Robot center-of-gravity display device, robot control device, and robot simulation device

• US 10,302,519 B2
• Filed: 06/21/2017
• Issued: 05/28/2019
• Est. Priority Date: 07/12/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Arai, Tomonori
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/628,692
• Publication Number:
  US 20180017461A1
• Time in Patent Office: 706 Days
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G01M 1/122 Determining position of centre of gravity
• CPC Class Codes: G05B 2219/39444 Display of position, of shape of robot and tool
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/16 Cartesian, three degrees of freedom
• CPC Class Codes: Y10S 901/48 Counterbalance

Abstract

Provided is a robot center-of-gravity display device including: a specification setting unit that sets specifications including the weights, center-of-gravity positions, and dimensions of components of respective shafts; a posture setting unit that sets position information of the respective shafts; a robot-image generating unit that generates a three-dimensional model image of the robot in a state where the respective shafts are located at the positions indicated by the position information, based on the set position information of the respective shafts and the specifications of the components; a center-of-gravity-position calculation unit that calculates the center-of-gravity position of the overall robot, based on the set position information of the respective shafts and the specifications of the components; an image combining unit that superimposes an indication showing the center of gravity of the overall robot on the three-dimensional model image at the calculated center-of-gravity position; and a display unit that displays the generated image.

Claims

1. A robot center-of-gravity display device comprising:

a specification setting unit that stores specifications set in advance, the specifications including, at least, the weights, center-of-gravity positions, and dimensions of components of respective shafts of a robot;

a posture setting unit in which position information of the respective shafts of the robot is set on a basis of designation by a user;

a robot-image generating unit that generates a three-dimensional model image of the robot in a state in which the respective shafts thereof are located at the positions indicated by the position information based on the position information of the respective shafts of the robot set by the posture setting unit and the specifications of the components of the respective shafts of the robot set by the specification setting unit;

a center-of-gravity-position calculation unit that calculates the center-of-gravity position of the overall robot based on the position information of the respective shafts of the robot set by the posture setting unit and the specifications of the components of the respective shafts of the robot set by the specification setting unit;

an image combining unit that superimposes an indication showing the center of gravity of the overall robot on the three-dimensional model image generated by the robot-image generating unit, at the center-of-gravity position calculated by the center-of-gravity-position calculation unit; and

a display unit that displays the image generated by the image combining unit.

2. The robot center-of-gravity display device according to claim 1, wherein the indication showing the center of gravity includes coordinate values showing the center-of-gravity position of the overall robot.

3. The robot center-of-gravity display device according to claim 1, wherein

the center-of-gravity-position calculation unit calculates the center-of-gravity positions of the components of the respective shafts of the robot, and

the image combining unit superimposes indications showing the centers of gravity of the components of the respective shafts of the robot on the three-dimensional model image, at the center-of-gravity positions of the components of the respective shafts of the root.

4. The robot center-of-gravity display device according to claim 1, wherein the components include a load attached to a leading end of the robot.

5. The robot center-of-gravity display device according to claim 1, wherein the posture setting unit reads multiple sets of position information of the respective shafts of the robot recorded in an operating program of the robot and configures the position information in a chronological order.

6. The robot center-of-gravity display device according to claim 1, wherein the position information of the respective shafts of the robot includes the installation angle of the robot.