Robot Simulation of Transfer Material Placement on Workpieces
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Solution Overview
Problem
Current robot simulation techniques cannot effectively confirm the attachment of patterns or labels to workpieces during the operation of a robot, requiring on-site verification rather than pre-simulation validation.
Innovation Solution
A robot simulation apparatus that creates a virtual workspace with a robot model, grasped object model, and workpiece model, allowing for the simulation of the robot's operation and displaying the transfer of a transfer material image from the grasped object to the workpiece, ensuring reliable transfer confirmation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robot simulation is used to display three-dimensional models of robot system components, then the robot operation can be simulated on screen, but the transfer material (pattern/label) transfer from grasped object to workpiece cannot be confirmed
Solution Approach 1:
The patent creates visual copies of the transfer material by displaying its image on both the grasped object model and workpiece model in the virtual space. This allows operators to confirm transfer completion by comparing the presence and state of the transfer material image between the two objects, resolving the information loss problem without requiring physical transfer verification.
Solution Approach 2:
The transfer material image serves as an intermediary visual element that mediates between the grasped object and workpiece. By rendering this image on both objects during simulation, the system provides a visual mechanism to track and confirm transfer completion, enabling reliable verification of the transfer process.
2Measurement precision
If on-site verification of transfer material attachment is performed, then accurate confirmation of transfer completion is achieved, but time and operational efficiency are reduced
Solution Approach 1:
The patent performs preliminary visualization of the transfer material on both the grasped object and workpiece models before actual physical transfer occurs. This allows operators to verify transfer correctness in the virtual simulation environment, eliminating the need for time-consuming on-site verification after physical transfer.
Solution Approach 2:
By creating and displaying visual copies of the transfer material on the workpiece model during simulation, the system enables accurate detection of transfer completion status without requiring physical inspection, thus achieving high measurement precision while eliminating time loss.
3Loss of information
If detailed display of transfer material on both grasped object and workpiece is implemented, then transfer state confirmation is enabled, but system complexity increases
Solution Approach 1:
The patent implements a straightforward copying approach by rendering the transfer material image on both the grasped object model and workpiece model using existing graphics capabilities. This simple visual duplication provides complete transfer state information without requiring complex additional systems or mechanisms.
Data Source
AI summary
A robot simulation device simulates an operation program for a robot of a robot system. The robot simulation device includes a robot model arrangement unit that arranges a robot model in a virtual space, a grasped object model arrangement unit that arranges a grasped object model, a work object model arrangement unit that arranges a work object model of a work object, an image generation unit that generates an image of the robot system operating according to the operation program, a display unit that displays the generated image, a first transfer material image display unit that displays a transfer material image of a transfer material on the surface of the grasped object model, and a second transfer material image display unit that, when the surfaces of the grasped object model and the work object model contact, displays the transfer material image on the surface of the inverted work object model.