Robot programming device

A robot programming device that teaches an operation program for a robot equipped with a tool for processing a workpiece placed in a workspace, the robot programming device comprising:

• a processor configured to:
• create a virtual space representing the workspace three-dimensionally;
• arrange a workpiece model representing the workpiece, a robot model representing the robot, and a tool model representing the tool in the virtual space, wherein the tool model is a sprayer model that represents a sprayer having at least one nozzle;
• specify a target region and non-target region of the workpiece model;
• arrange a predetermined three-dimensional shape in the virtual space so that a predetermined movement pattern fills in a face of the three-dimensional shape and is projected onto at least one face of the workpiece model;
• create a processing route for the tool by projecting the movement pattern on at least one face of the workpiece model;
• change the processing route and/or the operation program based on the target region;
• use the robot model equipped with the sprayer model to run a simulation of coating work for coating the workpiece model with a material sprayed from the nozzle in accordance with the operation program while moving the sprayer model;
• and
• allow a display to show the target region of the workpiece model in different colors depending on time for coating the target region with the material sprayed from the nozzle.