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WO2019235313A1 - Dispositif de simulation, procédé de commande de dispositif de simulation et programme pour dispositif de simulation - Google Patents

Dispositif de simulation, procédé de commande de dispositif de simulation et programme pour dispositif de simulation Download PDF

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Publication number
WO2019235313A1
WO2019235313A1 PCT/JP2019/021216 JP2019021216W WO2019235313A1 WO 2019235313 A1 WO2019235313 A1 WO 2019235313A1 JP 2019021216 W JP2019021216 W JP 2019021216W WO 2019235313 A1 WO2019235313 A1 WO 2019235313A1
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WO
WIPO (PCT)
Prior art keywords
cad data
peripheral device
movable part
name
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/021216
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English (en)
Japanese (ja)
Inventor
はる奈 島川
三浦　悟
健 陣川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omron Corp
Original Assignee
Omron Corp
Omron Tateisi Electronics Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Omron Corp, Omron Tateisi Electronics Co filed Critical Omron Corp
Publication of WO2019235313A1 publication Critical patent/WO2019235313A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4069—Simulating machining process on screen
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM

Definitions

  • the present invention relates to a simulation apparatus that performs an operation simulation of a robot and peripheral devices, a control method for the simulation apparatus, and a program for the simulation apparatus.
  • Patent Document 1 discloses a simulation system that performs a simulation using a common base that guarantees information transmission between a plurality of objects existing in a distributed environment.
  • Patent Document 1 discloses a technique for fetching only data necessary for simulation without fetching unnecessary data by specifying data to be acquired according to the purpose of analysis related to simulation. .
  • Patent Document 1 does not distinguish between static data and dynamic data when determining whether the data is to be imported. Therefore, when a motion simulation is performed, data unnecessary for the motion is captured. As a result, in the simulation system, data unnecessary for motion is drawn, and the load on the drawing process increases.
  • the CAD data is data for drawing, it includes elements of the machine configuration that are not necessary for motion, and the load on the drawing processing is large.
  • an object of the present invention is to provide a simulation apparatus, a simulation apparatus control method, and a simulation apparatus program capable of easily selecting elements necessary for motion from CAD data and capturing only elements necessary for motion. Is to provide.
  • the simulation device of this disclosure is A simulation apparatus that performs an operation simulation of the robot and the peripheral device by using a program for controlling the robot and the peripheral device, and CAD data of the robot and the peripheral device, A CAD data input unit for inputting the CAD data of the peripheral device; A display processing unit for displaying an image of the peripheral device based on the CAD data; A component name display unit for displaying the component names of the peripheral devices included in the CAD data in a tree structure; A movable part name display unit for displaying a movable part name of the movable part in the peripheral device; Based on the operation of associating the movable part name with the component name or the image of the part in the peripheral device, the CAD data corresponding to the component name is added to the movable part corresponding to the movable part name, or the A CAD data assigning unit for assigning the CAD data corresponding to the image of the component; A capture unit that captures the CAD data allocated by the CAD data allocation unit
  • the display processing unit displays the image of the peripheral device based on the CAD data. Further, the component name display unit displays the component names of peripheral devices included in the CAD data in a tree structure. On the other hand, the movable part name of the movable part in the peripheral device is displayed by the movable part name display unit.
  • the CAD data allocating unit When the user performs an operation for associating the movable part name with the component element name or the image of the part in the peripheral device in a state where such a display is performed, the CAD data allocating unit, based on this operation, The CAD data of the component corresponding to the component name or the CAD data corresponding to the image of the component is allocated to the movable component corresponding to the movable component name.
  • the fetch unit fetches the CAD data allocated by the CAD data allocation unit as data for operation simulation. Therefore, the setting for simulating CAD data can be performed easily and easily.
  • the drawing load can be reduced.
  • the frame rate can be increased. It is also possible to reduce memory usage, CPU load, and the like.
  • the simulation apparatus includes a linearly moving part and a rotating part, and a setting unit that sets a linear movement direction for the linearly moving part and sets a rotation axis for the rotating part.
  • the setting unit sets a linear motion direction for a component that moves linearly among movable components assigned CAD data, and sets a rotation axis for a component that rotates. Therefore, it is possible to appropriately simulate the component that moves linearly and the component that rotates.
  • the simulation apparatus according to one embodiment An axis variable allocating unit that allocates an axis variable used in a motion program included in the control program to the movable part to which the CAD data is allocated.
  • the axis variable assigning unit assigns the axis variable used in the motion program included in the control program to the movable part to which the CAD data is assigned. Therefore, the moving part can be moved and simulated by the motion program.
  • a control method for a simulation apparatus that performs an operation simulation of the robot and the peripheral device using a program for controlling the robot and the peripheral device, and CAD data of the robot and the peripheral device, Inputting the CAD data of the peripheral device by an input unit; Displaying an image of the peripheral device based on the CAD data by an image display unit; Displaying a component name of a peripheral device included in the CAD data in a tree structure by a component name display unit; Displaying a movable part name of a movable part in the peripheral device by a movable part name display unit; Based on the operation of associating the movable part name with the component element name or the image of the part in the peripheral device by the CAD data allocating unit, the movable part corresponding to the movable part name corresponds to the component element name. Assigning the CAD data of a component or the CAD data corresponding to an image of the part; Cap
  • the simulation apparatus control method when CAD data of a peripheral device is input by the CAD data input unit, an image of the peripheral device is displayed based on the CAD data by the display processing unit. Further, the component name display unit displays the component names of peripheral devices included in the CAD data in a tree structure. On the other hand, the movable part name of the movable part in the peripheral device is displayed by the movable part name display unit.
  • the CAD data allocating unit When the user performs an operation for associating the movable part name with the component element name or the image of the part in the peripheral device in a state where such a display is performed, the CAD data allocating unit, based on this operation, The CAD data of the component corresponding to the component name or the CAD data corresponding to the image of the component is allocated to the movable component corresponding to the movable component name.
  • the fetch unit fetches the CAD data allocated by the CAD data allocation unit as data for operation simulation. Therefore, the setting for simulating CAD data can be performed easily and easily.
  • the drawing load can be reduced.
  • the frame rate can be increased. It is also possible to reduce memory usage, CPU load, and the like.
  • a program of the simulation device of this disclosure is A program for controlling a robot and peripheral devices, and a simulation device program for simulating operation of the robot and peripheral devices using CAD data of the robot and peripheral devices, the program being stored in a computer, Inputting the CAD data of the peripheral device by an input unit; Displaying an image of the peripheral device based on the CAD data by an image display unit; Displaying a component name of a peripheral device included in the CAD data in a tree structure by a component name display unit; Displaying a movable part name of a movable part in the peripheral device by a movable part name display unit; Based on the operation of associating the movable part name with the component element name or the image of the part in the peripheral device by the CAD data allocating unit, the movable part corresponding to the movable part name corresponds to the component element name. Assigning the CAD data of a component or the CAD data corresponding to an image of the part; And a step of fetch
  • the simulation apparatus control method can be implemented by causing a computer to execute the disclosed program.
  • settings for simulating CAD data can be performed easily and easily.
  • the drawing load can be reduced.
  • the frame rate can be increased. It is also possible to reduce memory usage, CPU load, and the like.
  • FIG. 1 is a block diagram showing a schematic configuration of a robot control system 100 according to an embodiment of the present invention.
  • the robot control system 100 includes a controller 10, a robot 20, and a peripheral device 30.
  • a simulation device 40 is connected to the controller 10, and a three-dimensional CAD computer 50 is connected to the simulation device 40.
  • the controller 10 is, for example, a PLC (Programmable Logic Controller), executes a robot control program that controls the operation of the robot 20 and a motion program that controls the operation of the peripheral device 30, and outputs a control signal.
  • PLC Programmable Logic Controller
  • the robot 20 is a parallel link robot as an example, and is connected to the controller 10 so as to be communicable.
  • the robot 20 includes a power source such as a servo motor, and drives the servo motor by a control signal output from the controller 10 based on the robot control program to operate the parallel link mechanism.
  • Peripheral device 30 is an XY ⁇ axis table as an example, and a rotary table is mounted on an XY axis table that linearly moves in the X axis direction and the Y axis direction.
  • the electric actuator is driven by a control signal output from the controller 10 to move the XY axis table linearly. Further, the cylinder is driven by a control signal output from the controller 10, and the rotary table is driven to rotate.
  • the simulation apparatus 40 is a computer such as a personal computer, for example, and is connected to the controller 10 so as to be communicable.
  • the simulation device 40 has a function of downloading a robot control program and a motion program executed by the controller 10 to the controller 10, a function of debugging these programs, a function of simulating these programs, and the like.
  • the three-dimensional CAD computer 50 is a computer such as a personal computer, for example, and is connected to the simulation apparatus 40 so as to be communicable.
  • the three-dimensional CAD computer 50 and the simulation apparatus 40 may be configured by the same computer.
  • the three-dimensional CAD computer 50 uses the installed three-dimensional CAD software to create CAD data composed of shape data, arrangement data, and the like of the parts constituting the peripheral device 30.
  • the CAD data can be imported into the simulation apparatus 40, and the simulation apparatus 40 can perform an operation simulation using the CAD data.
  • FIG. 2 is a diagram illustrating a hardware configuration of the simulation apparatus 40.
  • the simulation device 40 has a hardware configuration including an input device 41, a display device 42, a central processing unit 43, a storage device 44, and a communication I / F 45.
  • the input device 41 includes a keyboard and a pointing device.
  • the display device 42 includes a display.
  • the central processing unit 43 is composed of a CPU as an example.
  • the storage device 44 includes a nonvolatile storage device and a volatile storage device, and the nonvolatile storage device stores a robot control program, a motion program, and the like. Further, a volatile storage device is appropriately used as a work memory when the central processing unit 43 is executed.
  • the communication I / F 45 is a serial line interface such as RS232C, and performs communication with the controller 10.
  • the communication I / F 45 may be another communication line interface.
  • FIG. 3 is a functional block diagram of the simulation apparatus 40 in the present embodiment.
  • the simulation device 40 functions as an input processing unit 71, a display processing unit 72, a calculation unit 73, a storage unit 74, and a communication processing unit 75.
  • the input processing unit 71 processes input from the input device 41.
  • the display processing unit 72 creates display data to be output to the display device 42.
  • the calculation unit 73 includes a CAD data input unit 73a, a component name display unit 73b, a movable part name display unit 73c, a component allocation unit 73d, a capture unit 73e, a setting unit 73f, and an axis variable allocation unit 73g. Details of these functions of the calculation unit 73 will be described later.
  • the storage unit 74 includes a user program storage unit 74a and an operation simulation data storage unit 74b. Details of these storage units will be described later.
  • FIG. 4 is a flowchart showing the CAD import function in the present embodiment.
  • 5 to 12 are diagrams showing examples of screens in the CAD import software.
  • the CAD import function in the present embodiment is a function for taking only elements necessary for motion into the simulation apparatus 40 from the CAD data of the peripheral device 30 created in the three-dimensional CAD computer 50.
  • this CAD import function is executed by executing CAD import software installed in the simulation apparatus 40 in advance.
  • the simulation device 40 performs an operation simulation based on the imported CAD data. Details of the CAD import function by the CAD import software will be described below.
  • the display processing unit 72 causes the display device 42 of the simulation apparatus 40 to display as shown in FIG.
  • a peripheral device type selection screen 200 represented by the CAD data to be imported is displayed.
  • a message 201 “Please select the type of the mechanism to be added.” Is displayed, and a type display column 202 is displayed below the message 201.
  • the type of peripheral device displayed in the type display column 202 is displayed in a drop-down list by pressing a drop-down arrow 203 displayed on the right side of the type display column 202.
  • the user selects any one type from the drop-down list.
  • a case where “XY ⁇ ” is selected in the type display field 202 and an XY ⁇ axis table is used as the peripheral device 30 will be described.
  • a start button 204 and a cancel button 205 are displayed on the lower right of the peripheral device type selection screen 200.
  • the start button 204 is pressed, the movable part name display unit 73c displays the device type. Then, the type displayed in the type display column 202 is input (FIG. 4: S10).
  • the cancel button 205 is pressed, the peripheral device type selection screen 200 is closed, and the display on the display device 42 returns to the state before the selection screen 200 is displayed.
  • a component name selection dialog (not shown) is displayed on the display device 42 of the simulation device 40 in place of the selection screen 200. Is displayed. The user selects the component name of the peripheral device included in the CAD data to be imported from the component name selection dialog. When the component name of the peripheral device included in the CAD data is selected, the CAD data input unit 73a inputs the selected CAD data (FIG. 4: S20).
  • the peripheral device addition wizard 210 includes an indicator section 211, a message 212, a configuration tree field 213, a movable part field 214, a CAD image display field 215, a back button 216, a next button 217, a cancel button 218, and a setting completion button 219. .
  • the indicator unit 211 indicates which stage of the settings for performing CAD import is being performed. In the example illustrated in FIG. 6, “1 movable part selection” is displayed, which indicates that the current stage is a stage in which a movable part is selected.
  • a message “Select an element from the configuration tree and drag and drop it on the target movable part” is displayed.
  • the component names of peripheral devices included in the CAD data selected as described above are displayed in a tree structure by the component name display unit 73b.
  • This tree structure reflects the tree structure of the CAD data created by the three-dimensional CAD computer 50 as it is.
  • the part name of the movable part of the peripheral device 30 selected in the type display column 202 is displayed by the movable part name display unit 73c.
  • the part names of the movable parts “base”, “X stage”, “Y stage”, and “rotation axis” are displayed.
  • the display processing unit 72 displays an image of the peripheral device 30 based on the CAD data displayed in the configuration tree column 213.
  • the peripheral device addition wizard 210 When the return button 216 is pressed, the peripheral device addition wizard 210 returns to the previous state. When the next button 217 is pressed, the peripheral device addition wizard 210 transitions to the next linear motion direction selection screen. When the cancel button 218 is pressed, the peripheral device addition wizard 210 is closed. When the setting completion button 219 is pressed, the set contents are registered.
  • the moving part selection process in the peripheral device addition wizard 210 will be described with reference to FIGS. As shown in FIG. 7, it is assumed that the CAD data file “Parts2_2” is selected in the configuration tree column 213 and dragged and dropped onto the “Y stage” in the movable component column 214.
  • the color of the “Y stage” image changes to a color that can be distinguished from other parts.
  • the user confirms that the color of the movable part of the peripheral device 30 displayed in the CAD image display field 215 has changed, and presses the setting completion button 219.
  • the CAD data assigning unit 73d assigns the CAD data of the component corresponding to the component name to the movable component corresponding to the movable component name (FIG. 4: S30).
  • the capturing unit 73e captures the CAD data of the allocated component as data for operation simulation (FIG. 4: S30).
  • the CAD data of the component name “Parts2_2” is allocated as a part of the Y stage.
  • the machine component assigned by the user to the movable part is taken in by the operation as described above, and the machine component not assigned by the user to the movable part is not taken in.
  • FIG. 8 shows a state where the above drag and drop is completed.
  • the component name “Parts2_2” in the configuration tree column 213 is grayed out, and the component name “Parts2_2” is described below the “Y stage” in the movable component column 214. It is shown that the file with the component name “Parts2_2” is assigned to “Y stage” in the column 214.
  • the CAD data of the constituent elements corresponding to all the constituent element names displayed in the configuration tree column 213 is displayed in the configuration tree column 213 instead of being assigned to the movable parts.
  • the CAD data of the component corresponding to the component name selected by the user is assigned to the movable part selected by the user. Then, only the CAD data of the allocated component is imported for simulation.
  • the CAD data includes many machine elements that are unnecessary for the simulation. According to this embodiment, only the elements necessary for the simulation can be assigned to the moving parts and imported. it can. Therefore, when performing simulation, it is not necessary to draw unnecessary elements, and the load in drawing can be reduced. For example, fine screws are necessary for mechanical design, but are not necessary for simulation. CAD data corresponding to screws is unnecessary if dragging and dropping from the configuration tree column 213 to the movable component column 214 is not performed. To avoid drawing elements. Further, since the base included in the rotation axis of the machine element is not included in the rotating part, the CAD data corresponding to the base is not dragged and dropped from the configuration tree field 213 to the movable part field 214. For example, drawing unnecessary elements can be avoided.
  • the peripheral device addition wizard 220 for selecting the linear motion direction includes an indicator unit 221, a message 222, a CAD image display field 223, a trial operation numerical value input field 224, a linear motion button 225, a return button 226, and the next.
  • a button 227, a cancel button 228, and a setting completion button 229 are provided.
  • the indicator section 221 indicates which stage of the setting for performing CAD import is being performed.
  • “2 linear motion direction selection X stage” is displayed, indicating that the current stage is a stage in which the linear motion direction is selected.
  • arrows A and B indicating the linear motion direction are displayed together with the image of the peripheral device 30 based on the CAD data. The user selects one of these arrows A and B to select the positive direction of the linear motion direction.
  • a numerical value can be input in the trial operation numerical value input field 224.
  • the movable parts of the peripheral device 30 are shown in FIG.
  • the X stage moves linearly according to the numerical value input in the trial operation numerical value input field 224.
  • the direct-acting button 225 includes a button with a minus mark and a button with a plus mark. When a button with a plus mark is pressed, the button moves in the positive direction or is minus. When the button with the mark is pressed, it moves in the negative direction.
  • the peripheral device addition wizard 220 When the return button 226 is pressed, the peripheral device addition wizard 220 returns to the previous state. When the next button 227 is pressed, the peripheral device addition wizard 220 transitions to a selection screen for the next rotation direction. When the cancel button 228 is pressed, the peripheral device addition wizard 220 is closed. When the setting completion button 229 is pressed, the set contents are registered.
  • Each moving part of the peripheral device 30 has three patterns: a part that moves directly, a part that rotates, and a part that does not move. Therefore, with respect to the movable parts set in the peripheral device addition wizard 210 shown in FIG. 6, “linearly moving parts” are set as linear movement directions, and “rotating parts” are set as rotational axes. In the peripheral device addition wizard 220 for selecting the linear motion direction, the positive direction of the linear motion direction is set for the “part that moves linearly”.
  • the user selects one of the arrows A and B shown in FIG. 9 to select the positive direction of the linear motion direction, and if necessary, sets the trial operation numerical value input field 224 and the linear motion button 225. Use this to confirm the movement and press the setting complete button 229.
  • the setting unit 73f sets the positive direction of the linear motion direction of the “linear component” shown in the CAD image display field 223 of FIG. 9 (FIG. 4: S40). .
  • the peripheral device addition wizard 230 for selecting a rotation axis includes an indicator 231, a message 232, a CAD image display field 233, a rotation axis coordinate input field 234, a test operation numerical value input field 235, a rotation button 236, and a return.
  • the indicator section 231 indicates which stage of the settings for performing CAD import is being performed.
  • “3 Rotation axis selection ⁇ ” is displayed, which indicates that the current stage is a stage for selecting a rotation axis.
  • the CAD image display field 233 displays an image of the peripheral device 30 based on CAD data, an arrow C indicating the rotation axis, and an arrow D indicating the rotation direction.
  • the user can set the position of the rotation axis by moving the position of the arrow C. Further, the user can set the rotation direction by changing the direction of the arrow D.
  • the coordinates of the rotation axis can be entered numerically. That is, the user sets the coordinates of the rotation axis by moving the position of the arrow C or inputting a numerical value in the rotation axis coordinate input field 234.
  • a numerical value can be input in the trial operation numerical value input field 235.
  • the rotation button 236 includes a button with a minus mark and a button with a plus mark. When the button with a plus mark is pressed, the rotation button 236 is moved in the positive direction or the minus mark. When a button marked with is pressed, it rotates in the negative direction.
  • the peripheral device addition wizard 230 When the return button 237 is pressed, the peripheral device addition wizard 230 returns to the previous state. When the next button 238 is pressed, the peripheral device addition wizard 230 transitions to the next position setting screen. When the cancel button 239 is pressed, the peripheral device addition wizard 230 is closed. When the setting completion button 240 is pressed, the set contents are registered.
  • the user sets the rotation axis by the arrow C shown in FIG. 10 or inputs a numerical value in the rotation axis coordinate input field 234, and selects the rotation direction by the arrow D. If necessary, the movement is confirmed using the trial operation numerical value input field 235 and the rotation button 236, and the setting completion button 240 is pressed.
  • the setting unit 73f sets the rotation axis of the “rotating part” shown in the CAD image display field 233 of FIG. 10 (FIG. 4: S50).
  • the peripheral device addition wizard 250 for selecting a rotation axis includes an indicator unit 251, a message 252, a CAD image display column 253, a robot identifier selection column 254, a peripheral device position coordinate input column 256, and a TCP position coordinate input.
  • a column 257, a return button 258, a next button 259, a cancel button 260, and a setting completion button 261 are provided.
  • the indicator section 251 indicates which stage of the settings for performing CAD import is being performed.
  • “4 position setting” is displayed, which indicates that the current stage is a stage in which the peripheral device and TCP (end effector position) are set.
  • a message “Please set the location of the peripheral device and TCP” is displayed.
  • the image of the robot 20 based on the CAD data and the image showing the position of the end effector attached to the robot 20, and the center position of the peripheral device 30 and the workpiece placed on the peripheral device 30 based on the CAD data are displayed. Is displayed.
  • the user inputs the coordinates in the peripheral device position coordinate input field 256 and the TCP position coordinate input field 257, thereby confirming in the CAD image display field 253, while checking the end effector position and the center of the work on the peripheral device 30.
  • the position can be set.
  • the identifier of the robot 20 is displayed in a drop-down list.
  • the user selects any one of the robot identifiers from the drop-down list.
  • a case where “Mechanical Model 001” is selected in the robot identifier selection field 254 will be described.
  • peripheral device position coordinate input field 256 the coordinates of the position of the end effector attached to the robot 20 can be entered numerically.
  • TCP position coordinate input field 257 the coordinates of the center position of the workpiece placed on the peripheral device 30 can be input numerically.
  • the peripheral device addition wizard 250 When the return button 258 is pressed, the peripheral device addition wizard 250 returns to the previous state. When the next button 259 is pressed, the peripheral device addition wizard 250 transitions to the next position setting screen. When the cancel button 260 is pressed, the peripheral device addition wizard 250 is closed. When the setting completion button 261 is pressed, the set contents are registered.
  • the user inputs coordinate values in the peripheral device position coordinate input field 256 and the TCP position coordinate input field 257 shown in FIG. 11, and presses the setting completion button 261.
  • the setting unit 73f places the coordinate values input in the peripheral device position coordinate input field 256 and the TCP position coordinate input field 257 on the position of the end effector and the peripheral device 30. Is set as the center position of the workpiece (FIG. 4: S60).
  • the peripheral device addition wizard 270 for setting axis variables corresponding to each movable part includes an indicator 271, a message 272, a parameter setting field 273, a back button 274, a next button 275, and a cancel button. 276 and a setting completion button 277.
  • the indicator section 271 indicates which stage of the settings for performing CAD import is being performed.
  • “5 parameter setting” is displayed, which indicates that the current stage is a stage in which parameters of axis variables corresponding to the respective movable parts are set.
  • the parameter setting field 273 includes a name field in which the name of the axis group is described, a data type field in which the data type of the variable is described, a setting value field in which the variable is input, a conversion coefficient field in which the conversion coefficient is input, and A unit column in which units are described is provided.
  • the axis group includes a motor axis in the X-axis table, a motor axis in the Y-axis table, and a motor axis in the rotary axis table.
  • the variables entered in the set value column are axis variables used in the motion program.
  • the user inputs an axis variable corresponding to each axis group in the set value column.
  • the conversion coefficient input in the conversion coefficient field is a coefficient for converting the value of the axis variable into an angle or the like, and the user inputs a predetermined count in the conversion coefficient field.
  • the peripheral device addition wizard 270 When the return button 274 is pressed, the peripheral device addition wizard 270 returns to the previous state. When the next button 275 is pressed, the peripheral device addition wizard 270 transitions to a screen in which all settings have been completed. When the cancel button 276 is pressed, the peripheral device addition wizard 270 is closed. When the setting completion button 277 is pressed, the set contents are registered.
  • the axis variable allocation unit 73g causes the parameter of the axis variable to be set to each axis group. (FIG. 4: S70).
  • an axis variable assigned to the peripheral device 30 is defined and a motion program is created.
  • the CAD file on the simulator operates when the simulation is executed.
  • the image of the peripheral device 30 based on the component name, movable part name, and CAD data of the peripheral device displayed in the tree structure is displayed, and the component name is moved.
  • the CAD data of the component corresponding to the component name and the movable component can be allocated by the operation of selecting the movable component in the image of the peripheral device 30. Therefore, the setting for simulating CAD data can be performed easily and easily.
  • the present embodiment only the CAD data of the component name for which the user has performed the assignment operation is taken in as simulation data and a file unnecessary for the simulation is not drawn, thereby reducing the drawing load. it can. As a result, the frame rate can be increased. It is also possible to reduce memory usage, CPU load, and the like.

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Abstract

La présente invention permet à des éléments requis pour un mouvement d'être facilement sélectionnés à partir de données de CAO, et permet uniquement l'importation des éléments requis pour un mouvement. Le dispositif de simulation selon l'invention comprend : une unité d'entrée de données de CAO (73a) permettant d'entrer des données de CAO d'un appareil périphérique (30) ; une unité de traitement d'affichage (72) destinée à afficher une image de l'appareil périphérique (30) sur la base des données de CAO ; une unité d'affichage de noms d'éléments constitutifs (73b) servant à afficher, dans une structure arborescente, des noms d'éléments constitutifs de l'appareil périphérique qui sont contenus dans les données de CAO ; une unité d'affichage de noms de composants mobiles (73c) servant à afficher des noms de composants mobiles de l'appareil périphérique (30) ; une unité d'attribution de données de CAO (73d) qui, sur la base d'une opération consistant à associer un nom de composant mobile à un nom d'élément constitutif ou à une image d'un composant de l'appareil périphérique (30), attribue des données de CAO de l'élément constitutif correspondant au nom d'élément constitutif, ou des données de CAO correspondant à l'image du composant, à un composant mobile correspondant au nom de composant mobile ; et une unité d'importation (73e) permettant d'importer les données de CAO attribuées en tant que données destinées à être utilisées dans une simulation de mouvement.
PCT/JP2019/021216 2018-06-05 2019-05-29 Dispositif de simulation, procédé de commande de dispositif de simulation et programme pour dispositif de simulation Ceased WO2019235313A1 (fr)

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JP7458864B2 (ja) 2020-04-06 2024-04-01 川崎重工業株式会社 絶縁ユニット、ロボット及び絶縁ユニットの取り付け方法
JP7501064B2 (ja) * 2020-04-10 2024-06-18 オムロン株式会社 シミュレーション装置、シミュレーション方法およびシミュレーションプログラム

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JP7674506B2 (ja) 2021-10-28 2025-05-09 ファナック株式会社 補助ファイルを生成するシミュレーション装置および制御システム

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