Workpiece Stacking Position Setting for Height-Difference Stability
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Solution Overview
Problem
Existing position setting devices for robot apparatuses face challenges in efficiently arranging multiple types of workpieces with varying sizes and orders within a container without causing collapse, especially when the number, size, and order of workpieces are not predetermined, making it difficult to determine a stable stacking position.
Innovation Solution
A position setting device equipped with sensors to detect the shape and dimensions of workpieces, which searches for and determines a stable position for stacking by analyzing the height differences and surface areas of existing workpieces, ensuring that new workpieces are supported correctly and preventing collapse.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot apparatus automatically stacks workpieces without predetermined information on number, size, and order, then productivity and automation are improved, but the ability to determine stable stacking positions and prevent collapse deteriorates
Solution Approach 1:
The system performs preliminary detection of workpiece shapes and positions using sensors before stacking begins. The shape detection unit captures workpiece geometry information in advance, and the stacking position determination unit pre-calculates stable stacking positions based on detected dimensions and predicted stacking patterns, enabling reliable automatic stacking without predetermined workpiece information
Solution Approach 2:
The system continuously detects workpiece shapes and positions during the stacking process, compares actual positions with predicted positions, and adjusts subsequent stacking decisions based on this feedback. The stacking position determination unit updates stacking predictions based on detected workpiece arrangements, ensuring stability even when workpiece number, size, and order are not predetermined
2Quantity of substance
If workpieces are stacked in multiple stages with varying sizes and orders, then the quantity of workpieces arranged is improved, but the difficulty of detecting and measuring stable positions and preventing collapse increases
Solution Approach 1:
The system transitions from two-dimensional workpiece arrangement to three-dimensional multi-stage stacking by utilizing vertical space. The stacking position determination unit predicts stacking positions in three dimensions, considering workpiece shapes, sizes, and compatibility between different stages, enabling efficient use of container volume while maintaining stability
Solution Approach 2:
The shape detection unit detects workpiece geometries in advance, and the stacking position determination unit pre-calculates compatible stacking positions before actual stacking occurs. This preliminary determination of stable positions simplifies the complexity of multi-stage stacking by providing predetermined placement guidelines
3Reliability
If manual stacking is used to ensure stability, then stacking stability is improved, but productivity and efficiency deteriorate
Solution Approach 1:
The system enables self-service automatic stacking by having the robot apparatus independently detect workpiece shapes, determine stable stacking positions, and execute stacking operations without human intervention. The stacking position determination unit autonomously predicts stable positions based on detected workpiece information, achieving both stability and high productivity
Solution Approach 2:
The system replaces manual mechanical stacking operations with an automated robot apparatus controlled by intelligent algorithms. The stacking position determination unit uses shape detection data and prediction algorithms to determine stable positions, substituting human judgment and manual operation with automated sensing and control systems
Data Source
AI summary
Provided is a position setting device that sets a position for stacking a second workpiece on a plurality of first workpieces. This position setting device is provided with a search unit that searches for a position where the second workpiece is allowed to be disposed on the first workpieces. The search unit includes a determination unit that determines whether to allow the second workpiece to be disposed so as to be supported on one of the first workpieces and another one of the first workpieces when the upper surface of the one first workpiece and the upper surface of the other first workpiece are different from each other in height. The determination unit allows the second workpiece to be disposed so as to be supported on both of the one first workpiece and the other first workpiece when the height difference is within a determination range.