Robot Transfer Simulation with Workpiece Interference Zones
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Solution Overview
Problem
Existing simulation devices for robot transfer systems fail to accurately confirm the appropriateness of robot operations due to interference issues, particularly when using grippers or suction cups, which can lead to incorrect positioning and movement of workpieces.
Innovation Solution
A simulation device that includes a feeder with a conveyor surface, an image processing device to calculate workpiece positions, a robot with a hand to pick up workpieces, and a receiving device, along with a model arrangement unit, workpiece supply unit, and robot operation control unit to adjust the relative position of workpieces to prevent interference, ensuring accurate placement and movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If workpiece position is corrected to eliminate interference between workpiece models, then interference between workpiece models is eliminated, but the gripper will interfere with workpiece located in the vicinity of the retained workpiece
Solution Approach 1:
The interference area is calculated and set in advance before robot operation simulation. By pre-defining the interference area around each workpiece based on gripper dimensions and retention position, the system can predict and prevent potential interference issues before they occur during actual robot operation, rather than reacting to interference after it happens
Solution Approach 2:
The interference area calculation unit acts as an intermediary between workpiece positioning and robot operation validation. It creates a buffer zone that mediates between the need for tight workpiece spacing (to maximize productivity) and the need to prevent gripper interference (to ensure operational reliability)
2Reliability
If suction cup elasticity acts to push against the workpiece, then the suction cup can retain the workpiece, but the workpiece may move transversely and cause interference
Solution Approach 1:
The system pre-calculates and sets the interference area to account for potential transverse workpiece movement caused by suction cup elasticity. This preliminary action compensates for the expected positional deviation before the robot actually picks up the workpiece, ensuring that even if the workpiece shifts during retention, it will not interfere with adjacent workpieces
Solution Approach 2:
The interference area is dynamically adjusted based on parameters such as suction cup size, retention force, and workpiece properties. By changing the interference area parameter to be larger than the actual workpiece dimensions, the system accounts for potential transverse movement while maintaining accurate simulation of robot operations
Data Source
AI summary
A simulation device according to the present disclosure includes: a model arrangement unit which arranges three-dimensional models of a feeder, a robot and a receiving device in virtual space; a workpiece supply unit which arranges the three-dimensional model of the workpiece on the conveyor surface; and a robot operation control unit which causes the robot to operate so as to move the workpiece on the conveyor surface to over the receiving surface, in which the workpiece supply unit includes: a reference position calculation part which calculates a position and orientation of the workpiece to be newly arranged, according to set conditions; a workpiece area setting part which sets a workpiece area occupied by the workpiece; an interference area setting part which sets an interference area adjacent to the workpiece area; a display control part which displays a screen indicating the workpiece area and the interference area; and a supply position adjustment part which adjusts a relative position of the workpiece to be newly arranged, so that the workpiece area of the workpiece to be newly arranged does not overlap with the workpiece area and the interference area of the workpiece arranged previously.