Mobile Robot Gas Supply Alignment for Compact Cabinet Design
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Solution Overview
Problem
Existing gas supply systems for processes like semiconductor manufacturing face challenges in efficiently aligning and connecting gas containers due to their weight, requiring large cabinet sizes and manual alignment processes.
Innovation Solution
An automated gas supply system that includes a mobile robot with a 3D vision camera and multi-degree-of-freedom robot arms to align and connect with gas containers, allowing for real-time 3D modeling and alignment without the need for a large cabinet.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the gas supply device is aligned with respect to the valve of the gas container manually, then the alignment can be achieved, but the cabinet size must be large to accommodate the gas supply device and manual operation is required
Solution Approach 1:
The patent replaces the manual mechanical alignment operation with an automated vision-guided robotic system. The gas supply device includes a vision sensor (camera) and a robotic arm that automatically positions and aligns the device with the gas container valve, eliminating the need for manual alignment and reducing the required cabinet size.
Solution Approach 2:
The gas supply device performs self-alignment through its integrated vision sensor and robotic arm system. The device autonomously detects the valve position, calculates alignment parameters, and executes positioning without external human intervention, enabling the system to serve itself in the alignment process.
2Volume of stationary object
If the gas supply device is miniaturized, then the cabinet size is reduced, but the device lacks space for power sources and actuators
Solution Approach 1:
The patent divides the gas supply system into two parts: a compact gas supply device and an external mobile robot. The mobile robot carries the power source and actuators, while the gas supply device itself remains miniaturized. This segmentation allows the cabinet size to be reduced while maintaining all necessary functional components in the external robot.
Solution Approach 2:
The patent extracts the power source and actuator components from the gas supply device and relocates them to the external mobile robot. This extraction enables the gas supply device to be miniaturized and reduces the cabinet size, while the mobile robot provides the necessary power and actuation capabilities from outside the cabinet.
3Reliability
If the gas container is heavy, then it can be stored securely, but it is difficult to align the gas container at the desired position
Solution Approach 1:
Instead of moving and aligning the heavy gas container, the patent inverts the approach by keeping the gas container stationary and secure, and moving the gas supply device (mounted on a mobile robot) to align with the container's valve. This inversion maintains storage security while simplifying the alignment process.
Solution Approach 2:
The patent replaces manual mechanical alignment of heavy objects with an automated vision-guided robotic system. The mobile robot with integrated actuators automatically positions the gas supply device relative to the stationary gas container, eliminating the need for manual handling of heavy containers.
4Device complexity
If manual alignment is used, then the process is simple, but misalignment may occur causing damage
Solution Approach 1:
The patent replaces simple manual alignment with an automated vision-guided robotic system that uses image processing and coordinate transformation algorithms. The vision sensor captures images of the valve, the controller calculates precise alignment coordinates, and the robotic arm executes positioning, significantly improving alignment accuracy and preventing misalignment damage.
Solution Approach 2:
The patent implements a feedback mechanism where the vision sensor continuously monitors the position of the gas container valve, the controller processes this visual information to determine alignment status, and the robotic arm adjusts positioning based on this feedback. This closed-loop control ensures high alignment accuracy and prevents misalignment damage.
Data Source
AI summary
A gas supply system includes a cabinet forming an internal space where a gas container is disposed, a fastening device movably installed in the internal space and fastened to a valve of the gas container in a state of being aligned with the valve, and a mobile robot device movable outside the cabinet, detachably connected to the fastening device, and configured to move the fastening device in a state of being connected to the fastening device.