# US 6,157,902 A · Disassembly route producing apparatus, assembly route producing apparatus, and supporting system for mechanical system design > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 6,157,902 A - Document ID: US6157902A - Status: Granted - Kind: A - Application number: 09/022,043 - Filed: 1998-02-11 - Granted: 2000-12-05 - Earliest claimed: 1997-03-13 - Assignees: Fujitsu Limited - Inventors: Mitsunori Hirata; Yuichi Sato; Tsugito Maruyama - Web page: https://patentgrep.com/patent/US6157902A ## CPC - G05B 19/4069: Simulating machining process on screen (G05B19/4068 takes precedence) - G06T 17/00: Three-dimensional [3D] modelling for computer graphics - G05B 2219/31027: Computer assisted manual assembly CAA, display operation, tool, result - G05B 2219/31044: Assembly of modular products, variant configurability - G05B 2219/31052: Find feasable assembly sequences - G05B 2219/31053: Planning, generate assembly plans - G05B 2219/31065: Disassembly evaluation - G05B 2219/31067: Assembly partitioning, find sub assembly removable without disturbing plan - G05B 2219/32359: Modeling, simulating assembly operations - G05B 2219/39084: Parts handling, during assembly - G05B 2219/40446: Graph based - G05B 2219/40489: Assembly, polyhedra in contact - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A disassembly route producing apparatus searches for a disassembly route for disassembling a product into its component parts. In one embodiment, the apparatus selects one of the parts to be disassembled, and determines the closest distance the selected part may approach the remaining parts as the selected part is being moved. The selected part is disassembled through a series of translations in predetermined directions and for predetermined distances. After each translation, the apparatus determines whether the selected part collided with any of the remaining parts. If a collision occurs, the apparatus changes the direction for the translations and resumes the search. A corresponding assembly route is determined by reversing the disassembly route. ## Claims ### Claim 1 A disassembly route producing apparatus, comprising: disassembly route search means for searching for a collision-free disassembly route when disassembling a product containing a plurality of parts, the disassembly occurring through a sequence of translations of each of the parts, in predetermined directions for predetermined distances; collision arithmetic means for determining a closest approach distance between a selected one of the plurality of parts to be translated and the remaining parts; and said disassembly route search means moving the selected part through the sequence of translations up to a distance corresponding to the closest approach distance, and said collision arithmetic means determining after each translation whether a collision occurred between the selected part and any of the remaining parts, and when said disassembly route search means fails to find a disassembly route for the selected part, the size of the selected part is reduced by a predetermined amount, and a search for a disassembly route is performed again. ### Claim 2 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising first display means for displaying a product in a dangerous state, or two parts of the product approaching one another up to the dangerous state, the existence of the dangerous state being determined by said collision arithmetic means determining whether the closest approach distance is less than or equal to a predetermined distance. ### Claim 3 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising second display means for displaying the product as it is being disassembled, with each selected part that is translated a predetermined distance without colliding with any of the remaining parts being removed from said second display means. ### Claim 4 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising: third display means for displaying just the selected part of the product that is being disassembled; figure selection means for selecting the part to be displayed on said third display means; and search direction designating means for selecting a coordinate system and a sequence of search directions corresponding to the selected coordinate system, the coordinate system being displayed on said third display means, said disassembly route search means moving the selected part in accordance with the sequence of search directions. ### Claim 5 (depends on 1) The disassembly route producing apparatus of claim 1, wherein configuration and assembly arrangement information for the plurality of parts are arranged as a part tree structure, and said disassembly route search means searches for a disassembly route beginning with each part that is a terminal end of the tree structure, working upwards, one part at a time, through the tree structure from each child part to each parent part. ### Claim 6 (depends on 1) The disassembly route producing apparatus of claim 1, wherein configuration and assembly arrangement information for the product are arranged as a part tree structure according to subassemblies of the plurality of parts of the product, each subassembly containing a combination of one or more parts, and said disassembly route search means searches for a disassembly route for each subassembly as a unit. ### Claim 7 (depends on 5) The disassembly route producing apparatus of claim 5, further comprising fourth display means for displaying the product during disassembly when a plurality of the terminal parts are selected and simultaneously disassembled. ### Claim 8 (depends on 5) The disassembly route producing apparatus of claim 5, further comprising part designating means for selecting a plurality of the terminal parts, said disassembly route search means simultaneously searching for a disassembly route for the selected parts. ### Claim 9 (depends on 5) The disassembly route producing apparatus of claim 5, further comprising fifth display means for displaying the part tree structure with graphics images of the parts and names of the parts. ### Claim 10 (depends on 5) The disassembly route producing apparatus of claim 5, further comprising first disassembly route designating means for manually designating a disassembly route, wherein when said disassembly route search means fails to find a disassembly route for the selected part, automatic searching by said disassembly route search means is interrupted and the disassembly route for the selected part is the manually designated route, and said disassembly route search means then resumes searching by automatically searching for a disassembly route for a subsequent part. ### Claim 11 (depends on 5) The disassembly route producing apparatus of claim 5, further comprising second disassembly route designating means for manually designating a disassembly route, wherein when said disassembly route search means fails to find a disassembly route for a certain part, the part is not translated and said disassembly route search means continues searching for disassembly routes for subsequent parts, and said second disassembly route designating means manually designates a disassembly route for each of the parts said disassembly route search means was unable to find a disassembly route for. ### Claim 12 (depends on 5) The disassembly route producing apparatus of claim 5, further comprising: third disassembly route designating means for manually designating a disassembly route; and re-approach prohibiting means for prohibiting, when the selected part is moved according to the designated disassembly route, the selected part from approaching the remaining parts by less than a predetermined distance. ### Claim 13 (depends on 1) The disassembly route producing apparatus of claim 1, wherein when said disassembly route search means fails to find a disassembly route for a certain part, the part is not translated, and said disassembly route search means continues searching for disassembly routes for subsequent parts, then said disassembly route search means regards one or more of the remaining parts not having a disassembly route as being a subassembly and conducts a search for a disassembly route for the subassembly as a unit. ### Claim 14 (depends on 13) The disassembly route producing apparatus of claim 13, wherein the remaining parts considered to be a subassembly are the parts mutually in contact with one another. ### Claim 15 (depends on 4) The disassembly route producing apparatus of claim 4, further comprising disassembly impossible direction detecting means for detecting, prior to disassembling the selected part, directions in which the selected part cannot be moved, and said disassembly route search means searching for a disassembly route for the selected part in directions other than those determined by said disassembly impossible direction detecting means. ### Claim 16 (depends on 4) The disassembly route producing apparatus of claim 4, wherein when said disassembly route search means fails to find a disassembly route for the selected part, the selected part is positioned at a point corresponding to the maximum distance the selected part was able to be moved, and said disassembly route search means again searches for a disassembly route for the selected part, except in directions corresponding to the direction in which the selected part was repositioned to and the direction that would move the part back to its original position. ### Claim 17 (depends on 1) The disassembly route producing apparatus of claim 1, wherein when the selected part collides with another part, said disassembly route search means determines a polygon on the selected part interfering with the other part, the polygon is reduced in size and translated inside the selected part, and said collision arithmetic means again determines whether a collision occurs between the reduced selected part and the other part. ### Claim 18 (depends on 1) The disassembly route producing apparatus of claim 1, wherein when said disassembly route search means cannot find disassembly routes for two or more of the plurality of parts, said disassembly route search means translates the two or more parts as a unit a distance that is within a translation possible limit, and then searches for disassembly routes for the two or more parts. ### Claim 19 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising auxiliary appending means for appending an auxiliary object to the selected part before searching for a disassembly route for the selected part, and said disassembly route search means then searches for a disassembly route for the selected part and auxiliary object as a unit. ### Claim 20 (depends on 1) The disassembly route producing apparatus of claim 1, wherein if the selected part collides with another part that has a joint and is rotatable, said disassembly route search means translates the selected part a predetermined translation amount, causing the selected part to move the rotatable part. ### Claim 21 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising sixth display means for displaying only the selected part and another part closest in distance to the selected part. ### Claim 22 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising seventh display means for displaying the selected part as it is being disassembled, along with the remaining parts that have not been disassembled. ### Claim 23 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising eighth display means for displaying the selected part, as it is being disassembled, in one graphics format, along with the remaining parts that have not been disassembled in another graphics format. ### Claim 24 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising: animation producing means for producing an animation of the selected part as it is being disassembled; and ninth display means for displaying the animation, along with the remaining parts that have not been disassembled. ### Claim 25 (depends on 1) The disassembly route producing apparatus of claim 1, further comprising assembly route producing means for producing a collision-free assembly route for the parts by reversing the disassembly route, said assembly route producing means moving each part selected to be assembled through the sequence of assembly translations, and said collision arithmetic means determining whether a collision occurred between each translated part and any of the parts already assembled. ### Claim 26 A supporting system for mechanical system design, comprising: disassembly route search means for searching for a collision-free disassembly route when disassembling a product containing a plurality of parts, the disassembly occurring through a sequence of translations of each of the parts, in predetermined directions for predetermined distances; collision arithmetic means for determining a closest approach distance between a selected one of the plurality of parts to be translated and the remaining parts; and said disassembly route search means moving the selected part through the sequence of translations up to a distance corresponding to the closest approach distance, and said collision arithmetic means determining after each translation whether a collision occurred between the selected part and any of the remaining parts, and when said disassembly route search means fails to find a disassembly route for the selected part, the size of the selected part is reduced by a predetermined amount, and a search for a disassembly route is performed again. ### Claim 27 A method for determining a disassembly route for a product containing a plurality of parts, comprising: determining a closest approach distance between one of the parts selected to be disassembled from the product and the remaining parts; moving the selected part through a sequence of translations in predetermined directions for predetermined distances, up to a distance corresponding to the closest approach distance, and determining, after each translation, whether a collision occurred between the selected part and any of the remaining parts; and reducing the size of the selected part by a predetermined amount, when said disassembly route search means fails to find a disassembly route for the selected part, and performing a search for a disassembly route again.