Robot Simulation for Bulk Workpiece Handling Interference
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional simulation apparatuses cannot accurately simulate the picking up of multiple workpieces stacked in bulk from a container, failing to predict interference between the robot and workpieces or the container, which results in inaccurate calculation of the time required for the operation.
Innovation Solution
A robot simulation apparatus that creates a virtual space for three-dimensional representation of the workpiece handling operation, includes a workpiece model layout to arrange workpieces in appropriate postures and positions, a virtual camera for image acquisition, and a correcting mechanism to adjust teaching points in the robot program, allowing for accurate prediction of interference and time required for picking up all workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional simulation apparatus is used, then basic robot motion simulation can be performed, but interference between robot and workpieces/container cannot be predicted
Solution Approach 1:
The patent creates a virtual copy of the physical workspace including the container and multiple workpieces stacked in bulk. This virtual model allows the simulation apparatus to replicate the actual handling operation environment, enabling accurate prediction of interference between the robot and workpieces/container without requiring physical experimentation.
Solution Approach 2:
The patent performs preliminary arrangement of multiple workpiece models in the virtual space before simulation. By pre-positioning the workpieces in their stacked bulk configuration and pre-defining the robot's handling path, the system can predict potential interference issues before actual operation, allowing for proactive program correction.
2Productivity
If robot hand position is varied for each workpiece, then all workpieces can be picked up, but time required cannot be accurately calculated
Solution Approach 1:
The patent dynamically adjusts the robot hand position for each workpiece based on its specific location in the stacked bulk arrangement. The simulation apparatus calculates the optimal picking position for each individual workpiece model, allowing the robot to efficiently handle varying workpiece configurations while accurately tracking the time required for each operation.
Solution Approach 2:
The simulation apparatus provides feedback on the time required for each picking operation based on the varied robot hand positions. By monitoring and calculating the time for each individual workpiece handling operation, the system accumulates total time data, enabling accurate prediction of the overall time required to pick up all workpieces from the container.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.