Robot Grip Position Registration via Virtual Workpiece Model

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Solution Overview

Problem

Current methods for registering a grip position of a workpiece in a robot's end effector are either time-consuming and require a large verification environment or struggle with accurately aligning three-dimensional coordinates without available CAD data.

Innovation Solution

A robot setting apparatus that includes a workpiece model registration unit, a display unit for displaying a workpiece model, a positioning unit for locating the workpiece model in a virtual three-dimensional space, and a grip position specifying unit that displays fundamental direction images to easily set the grip position, allowing users to register the grip position without actual robot movement and without relying on three-dimensional CAD data.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a grip position is registered by actually operating a robot, then the grip position can be accurately registered, but time is taken and a large-scale verification environment is necessary

Engineering Contradiction:

Improvegrip position registration accuracyVSAvoidregistration time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent uses a workpiece model (a copy or representation of the actual workpiece) displayed on a display unit to register grip positions virtually. Instead of moving the actual robot to test and register grip positions, the operator interacts with the displayed workpiece model to specify grip positions, thereby eliminating time-consuming trial and error while maintaining registration accuracy

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent performs preliminary positioning of the workpiece model in a virtual three-dimensional space before actual robot operation. By pre-defining the workpiece model's position and attitude on the display unit, the system prepares grip position registration in advance, avoiding time-consuming adjustments during actual robot testing

Inventive Principle:

Principle #10Preliminary action

2Ease of operation

If a grip position is registered by operating a robot model on virtual space with three-dimensional CAD data, then a grip position can be registered without an actual robot device, but three-dimensional attitude alignment is difficult and setting is complex

Engineering Contradiction:

Improvegrip position registration convenienceVSAvoidthree-dimensional coordinate positioning complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent displays a workpiece model (copy of the workpiece) on a display unit with simplified visual representation. This graphical copy eliminates the need for complex three-dimensional CAD data and coordinate alignment, allowing operators to easily specify grip positions by interacting with the visual display rather than manipulating complex virtual models

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces complex mechanical three-dimensional coordinate positioning systems with a visual display-based system. Instead of requiring precise mechanical alignment of virtual models in three-dimensional space, the system uses graphical display and visual interaction to simplify the positioning and grip registration process

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If three-dimensional CAD data of workpiece and end effector is available, then grip position can be registered in virtual space, but setting cannot be performed when three-dimensional CAD data is not available

Engineering Contradiction:

Improvevirtual space registration capabilityVSAvoiddependency on three-dimensional CAD data

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent creates a universal workpiece model display system that can represent workpieces without requiring three-dimensional CAD data. The display unit can show workpiece models based on simpler data structures or two-dimensional representations, making the grip position registration system versatile and applicable to various workpieces regardless of CAD data availability

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent uses simplified workpiece model representations instead of requiring expensive and complex three-dimensional CAD data. The display-based approach uses lighter, simpler data structures that can be generated more easily and do not require the overhead of full three-dimensional modeling, making the system more accessible and easier to implement

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Data Source

PatentUS10864636B2Robot setting apparatus, robot setting method, robot setting program, computer readable recording medium, and apparatus storing program

Publication Date: 2020.12.15 KEYENCE CORP

AI summary

A robot setting apparatus includes a positioning unit that adjusts a position and an attitude of a workpiece model, and a grip position specifying unit that specifies a grip position at which the workpiece model is gripped by an end effector for at least one fundamental direction image in a state of displaying at least three height images in which the workpiece model positioned by the positioning unit on the virtual three-dimensional space is viewed from respective axis directions of three axes orthogonal to each other on the display unit as fundamental direction images.