Parametric generation of interlocking joints

• US 10,596,703 B1
• Filed: 07/26/2016
• Issued: 03/24/2020
• Est. Priority Date: 07/26/2016
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Linnell, Jeff, Michalowski, Marek, Byrne, Kendra, Proto, Jonathan, Kruysman, Brandon
• Primary Examiner(s): Lo, Kenneth M
• Assistant Examiner(s): Rahman, Mohammad A
• Application Number:
  US15/220,300
• Time in Patent Office: 1,337 Days
• CPC Class Codes: B25J 11/0055 Cutting
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 19/4097 characterised by using design data to control NC machines, e.g. CAD/CAM G05B19/4093 takes precedence
• CPC Class Codes: G05B 19/4099 Surface or curve machining, making 3D objects, e.g. desktop manufacturing
• CPC Class Codes: G05B 2219/35062 Derive mating, complementary, mirror part from computer model data
• CPC Class Codes: G05B 2219/35134 3-D cad-cam
• CPC Class Codes: G05B 2219/45068 Cutting robot
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/41 Tool

Abstract

The present application discloses implementations relate to automated generation of interlocking joint features. An example method involves obtaining a virtual model of an object. The virtual model specifies dimensions of a first element, dimensions of a second element, and a spatial relation between the first element and the second element that defines a joint angle. The example method also involves obtaining a relationship that correlates element dimensions and joint angles with cut dimensions. The example method further involves determining cut dimensions for the first element the second element based on the relationship, the dimensions of the first element, the dimensions of the second element, and the joint angle. Modifying the first element and the second element according to the cut dimensions produces interlockable features on the first element and the second element. Additionally, the method involves providing an output signal indicative of the cut dimensions.

Claims

1. A computer-implemented method comprising:

obtaining a virtual model of an object that is to be assembled by securing a first element and a second element to each other, the virtual model specifying pre-cut physical characteristics of the first element and the second element, the pre-cut physical characteristics including;

first pre-cut dimensions of the first element and one or more first physical properties of a material of the first element; and

second pre-cut dimensions of the second element and one or more second physical properties of a material of the second element;

determining, using the virtual model and for each of the first element and the second element, cut dimensions that indicate a manner in which the element is to be altered such that the altered first element and the altered second element include interlockable features that are capable of interlocking with each other, including;

selecting, from a set of element cutting options, one or more element cutting options that correspond to the pre-cut physical characteristics of the first element and the second element, wherein each cutting option correlates cut dimensions with pre-cut physical characteristics of a set of pre-cut elements;

determining, using the virtual model and the one or more element cutting options, multiple candidate cut dimensions of the first element or the second element; and

selecting, from the multiple candidate cut dimensions, particular cut dimensions of the first element or the second element based on (i) a physical characteristic of the element after being altered using each of the multiple cut dimensions and (ii) one or more criteria for the physical characteristic of the element;

generating data that indicates the particular cut dimensions of the first element or the second element; and

providing the data that indicates the particular cut dimensions to one or more computers that are associated with fabricating or assembling the object.

2. The computer-implemented method of claim 1, wherein the interlockable features include a first slot on the first element, a first protrusion on the first element, a second slot on the second element, and a second protrusion on the second element, wherein a portion of the second protrusion is engageable with the first slot, and wherein a portion of the first protrusion is engageable with the second slot.

3. The computer-implemented method of claim 1, wherein obtaining the virtual model comprises at least one of (i) retrieving data indicative of the virtual model from a storage device or (ii) receiving data indicative of the virtual model via a network.

4. The method of claim 1, wherein the virtual model is of an object that is to be assembled by securing the first element and the second element to each other using an articulated robotic arm.

5. The method of claim 1, wherein:

the object is to be assembled by securing the first element and the second element to each other at a joint angle, and

the cut dimensions are determined based at least on the joint angle.

6. The method of claim 1, wherein the interlockable features are congruent and, when interlocked with each other, form a fixed joint.

7. The system of claim 1, wherein the interlockable features are congruent and, when interlocked with each other, form a fixed joint.

8. The method of claim 1, wherein selecting, from the multiple candidate cut dimensions, particular cut dimensions of the first element or the second element comprises selecting first cut dimensions for the first element based on the one or more criteria and second cut dimensions for the second element based on the one or more criteria.

9. The method of claim 1, wherein determining the multiple candidate cut dimensions comprises:

determining, using at least the virtual model, physical parameters of the first element and the second element;

selecting, from multiple candidate relationships and based on the physical parameters of the first element and the second element, a particular relationship that correlates physical parameters of elements with cut dimensions for the elements; and

determining the multiple candidate cut dimensions using the particular relationship and the physical parameters of the first element and the second element.

10. The method of claim 1, wherein determining the multiple candidate cut dimensions comprises evaluating a surface area for welding the first element to the second element using one or more criteria, wherein the particular cut dimensions of the first element or the second element are selected based on a resulting amount of surface area for welding the first element to the second element.

20. The method of claim 9, wherein the particular relationship comprises a computational process that maximizes or minimizes the physical characteristic of the element based on a particular way in which the first element and the second element are to be secured to each other.

11. A system comprising:

at least one processor; and

a storage device having instructions stored thereon that, upon execution by the at least one processor, causes performance of operations comprising;

obtaining a virtual model of an object that is to be assembled by securing a first element and a second element to each other, the virtual model specifying pre-cut physical characteristics of the first element and the second element, the pre-cut physical characteristics including;

first pre-cut dimensions of the first element and one or more first physical properties of a material of the first element; and

second pre-cut dimensions of the second element and one or more second physical properties of a material of the second element;

determining, using the virtual model and for each of the first element and the second element, cut dimensions that indicate a manner in which the element is to be altered such that the altered first element and the altered second element include interlockable features that are capable of interlocking with each other, including;

selecting, from a set of element cutting options, one or more element cutting options that correspond to the pre-cut physical characteristics of the first element and the second element, wherein each cutting option correlates cut dimensions with pre-cut physical characteristics of a set of pre-cut elements;

determining, using the virtual model and the one or more element cutting options, multiple candidate cut dimensions of the first element or the second element; and

selecting, from the multiple candidate cut dimensions, particular cut dimensions of the first element or the second element based on (i) a physical characteristic of the element after being altered using each of the multiple candidate cut dimensions and (ii) one or more criteria for the physical characteristic of the element;

generating data that indicates the particular cut dimensions of the first element or the second element; and

providing the data that indicates the particular cut dimensions to one or more computers that are associated with fabricating or assembling the object.

12. The system of claim 11, wherein the interlockable features include a first slot on the first element, a first protrusion on the first element, a second slot on the second element, and a second protrusion on the second element, wherein a portion of the second protrusion is engageable with the first slot, and wherein a portion of the first protrusion is engageable with the second slot.

13. The system of claim 11, wherein obtaining the virtual model comprises at least one of (i) retrieving data indicative of the virtual model from a storage device or (ii) receiving data indicative of the virtual model via a network.

14. The system of claim 11, wherein the virtual model is of an object that is to be assembled by securing the first element and the second element to each other using an articulated robotic arm.

15. The system of claim 11, wherein:

the object is to be assembled by securing the first element and the second element to each other at a joint angle, and

the cut dimensions are determined based at least on the joint angle.

16. A non-transitory computer-readable medium having instructions stored thereon that, upon execution by at least one processor, causes performance of operations comprising:

obtaining a virtual model of an object that is to be assembled by securing a first element and a second element to each other, the virtual model specifying pre-cut physical characteristics of the first element and the second element, the pre-cut physical characteristics including;

first pre-cut dimensions of the first element and one or more first physical properties of a material of the first element; and

second pre-cut dimensions of the second element and one or more second physical properties of a material of the second element;

determining, using the virtual model and for each of the first element and the second element, cut dimensions that indicate a manner in which the element is to be altered such that the altered first element and the altered second element include interlockable features that are capable of interlocking with each other, including;

selecting, from a set of element cutting options, one or more element cutting options that correspond to the pre-cut physical characteristics of the first element and the second element, wherein each cutting option correlates cut dimensions with pre-cut physical characteristics of a set of pre-cut elements;

determining, using the virtual model and the one or more element cutting options, multiple candidate cut dimensions of the first element or the second element; and

selecting, from the multiple candidate cut dimensions, particular cut dimensions of the first element or the second element based on (i) a physical characteristic of the element after being altered using each of the multiple candidate cut dimensions and (ii) one or more criteria for the physical characteristic of the element;

generating data that indicates the particular cut dimensions of the first element or the second element; and

providing the data that indicates the particular cut dimensions to one or more computers that are associated with fabricating or assembling the object.

17. The medium of claim 16, wherein the interlockable features include a first slot on the first element, a first protrusion on the first element, a second slot on the second element, and a second protrusion on the second element, wherein a portion of the second protrusion is engageable with the first slot, and wherein a portion of the first protrusion is engageable with the second slot.

18. The medium of claim 16, wherein the virtual model is of an object that is to be assembled by securing the first element and the second element to each other using an articulated robotic arm.

19. The medium of claim 16, wherein:

the object is to be assembled by securing the first element and the second element to each other at a joint angle, and

the cut dimensions are determined based at least on the joint angle.