Back to results
US 11,534,912 B2Granted
Vibration display device, operation program creating device, and system
AssigneeFanuc Corporation
InventorsKouichirou Hayashi, Hajime Suzuki
Life of this patent
Estimating the term…
Abstract
A vibration display device including a vibration acquisition unit that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being moved based on an operation program, and a vibration trajectory drawing unit that draws, on a display device, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display device, the vibration state as the trajectory.
Claims12
A vibration display device comprising:
- a controller comprising a processor;
- and
- a display,
- wherein the processor is configured to conduct:
- a vibration acquisition process that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being operated based on an operation program;
- and
- a vibration trajectory drawing process that draws, on the display, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display, the vibration state as the trajectory,
- wherein the robot has an arm comprising a plurality of arm members which are connected in series,
- wherein the processor acquires, in the vibration acquisition process, a base-end-side vibration state of one of the plurality of arm members, the one of the plurality of arm members being located at a proximal end side in the arm relative to the most-distal-end-side arm member of the plurality of arm members, and
- wherein, in the vibration trajectory drawing process, the processor displays, on the display, the base-end-side vibration state along a trajectory of the one of the plurality of arm members or displays, on the display, the base-end-side vibration state as the trajectory of the one of the plurality of arm members.
7 more elements
An operation program creating device, comprising:
- a controller comprising a processor;
- and
- a display,
- the processor is configured to conduct:
- a vibration acquisition process that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being operated based on an operation program;
- a vibration trajectory drawing process that draws, on the display, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display, the vibration state as the trajectory;
- and
- a learning process that performs learning about vibration of the distal end section and about a part and not all of the trajectory, wherein the trajectory is displayed on the display and the part is one which is arbitrarily selected by a user,
- wherein the processor creates an improved operation program for reducing the vibration of the distal end section in the part of the trajectory.
6 more elements
A system comprising:
- a robot;
- an operation program creating device that creates an operation program for controlling the robot;
- and
- a host control system capable of communicating with the operation program creating device,
- wherein the operation program creating device comprises:
- a display that displays a trajectory of a distal end section of the robot, the distal end section being moved in accordance with the operation program;
- and
- a controller comprising a processor,
- wherein the processor is configured to conduct
- a learning process that performs learning about vibration of the distal end section in a selected region selected in the trajectory of the distal end section, which is displayed on the display, and that reduces vibration of the distal end section in the selected region,
- wherein the host control system accumulates learning results received from the operation program creating device.
8 more elements
Dependencies are inferred from the claim text.