Robot Simulation System for Bulk Stacked Workpiece Takeout

Solution Overview

Problem

Existing robot simulation systems fail to accurately simulate the takeout process of bulk-stacked workpieces by not considering the effects of gravity, leading to unnatural stacking states and reduced simulation reliability.

Innovation Solution

A robot simulation system that creates a virtual space with a container and workpieces, simulates the drop operation of workpieces under gravity, and calculates their positions and postures to create a natural bulk-stacked state, also accounting for interference and forces like impact and friction.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of manufacture

If workpiece models are randomly placed in the virtual space, then the simulation setup is simple and quick, but the bulk stacked state does not reflect actual gravity effects and is unnatural

Engineering Contradiction:

Improveease of creating bulk stacked stateVSAvoidreliability of bulk stacked state simulation

Core Design Contradiction:

Ease of manufactureVSReliability

Solution Approach 1:

The patent applies preliminary action by pre-calculating and setting the initial positions and postures of workpiece models above the container before the drop simulation. This preliminary arrangement ensures that when workpieces are dropped, they naturally form a realistic bulk stacked state that accurately reflects gravity effects, thereby resolving the contradiction between ease of setup and simulation reliability.

Inventive Principle:

Principle #10Preliminary action

2Device complexity

If workpiece models are placed without considering gravity, then the simulation process is simpler, but the resulting bulk stacked state is unnatural and does not reflect actual conditions

Engineering Contradiction:

Improvecomplexity of simulation processVSAvoidprecision of bulk stacked state

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The patent applies preliminary action by pre-calculating and setting the initial positions and postures of workpiece models above the container before the drop simulation. This preliminary arrangement ensures that when workpieces are dropped, they naturally form a realistic bulk stacked state that accurately reflects gravity effects, thereby resolving the contradiction between ease of setup and simulation reliability.

Inventive Principle:

Principle #10Preliminary action

3Loss of time

If workpiece models are randomly positioned, then the initial setup is faster, but the simulation does not accurately predict interference between workpieces and container

Engineering Contradiction:

Improvetime for setupVSAvoidprecision of interference prediction

Core Design Contradiction:

Loss of timeVSMeasurement precision

Solution Approach 1:

The patent applies preliminary action by pre-calculating and setting the initial positions and postures of workpiece models above the container before the drop simulation. This preliminary arrangement ensures that when workpieces are dropped, they naturally form a realistic bulk stacked state that accurately reflects gravity effects, thereby resolving the contradiction between ease of setup and simulation reliability.

Inventive Principle:

Principle #10Preliminary action

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This approach allows for a more realistic simulation of the takeout process, enhancing the reliability of the simulation by accurately modeling the bulk-stacked state and improving the evaluation of robot control programs.

Implementation Method 1

the drop operation simulation part which simulates a drop operation in which the workpieces drop from the initial positions to the inside of the container by action of gravity

Methodology Applied

Scientific EffectGravity: Gravitation

Implementation Method 2

the drop operation simulation part is configured to simulate the drop operation by taking into account the gravity which acts on the workpiece models, interference between the workpiece models, and interference between the workpiece models and the container model

Methodology Applied

Scientific EffectInterference: Interference

Implementation Method 3

the drop operation simulation part is configured to simulate the drop operation by additionally taking into account an impact force and frictional force which act on the workpiece models

Methodology Applied

Scientific EffectImpact force: Impact Force

Implementation Method 4

the drop operation simulation part is configured to simulate the drop operation by additionally taking into account an impact force and frictional force which act on the workpiece models

Methodology Applied

Scientific EffectFrictional force: Friction

Data Source

PatentUS9569568B2Robot simulation system which simulates takeout process of workpiece

Publication Date: 2017.02.14 FANUC LTD

AI summary

A robot simulation system includes a model placement part which places a three-dimensional container model in a virtual space and places three-dimensional workpiece models which have any postures at initial positions above the container model and a drop operation simulation part which simulates a drop operation in which the workpieces drop from the initial positions to the inside of the container by action of gravity. The robot simulation system is configured to create a bulk stacked state of workpiece models, based on the positions and postures of the workpiece models which are obtained as a result of simulation of the drop operation.