Autonavigation Path Planning for Collision-Free Machine Cycles
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Solution Overview
Problem
Current methods for autonavigation in injection molding and 3D printing machines are incomplete and inaccurate, leading to potential collisions and requiring operator interaction, which cannot fully prevent damage from collisions.
Innovation Solution
A method that uses digital models of movable components and machines to calculate collision-free paths in real-time, adapting to changes in the machine cycle by dynamically updating the navigation graph based on current positions and speeds, eliminating the need for manual programming and ensuring collision-free travel paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional teach functions and interactive robot sequence creation are used, then operator interaction is required and collision detection is incomplete, but the system cannot fully prevent damage from collisions
Solution Approach 1:
The system performs autonomous collision detection and path optimization without operator intervention. The machine control independently calculates collision-free paths by evaluating robot positions, tool center points, and machine component geometries, enabling the system to serve itself in preventing collisions.
Solution Approach 2:
The patent replaces manual teach functions and interactive programming with an automated computational system. The machine control uses algorithmic path calculation and real-time collision detection to substitute the mechanical/interactive process of operator-based path creation.
2Productivity
If the shortest possible cycle time is pursued for efficient productivity, then the removal speed of the molding must be increased, but this increases the risk of collisions between axes and machine parts
Solution Approach 1:
The system dynamically adjusts the robot path based on real-time machine state. As machine parts move during the injection molding cycle, the collision detection system continuously evaluates new positions and recalculates the tool center point trajectory to maintain collision-free operation at high speeds.
Solution Approach 2:
The machine control receives feedback about the positions of machine parts and robot axes, uses this information to detect potential collisions, and automatically adjusts the robot motion path to prevent collisions while maintaining optimal cycle time.
3Extent of automation
If complete and accurate autonavigation is implemented, then manual programming is eliminated and collision damage is prevented, but computing time and memory requirements increase
Solution Approach 1:
The collision detection system divides the machine space into discrete evaluation zones and processes collision checks in segments along the robot path. This segmentation allows the computational task to be broken down into manageable calculations that can be performed efficiently with limited resources.
4Productivity
If the robot path is optimized for shortest travel distance, then productivity is improved, but the risk of collision with moving machine parts increases
Solution Approach 1:
The system calculates the tool center point dynamically based on the actual positions of machine parts during the cycle. Rather than using a fixed pre-programmed path, the TCP is continuously adjusted to follow an optimal collision-free trajectory that adapts to the dynamic machine state.
Data Source
AI summary
In a method for determining at least part of a path (12) for connecting at least one starting point (14) to at least one finishing point (16) in a space (R) for at least one autonavigation of at least one movable component through the space on a machine (100), at least one model of the movable component and the machine is provided, information on the geometry is gathered, current positions are determined and these are brought into relation with one another to create a graph (10). An algorithm is used to calculate the path (12), collision-free autonavigation along the path (12) being carried out after a collision check has been performed. This assists the operator in adapting the machine cycle, while likewise bringing about an improvement in terms of the travel path, cycle time, reliability of the process, energy and wear.