difference with the actual machine configuration is reduced, and the robot data based on teaching data created by offline teaching is reduced. The operation can be simulated with a highly accurate operation time.
[0016]
Further, since the simulation data is supplied to the viewer via the sub-communication means, the simulation status can be monitored and verified in real time by the viewer.
[0017]
In this case, the viewer can easily grasp the operation state when the virtual robot is three-dimensionally displayed.
[0018]
Further, the pseudo controller supplies input / output information related to output data or input data based on the teaching data to the viewer in real time via the sub-communication means, and the viewer displays the input / output information. It may be.
[0019]
Furthermore, the pseudo controller has a function for estimating a tracking delay time with respect to an operation command value for the virtual robot. When the simulation data is generated in consideration of the tracking delay time, a more accurate simulation can be performed. .
[0021]
Furthermore, if the sequencer has a processing time setting function unit for setting the operation cycle of the sequencer, the sequencer can be set to the same operation cycle as the sequencer actually used, and more accurate simulation can be performed. .
[0022]
If the simulated operation panel or the viewer has a time measurement function unit that measures the simulation execution time, the simulation time can be accurately measured and recorded.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS A simulation apparatus according to the present invention will be described below with reference to FIGS.
[0024]
As shown in FIGS. 1 and 2, the simulation apparatus 10 according to the present embodiment simulates the operation of a robot 502 in a system 500 (see FIG. 10) in a virtual space. Instead of 512, the pseudo controller 12 controls the virtual robot R (see FIG. 3).
[0025]
The simulation apparatus 10 includes a pseudo controller 12, a sequencer 14 that performs sequence processing, a pseudo operation panel 16, a viewer 18 that displays a simulation result, and an offline teaching computer 20 that creates teaching data of the robot R. The teaching data created by the off-line teaching computer 20 is composed of the operation program itself of the robot R and a plurality of teaching point data indicating the operation path.
[0026]
The pseudo operation panel 16, the viewer 18, and the offline teaching computer 20 include monitor screens 16a, 18a, and 20a, respectively.
[0027]
The simulation apparatus 10 also includes an FA network (main communication means) 26 and a general-purpose network (sub communication means) 28. The FA network 26 connects the pseudo controller 12 and the sequencer 14, and performs data communication between these devices. The general-purpose network 28 is connected to the pseudo controller 12, the sequencer 14, the pseudo operation panel 16, the viewer 18, the offline teaching computer 20, and the object computer 24, and performs data communication between these devices. The pseudo operation panel 16 and the sequencer 14 are connected by dedicated communication means 25. The pseudo operation panel 16 and the sequencer 14 may communicate with each other via the FA network 26 or the general-purpose network 28.
[0028]
The pseudo controller 12, the sequencer 14, the pseudo operation panel 16, and the FA network 26 correspond to the actual robot controller 512, the sequencer 508, the operation panel 518, and the network 510 in FIG.
[0029]
The robot R and the robot 502 are industrial articulated robots as shown in FIG. 3, for example. The robot R and the robot 502 are a base unit 30, a first arm 32, and a second arm in order from the base unit 30 toward the tip of the robot. The arm 34 and the third arm 36, and a welding gun 38 provided at the tip of the third arm 36 are provided. The first arm 32 can be rotated by axes J1 and J2 that can be rotated horizontally and vertically with respect to the base portion 30. The second arm 34 is connected to the first arm 32 so as to be rotatable about the axis J3. The second arm 34 can be rotated by an axis J4. The third arm 36 is connected to the second arm 34 so as to be rotatable about an axis J5. The third arm 36 can be twisted and rotated by the axis J6. Further, depending on the work content, the robot R may be provided with an additional axis. For example, a seventh shaft (not shown) that is rotatable or telescopic may be provided between the tip of the third arm 36 and the welding gun 38.
[0030]
The robot R and the robot 502 are not limited to welding robots, but may be assembly robots or painting robots.
[0031]
As shown in FIG. 4, the pseudo controller 12 includes a program execution unit 50, a pseudo operation unit 52, and an input / output unit 54, and operates similarly to the robot controller 512 (see FIG. 10).
[0032]
The program execution unit 50 includes a control processing unit 56 and a storage unit 58, stores the teaching data supplied from the offline teaching computer 20 in the storage unit 58, and the control processing unit 56 uses the robot R and the robot R based on the teaching data. A movement command value for the welding gun 38 is generated. The generated movement command value is supplied to the pseudo operation unit 52 as the values of the opening degrees of the axes J1 to J6 of the robot R and the welding gun 38.
[0033]
The control processing unit 56 has a prefetch function unit 60. The prefetch function unit 60 generates a movement command value prior to the operation of the robot R at a location where the teaching point T (see FIG. 8) included in the teaching data is close in space. Thereby, the robot R can perform a smooth operation.
[0034]
The functions of the prefetch function unit 60 are the same as the functions that the actual robot controller 512 has.
[0035]
The pseudo operation unit 52 estimates the posture of the robot R based on the movement command values of the axes J1 to J6 and the movement command value of the welding gun 38 supplied from the program execution unit 50. The result obtained by the estimation is supplied as simulation data to the viewer 18 via the program execution unit 50 and the input / output unit 54.
[0036]
The simulated motion unit 52 includes a robot simulated motion unit 64 that estimates the motion of each axis J1 to J6 of the robot R, and an additional axis simulated motion unit 66 that estimates the motion of the additional axis.
[0037]
The simulation data is represented by a set of data strings M = (θ1, θ2, θ3, θ4, θ5, θ6, θ7). Among these, the data θ1 to θ6 are angles (motion amounts) of the axes J1 to J6 of the robot R, and are obtained by the robot simulated operation unit 64. Data θ7 is the amount of movement of the additional axis, and is obtained by the additional axis pseudo-motion unit 66.
[0038]
The robot simulated operation unit 64 estimates a robot follow-up delay time estimation unit 70 that estimates the mechanical follow-up delay time of each axis J1 to J6 with respect to the command value, and estimates the arrival time delay with respect to the scheduled operation time based on the teaching data. A robot arrival delay time estimation unit 72.
[0039]
The additional axis pseudo operation unit 66 includes an additional axis tracking delay time estimation unit 74 that estimates a mechanical tracking delay time of the additional axis, and an addition that estimates a delay in arrival time of the additional axis with respect to a scheduled operation time based on teaching data. A shaft arrival delay time estimation unit 76 and an additional shaft torque arrival delay time estimation unit 78 that detects a current value of the additional shaft and estimates a torque delay time are included. The additional shaft torque arrival delay time estimation unit 78 includes a deflection time estimation unit 80 that estimates a mechanical deflection time of the additional shaft, and a torque stabilization time estimation unit 82 that estimates a time until the torque is stabilized.
[0040]
The robot simulated operation unit 64 is not provided with a function corresponding to the additional axis torque arrival delay time estimation unit 78, but the pre-reading function unit 60 similarly estimates the joints other than the additional axis, that is, the axes J1 to J6. Is possible.
[0041]
The input / output unit 54 is connected to the viewer 18 via the general-purpose network 28 and the information acquisition function unit 84 that detects input / output signals to the FA network 26 and signals between the program execution unit 50 and the pseudo operation unit 52. A simulation data sending unit 86 for sending simulation data and input / output data (input / output information);
[0042]
Examples of the input / output data include data transmitted / received to / from the welding gun 38 or the additional shaft, an error signal, a servo-on signal, a servo-off signal, and the like. Each signal constituting the input / output data is a 1-bit signal represented by ON / OFF. Therefore, for example, if the signal constituting the input / output data is about 128 points (16 bytes), it can be transmitted at high speed by the general-purpose network 28.
[0043]
The input / output unit 54 is connected to a first port 88 that is an interface with the general-purpose network 28 and a second port 90 that is an interface with the FA network 26.
[0044]
The second port 90 and the program execution unit 50 in the pseudo controller 12 are configured to have substantially the same specifications as the ports and the program execution unit in the actual robot controller 512.
[0045]
Returning to FIG. 2, the sequencer 14 controls the operation of the pseudo controller 12 by sequence processing, and hardware having the same specifications as the actual sequencer 508 is used.
[0046]
The sequencer 14 includes a program generation file 92 in which conditions for converting an externally supplied ladder program into an executable sequence program are described, a processing time setting unit 94 for setting the cycle time of the sequence program, And an operation processing function unit 96 for executing the generated sequence program.
[0047]
The processing time setting unit 94 includes an input / output processing time setting unit 98 and an internal processing time setting unit 100, and wait times and the like are set so that the cycle time is the same as that of the actual sequencer 508. In addition, the sequencer 14 has an input / output unit 27 that performs input / output with respect to the FA network 26.
[0048]
The sequence program executed by the sequencer 14 is basically the same as the sequencer 508. Therefore, for example, the sequencer 14 can control the actual robot controller 512.
[0049]
The sequencer 14 transmits and receives predetermined control signals from the pseudo controller 12 to the robot R via the FA network 26.
[0050]
The pseudo operation panel 16 performs screen setting of the monitor screen 16a based on the screen generation setting file 102 supplied from the outside, and the pseudo operation processing unit 104 substitutes the action of the actual operation panel 518 (see FIG. 10). . The pseudo operation processing unit 104 includes an input / display function unit 106 that performs input and display, and a time measurement function unit 108 that measures the time from the start to the end of the simulation. A general-purpose keyboard, mouse, and monitor can be used for the input / display function unit 106. The monitor screen 16a of the pseudo operation panel 16 may be a touch panel type. The time measurement function unit 108 can use a timer function provided in the operating system. When the actual operation panel 518 is movable, the operation panel 518 itself may be connected to the general-purpose network 28 and used as the simulated operation panel 16. The pseudo operation panel 16 can transmit a simulation start signal (operation signal) to the sequencer 14 by a predetermined operation.
[0051]
On the monitor screen 16a of the pseudo operation panel 16, a window-type operation screen 109 that can be operated with a mouse is displayed as shown in FIG. In this operation screen 109, the indicator 109a is an area indicating the actual situation of simulation based on input / output data. The cycle time display table 109b is an area for displaying the simulation time measured by the time measurement function unit. The simulation time displayed in the cycle time display table 109b is recorded in a predetermined recording unit. The model combo box 109c is an area for selecting and displaying the model of the robot R. The tag panel 109d is an area for displaying an alarm and its explanation. The first mode selection switch unit 109e and the second mode selection switch unit 109f are regions for selecting an operation mode of simulation.
[0052]
Since the sequencer 14 is generally provided with a time measuring function, the simulation time measured by this time measuring function may be displayed on the cycle time display table 109b.
[0053]
The display on the operation screen 109 may be performed by other appropriate methods. For example, information displayed as a character string may be indicated by a change in a symbol or a color.
[0054]
Returning to FIG. 2, the viewer 18 is a computer that displays simulation results in real time, and includes viewer data 110 and an image conversion unit 112. The viewer data 110 is information such as the joint configuration, dimensions, and installation position of the robot R. The viewer data 110 can be supplied from the outside and can be rewritten.
[0055]
The image conversion unit 112 includes a joint angle image conversion function unit 114 and an I / O information image conversion function unit 116. The joint angle image conversion function unit 114 three-dimensionally displays the robot R as a solid model based on the simulation data supplied from the pseudo controller 12 and the viewer data 110.
[0056]
The I / O information image conversion function unit 116 displays the contents of the input / output data supplied from the pseudo controller 12. The I / O information image conversion function unit 116 has a function of displaying the supplied input / output data in a list format and changing the display color of the solid model based on a predetermined signal of the input / output data. For example, when an error signal or a servo-on signal is generated, the color of the corresponding robot R or the corresponding location is changed or blinked.
[0057]
The viewer 18 displays the result of the simulation and does not execute or analyze the operation program of the robot R, so that a general-purpose three-dimensional CAD system can be applied. The viewer 18 can use general functions of the three-dimensional CAD, for example, functions such as changing the viewpoint position and enlarging / reducing display.
[0058]
The offline teaching computer 20 creates teaching data of the robot R offline. The off-line teaching computer 20 can sequentially set a series of operations as teaching point data while displaying the robot R three-dimensionally.
[0059]
The offline teaching computer 20 is not necessarily connected to the general-purpose network 28. Teaching data created by the off-line teaching computer 20 may be loaded into the pseudo controller 12 via other communication means or a general-purpose recording medium.
[0060]
Next, a method for performing a simulation using the simulation apparatus 10 configured as described above will be described with reference to FIG.
[0061]
First, in step S1, after the teaching data of the robot R is created in the off-line teaching computer 20, this teaching data is loaded into the pseudo controller 12. Further, a corresponding ladder program is supplied to the sequencer 14, and a sequence program is generated while referring to the program generation file 92. Applicable viewer data 110 is supplied to the viewer 18. A screen generation setting file 102 is supplied to the pseudo operation panel 16.
[0062]
Next, in step S2, an initial process for executing a simulation is performed. In the initial process in the sequencer 14, the operation period is set by the processing time setting unit 94 for the generated sequence program.
[0063]
In the initial process in the simulated operation panel 16, the monitor screen 16a and the input / output conditions are set by the supplied screen generation setting file 102.
[0064]
In the initial processing in the viewer 18, data relating to the robot R and peripheral equipment is recognized from the supplied viewer data 110 and three-dimensional drawing is set.
[0065]
Next, in step S3, the operation screen 109 (see FIG. 5) of the pseudo operation panel 16 is operated to transmit a simulation operation start instruction command to the pseudo controller 12 and the sequencer 14. At this time, the time measurement function unit 108 (see FIG. 2) of the simulated operation panel 16 starts measuring the simulation time.
[0066]
In addition, a production model is selected by a model combo box 109c on the operation screen 109. Information regarding the production model is transmitted to the pseudo controller 12.
[0067]
The program execution unit 50 of the pseudo controller 12 starts operation simultaneously according to the data corresponding to the designated production model among the teaching data stored in the storage unit 58. The sequencer 14 executes the stored sequence program.
[0068]
Next, in step S4, the sequencer 14, the pseudo controller 12, and the viewer 18 perform a simulation operation in conjunction with each other.
[0069]
Next, in step S <b> 5, when the process based on the stored teaching data ends, the pseudo controller 12 transmits a signal indicating the end to the sequencer 14. After receiving the end signal from the pseudo controller 12, the sequencer 14 transmits a signal (operation signal) indicating the end of the simulation to the pseudo operation panel 16 and the viewer 18.
[0070]
With this signal, the pseudo operation panel 16 and the pseudo controller 12 end the processing corresponding to the simulation, and the time measurement function unit 108 of the pseudo operation panel 16 indicates the time required for the simulation in the cycle time display table 109b (FIG. 5)).
[0071]
Next, processing of the pseudo controller 12 during simulation execution will be described with reference to FIGS.
[0072]
7, the program execution unit 50 of the pseudo controller 12 generates command values for the axes J1 to J6 of the robot R based on the teaching data stored in the storage unit 58 and supplies the command values to the pseudo operation unit 52. To do.
[0073]
At this time, due to the action of the prefetch function unit 60, for example, as shown in FIG. 8, the robot R moves along an operation path 152 set at a location where a large number of teaching points T are close to avoid the obstacle 150. As in the case of the actual machine, the robot R does not stop at each teaching point T or does not become discontinuous and can reach the welding point P smoothly.
[0074]
In step S102, the pseudo operation unit 52 estimates the posture of the robot R and calculates simulation data, that is, a data string M. At this time, the operation of the robot R has a slight delay with respect to the command value. Since the amount of this delay can be estimated by the robot simulated operation unit 64, the actual robot 502 (see FIG. 10) is operated. A similar posture can be calculated.
[0075]
Next, in step S103, the calculated simulation data is supplied to the program execution unit 50. The program execution unit 50 supplies simulation data to the viewer 18 via the input / output unit 54 at predetermined minute intervals. These simulation data may be directly supplied from the pseudo operation unit 52 to the input / output unit 54.
[0076]
In addition, the program execution unit 50 supplies input / output data such as a control signal, a signal to the welding gun 38, and an error signal transmitted / received to / from the sequencer 14 via the FA network 26 every predetermined minute period.
[0077]
At this time, the program execution unit 50 continues the simulation process regardless of whether the viewer 18 has received simulation data or input / output data. Therefore, even if it takes a long time to transmit simulation data or input / output data, the simulation operation time is not affected by this.
[0078]
The program execution unit 50 stores data to be transmitted to the viewer 18, that is, simulation data and input / output data in the storage unit 58 as log data.
[0079]
In step S104, it is determined whether or not the operation of the robot R based on the teaching data is completed. When the simulation operation ends, the process proceeds to step S105, and when not completed, the process returns to step S101.
[0080]
In step S105, after sending an end signal to the sequencer 14, the simulation operation is ended. Further, the stored log data is transmitted to the viewer 18 or the offline teaching computer 20 as necessary. This log data can be used for simulation operation analysis.
[0081]
Next, processing contents of the viewer 18 that is executing the simulation will be described with reference to FIG.
[0082]
In step S201 of FIG. 9, the viewer 18 receives simulation data from the pseudo controller 12, and calculates the posture of the robot R by the joint angle image conversion function unit 114 based on the simulation data and the viewer data 110. The received simulation data is stored in a time series format.
[0083]
Next, in step S202, the posture of the robot R is three-dimensionally displayed on the monitor screen 18a by a solid model. The display format may be a wire frame format, information display using a numerical string, or the like.
[0084]
Next, in step S203, input / output data is received from the pseudo controller 12 and stored in a time-series format.
[0085]
In step S204, information based on the input / output data is displayed on the monitor screen 18a in a graphic format or a character information format.
[0086]
Next, in step S205, it is determined whether the simulation is finished. That is, when the end signal is received from the pseudo operation panel 16, the process proceeds to the next step S206, and when the end signal is not detected, the process returns to step S201.
[0087]
In step S206, a timing chart of the operation of the robot R is generated based on the stored simulation data and input / output data. This timing chart represents the state of the robot R in time series, such as the operation from the start to the end of the simulation, welding, standby by a predetermined condition, and error occurrence. The generated timing chart is displayed on the monitor screen 18a and stored in a predetermined storage unit.
[0088]
Since the loop formed in steps S201 to S205 is executed in a very short time, information based on the posture of the robot R and input / output data is displayed in real time on the monitor screen 18a.
[0089]
The processing in the pseudo controller 12 and the processing in the viewer 18 do not have to be executed in the order shown in FIGS. 7 and 9. For example, a plurality of processing may be performed in parallel by multitask processing. . Further, for example, a predetermined step may be executed in an interrupt format as soon as a predetermined signal is detected.
[0090]
As described above, in the simulation apparatus 10 according to the present embodiment, the simulation is performed using the pseudo controller 12 having a function similar to that of the actual robot controller 512, the sequencer 14, and the FA network 26. Yes. Since the sequencer 14 and the FA network 26 have the same specifications as the sequencer 508 and the network 510 in the actual system 500 (see FIG. 10), the operation of the robot R is realized with high position accuracy and operation time accuracy. be able to. Therefore, the processing time in the process of the system 500 can be accurately verified. Since the image displayed on the monitor screen 18a of the viewer 18 is a three-dimensional display and a real-time display, the operation according to the actual machine can be grasped.
[0091]
Further, since the sequencer 14 is set by the processing time setting unit 94 so as to have the same cycle time as the actual sequencer 508, the operation time can be verified more accurately. Furthermore, since the pseudo controller 12 has the prefetch function unit 60 as with the robot controller 512, it can simulate a smooth operation similar to the actual operation, and the simulation has high position accuracy and execution time accuracy.
[0092]
The pseudo controller 12 estimates and corrects the amount of motion deviation between the command value and the actual posture of the robot R by the action of the robot pseudo motion unit 64, and then supplies it to the viewer 18, so that the posture of the robot R can be more accurately determined. Can be sought. Further, the operation time of the robot R can be realized more accurately.
[0093]
The viewer 18 displays information based on the posture of the robot R and input / output data on the monitor screen 18a, and does not need to perform any other processing (for example, analysis or execution of teaching data or interlock determination), so that it is a simple system. Can be. In addition, the simulation accuracy in the pseudo controller 12 and the sequencer 14 is not affected by the ability of the viewer 18.
[0094]
Furthermore, the simulation apparatus 10 according to the present embodiment does not require an actual robot 502 (see FIG. 10), a driving power amplifier, or the like, and can make use of the characteristics of offline teaching. Therefore, when introducing the robot 502 or changing the arrangement of the robot 502, the operation can be verified by performing a simulation in advance.
[0095]
The simulated operation panel 16 and the viewer 18 may share some or all of their functions.
[0096]
The simulation apparatus according to the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention.
[0097]
【The invention's effect】
As described above, according to the simulation apparatus of the present invention, it is possible to achieve an effect of simulating a robot operation based on teaching data created by offline teaching in a highly accurate operation time. Thereby, the processing time of the production process in an actual system can be verified accurately.
[Brief description of the drawings]
FIG. 1 is a connection diagram of devices constituting a simulation apparatus according to an embodiment.
FIG. 2 is a block diagram of a simulation apparatus according to the present embodiment.
FIG. 3 is a perspective view of a robot to be simulated.
FIG. 4 is an internal block diagram of a pseudo controller.
FIG. 5 is an operation screen displayed on the monitor screen of the simulated operation panel.
FIG. 6 is a flowchart showing a simulation procedure.
FIG. 7 is a flowchart showing processing contents of a pseudo controller.
FIG. 8 is a schematic diagram showing an operation path on which the robot operates based on teaching data.
FIG. 9 is a flowchart showing processing contents of a viewer.
FIG. 10 is a schematic block diagram of an actual system.
[Explanation of symbols]
10 ... Simulation device 12 ... Pseudo controller
14, 508 ... Sequencer 16 ... Simulated operation panel
18 ... Viewer
20 ... Offline teaching computer
26 ... FA network 28 ... General-purpose network
50 ... Program execution unit 52 ... Pseudo operation unit
54 ... Input / output unit 56 ... Control processing unit
60: Pre-reading function unit 64 ... Robot simulated operation unit
84 ... Information acquisition function part 86 ... Simulation data sending part
88, 90 ... Port 94 ... Processing time setting section
96: Operation processing function unit 98 ... Input / output processing time setting unit
100 ... Internal processing time setting unit 102 ... Setting file for screen generation
104 ... Simulated operation processing unit 106 ... Input / display function unit
108 ... Time measurement function part 110 ... Viewer data
112 ... Image conversion unit 114 ... Joint angle image conversion function unit
116: I / O information image conversion function unit 502, R: Robot

Claims (6)

In a simulation apparatus for verifying the operation of a system having an articulated robot,
A pseudo controller that stores teaching data for the robot, controls the operation of the virtual robot indicating the robot based on the teaching data, and generates simulation data indicating the operation amount of each joint of the virtual robot in real time;
A sequencer for controlling at least the pseudo controller via a main communication means;
A pseudo operation panel that transmits and receives operation signals to at least the sequencer;
A viewer that displays information about the posture of the virtual robot based on the simulation data;
Sub-communication means for connecting the pseudo controller and the viewer;
Have
The simulation apparatus, wherein the pseudo controller supplies the simulation data to the viewer via the sub-communication means. The simulation apparatus according to claim 1,
The viewer displays the virtual robot three-dimensionally. The simulation apparatus according to claim 1 or 2,
The pseudo controller supplies input / output information related to output data or input data based on the teaching data to the viewer in real time via the sub-communication means,
The simulation device, wherein the viewer displays the input / output information. The simulation apparatus according to any one of claims 1 to 3,
The pseudo controller has a follow-up delay time estimation function unit for an operation command value for the virtual robot,
The simulation apparatus generating the simulation data in consideration of the follow-up delay time. In the simulation apparatus according to any one of claims 1 to 4 ,
The sequencer includes a processing time setting function unit for setting an operation cycle of the sequencer. In the simulation device according to any one of claims 1 to 5 ,
The simulation apparatus, wherein the simulated operation panel or the viewer has a time measurement function unit for measuring a simulation execution time.

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