Off-Center Suction Nozzle Positioning via Dual Imaging Rotation Correction
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Solution Overview
Problem
Existing component mounting apparatuses struggle to accurately move working mechanism portions, such as suction nozzles, to mounting positions when they are not aligned on a straight line passing through the centers of imaging portions, due to difficulties in calculating displacement and rotation-induced displacements.
Innovation Solution
A working apparatus with a head unit featuring first and second imaging portions and a working mechanism portion positioned off the straight line between them, utilizing a control portion to calculate and correct the rotation angle and displacement-induced corrections in real-time, allowing precise movement of the working mechanism portion to its intended position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the working mechanism portion is arranged off the straight line passing through the centers of the two imaging portions, then the versatility and adaptability of the head unit is improved, but the difficulty of detecting and measuring displacement and rotation increases
Solution Approach 1:
The displacement correction is segmented into two independent components: rotation-induced displacement and non-rotation-induced displacement. By calculating these separately and combining them, the system handles off-line arrangements systematically without increasing overall measurement difficulty.
Solution Approach 2:
The system transitions from simple linear displacement measurement to two-dimensional displacement analysis by considering both rotation-induced components (affected by angular position) and non-rotation-induced components (independent of rotation). This dimensional approach enables accurate positioning regardless of the working mechanism's angular offset from the imaging line.
2Ease of manufacture
If the working mechanism portion is arranged off the straight line passing through the centers of the imaging portions, then the design flexibility is improved, but the manufacturing precision of positioning is deteriorated
Solution Approach 1:
The control portion continuously calculates the head unit's rotation angle based on real-time displacement data from the two imaging portions, then uses this feedback to dynamically correct the working mechanism portion's position. This closed-loop control maintains positioning precision regardless of the mechanism's offset arrangement.
Solution Approach 2:
The system changes the parameter representation from fixed Cartesian coordinates to polar coordinates (rotation angle and radial distance). By monitoring rotation angle changes and calculating corresponding position corrections, the system maintains manufacturing precision while allowing flexible off-line arrangement of the working mechanism.
3Productivity
If real-time calculation and correction of rotation angle and displacement is performed, then the productivity is improved by reducing takt time, but the device complexity increases
Solution Approach 1:
The control portion is pre-configured with the geometric parameters of the head unit (distances between imaging portions and working mechanism portion). These preliminary settings enable rapid real-time calculations without requiring complex runtime computations, thus improving productivity while controlling device complexity.
Solution Approach 2:
The system replaces complex mechanical positioning mechanisms with computational methods. Instead of using additional mechanical sensors or complex mechanical linkages to maintain precision, the invention uses software-based calculation and correction of rotation angle and displacement, simplifying the physical device while improving productivity through fast digital computation.
Data Source
AI summary
This working apparatus for a component or a board includes a head unit and a control portion. The control portion performs control of calculating a rotation angle in a horizontal plane of the head unit from displacement of the center of a first imaging portion and displacement of the center of a second imaging portion and correcting the center position of a working mechanism portion on the basis of the amount of rotation-induced displacement of the center of the working mechanism portion due to the rotation angle, a first amount of displacement in a first direction in the horizontal plane being not induced by rotation of the center of the working mechanism portion, and a second amount of displacement in a second direction in the horizontal plane being not induced by the rotation of the center of the working mechanism portion when moving the head unit.