3D Vision Robot Alignment for Gas Cylinder Valve Fastening
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Solution Overview
Problem
Existing gas supply systems for processes like semiconductor manufacturing face challenges in efficiently aligning gas containers with gas supply devices due to the weight of the containers, leading to increased space requirements and complexity in alignment processes.
Innovation Solution
An automated gas supply system that utilizes a mobile robot and 3D mapping to align the gas supply device with the gas container, allowing the power source to be positioned externally and reducing the need for a large cabinet.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the gas supply device is aligned with respect to the valve of the gas container, then the gas supply can be performed, but the cabinet size must be large enough to accommodate the gas supply device and its actuator
Solution Approach 1:
The patent transitions from a 2D alignment problem (horizontal positioning) to a 3D solution by introducing vertical movement capability. The gas supply device is positioned above the gas container and can move vertically downward to align with the valve, utilizing the third dimension (height) to reduce the horizontal footprint and cabinet size.
Solution Approach 2:
The gas supply device is designed with movable components including a robot arm and actuator that enable dynamic positioning. The device can adjust its position in real-time to align with the valve, replacing static alignment requirements with dynamic adjustment capabilities, thereby reducing the need for large fixed installation space.
2Reliability
If the gas container is aligned with the gas supply device, then the connection can be made, but it is difficult to align due to the great weight of the gas container
Solution Approach 1:
Instead of moving the heavy gas container to align with the gas supply device, the patent inverts the approach by moving the gas supply device (which is much lighter) to align with the stationary gas container. This inversion makes the alignment operation feasible and safe.
Solution Approach 2:
The patent introduces a robot arm as an intermediary mechanism between the gas supply device and the gas container. The robot arm provides precise positioning capability and can safely handle the gas supply device during alignment, eliminating the need for direct manual handling of heavy components.
3Ease of operation
If the gas supply device includes an actuator for adjusting position, then alignment is possible, but the device size increases to accommodate the actuator
Solution Approach 1:
The positioning system is segmented into multiple independent components: a robot arm for coarse positioning and an actuator for fine adjustment. This segmentation allows each component to be optimized independently, with the actuator being smaller since it only needs to perform fine-tuning rather than full-range positioning.
Solution Approach 2:
The patent merges the positioning function into the robot arm structure rather than adding a separate large actuator system. The robot arm's existing mechanical structure is utilized for positioning, and only a small actuator is added for final alignment, combining multiple functions into a compact integrated system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system minimizes space requirements for the gas supply device, simplifies the structure by enabling external power supply, and ensures precise alignment through 3D mapping, reducing the risk of misalignment and associated damage.
Implementation Method 1
a three-dimensional (3D) vision camera configured to collect an image, and a processor configured to control an operation of the mobile robot device based on the image collected by the 3D vision camera
Data Source
AI summary
A gas supply system includes a cabinet in which a gas container is disposed, a fastening device movable with respect to the gas container, and fastenable to a valve of the gas container while aligned with the valve, a mobile robot device detachably connected to the fastening device and configured to move the fastening device, a three-dimensional (3D) vision camera configured to collect an image, and a processor configured to control an operation of the mobile robot device based on the image collected by the 3D vision camera.