Component Holding Apparatus 3D Positioning
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Solution Overview
Problem
Existing component holding apparatuses face challenges in accurately holding components of varying orientations and heights on a stage where components are scattered, leading to inefficiencies in pickup operations.
Innovation Solution
The apparatus employs a combination of imaging devices and advanced calculation methods to determine the actual positions of components based on captured image data, accounting for multiple heights and orientations, and uses a component holding head to precisely pick up components by adjusting its position and orientation accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If components are scattered on the stage with different orientations, then the component supply capacity is improved, but the difficulty of detecting and measuring component positions and orientations increases
Solution Approach 1:
The patent transitions from 2D image capture to 3D spatial measurement by introducing a laser displacement meter that measures height information in the Z-dimension. This allows the system to determine component positions and orientations in three-dimensional space, resolving the detection difficulty caused by scattered components with various orientations on the stage.
Solution Approach 2:
The patent introduces a laser displacement meter as an intermediary measurement device between the imaging device and the component detection system. This intermediary provides precise height information that complements the 2D image data, enabling accurate determination of component positions and orientations without directly complicating the imaging system.
2Adaptability or versatility
If components of varying heights are held, then the adaptability to different component types is improved, but the manufacturing precision of the holding position increases
Solution Approach 1:
The patent makes the holding position dynamic by allowing the component head to adjust its Z-height based on real-time measurements from the laser displacement meter. Instead of a fixed holding position, the system dynamically adapts the holding height to match each component's actual height, ensuring precise holding for components of varying heights while maintaining adaptability to different component types.
Solution Approach 2:
The patent changes the holding position parameter (Z-height) based on measured component height data. By adjusting the holding position parameter dynamically according to each component's dimensions, the system achieves both adaptability to different component types and precision in the holding position, resolving the contradiction between versatility and precision.
3Speed
If image data is used to determine component positions, then the measurement speed is improved, but the measurement precision of component height decreases
Solution Approach 1:
The patent merges two measurement methods: 2D image data capture (fast but less precise for height) and 3D laser displacement measurement (slower but highly precise for height). By combining these methods, the system maintains the speed advantage of image-based detection while adding the precision of laser measurement for height determination, achieving both fast measurement and high precision.
Solution Approach 2:
The patent applies partial measurement action by using the fast 2D imaging system for general position detection and supplementing only the height dimension with precise laser measurement. This partial application of the slower, more precise method only where needed (for height measurement) maintains overall measurement speed while improving height precision.
Data Source
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AI summary
There is provided a component holding apparatus including a stage on which components of one type are scattered, and an imaging device configured to image the components of one type which are scattered on the stage, wherein the components of one type which are scattered on the stage are held based on inputted multiple heights of the components of one type and image data captured by the imaging device.