3D Press Working Simulation for Robot-Press Interference Checking
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Solution Overview
Problem
Existing press working systems lack a comprehensive method to check if a robot program is suitable for coordinated movement with a press machine, as they primarily focus on crossbar interference, neglecting potential interference from other robot components or the workpiece.
Innovation Solution
A press working simulator that includes a robot program storage section, press program storage section, profile data setting section, model placing section, press movement processing section, and robot movement processing section to simulate and check the operation of a press working system, allowing detailed assessment of robot program suitability by moving three-dimensional models of the press machine and robot in a virtual space and detecting interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a data table stores relationships between phase angles in the press machine and coordinate positions of the crossbar in the transfer robot, then interference between the crossbar and movable die is prevented, but interference from other robot components or the workpiece cannot be detected
Solution Approach 1:
The patent creates a virtual copy of the press working system in three-dimensional space, including the press machine, robot, and workpiece. This virtual model allows comprehensive simulation and detection of interference from any component, not just the crossbar, by reproducing the entire system geometry and movement patterns in a virtual environment.
Solution Approach 2:
The patent transitions from two-dimensional data table lookup (phase angles and coordinate positions) to three-dimensional virtual space simulation. By adding the spatial dimension and enabling multi-axis robot movement simulation, the system can detect interference from any robot component or workpiece position, not limited to crossbar-movable die interference.
2Productivity
If the robot transfers the workpiece while the press machine operates, then productivity is improved, but interference between robot components and the press machine may occur
Solution Approach 1:
The patent performs preliminary simulation of the robot program in the virtual space before actual execution. By detecting potential interference between robot components and the press machine during simulation, the system allows program modification to prevent interference before the coordinated operation begins, ensuring both productivity and safety.
Solution Approach 2:
The patent implements a feedback mechanism where the simulation results are used to modify the robot program. The system detects interference during virtual execution and provides feedback to adjust the robot program, enabling coordinated operation without interference through iterative refinement of the control program.
3Measurement precision
If detailed simulation of all robot components is performed in three-dimensional space, then comprehensive interference detection is enabled, but computational complexity and processing time increase
Solution Approach 1:
The patent segments the simulation system into distinct functional modules: model placing section for positioning three-dimensional models, press movement processing section for simulating press machine motion, robot movement processing section for simulating robot motion, and interference detection section for detecting collisions. This modular segmentation manages complexity while maintaining comprehensive detection capability.
Data Source
AI summary
A press working simulator according to an aspect of the present disclosure includes: a robot program storage section that stores a robot program that instructs a robot how to move; a press program storage section that stores a press program that instructs a press machine how to move; a profile data setting section that causes the press program storage section to store a press program according to profile data that records what position a die is in at each time point when the press machine is actually moved; a model placing section that places three-dimensional models of a workpiece, the robot, and the press machine in a virtual space; a press movement processing section that causes the three-dimensional model of the press machine to move according to the press program; and a robot movement processing section that causes the three-dimensional model of the robot to move according to the robot program.