Substrate Container Mapping for Safe Robot Arm Retrieval
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Solution Overview
Problem
Conventional mapping routines for detecting substrates in storage containers can cause damage to robot arms and containers when applied to replacement parts, as they are not configured to handle non-uniformly sized objects.
Innovation Solution
A detection system at the distal end of a robot arm's end effector, comprising an emitting and sensing component, is used to identify the positions of replacement parts and determine regions without parts, allowing for a flexible mapping routine that avoids damage by distinguishing between different types of objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a conventional mapping routine is used to detect substrates in storage containers, then substrate identification is achieved, but damage occurs to robot arms and containers when replacement parts are present
Solution Approach 1:
The system performs a preliminary mapping routine before actual substrate retrieval operations. This initial mapping identifies the presence and positions of replacement parts in storage containers, allowing the system to adjust its subsequent operations to avoid collisions and damage to both the robot arm and container contents
Solution Approach 2:
The mapping routine provides feedback information about the actual contents of storage containers, including the presence of replacement parts rather than just substrates. This feedback enables the control system to modify its behavior, selecting appropriate retrieval paths and avoiding actions that would cause damage
2Measurement precision
If a detection system is added to identify object positions, then retrieval accuracy improves, but system complexity increases
Solution Approach 1:
The detection system is designed to serve multiple functions: identifying substrate positions, detecting replacement parts, and providing presence/absence information for various container contents. By making the detection system universal rather than specialized for a single task, the added complexity is justified by the broad improvement in system capability and the ability to handle diverse container contents
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
Reduces the likelihood of end effector and object damage, enhances retrieval success, and decreases system latency by accurately identifying and retrieving replacement parts from storage containers.
Implementation Method 1
The detection system detects an object responsive to a beam directed from the emitting component to the sensing component being broken by the object
Data Source
AI summary
A system includes a factory interface, a load port connected to the factory interface, and a system controller. The system controller is to, responsive to detecting that a container is received at the load port, determine a type of parts for storage at the container. One or more mapping patterns associated with the determined type of parts is identified. A detection system of robot arm(s) of the factory interface is moved according to the identified mapping pattern(s) to detect one or more parts stored by the container. A mapping of the container is determined based on the movement of the robot arm(s). The mapping indicates regions of the container that stores detected parts and a position of each of the detected parts. Based on the mapping, the robot arm(s) either remove a detected part form the container or place an additional part in the container.