Apparatus for mounting component and method for mounting component
An apparatus for mounting a component includes an articulated robot mounting a component on a replacement target where the component is provided at a mounting position, a first sensor unit provided in the articulated robot and sensing the mounting position or whether or not the component is provided, a second sensor unit provided in the articulated robot and sensing spaced distances between the articulated robot and the mounting position at a plurality of points, and a control unit controlling the articulated robot to mount the component on the replacement target and controlling a position of the articulated robot so that a difference between spaced distance values between the articulated robot and the plurality of points sensed by the second sensor unit converges to zero, when the component is not sensed or a surface of the mounting position is sensed by the first sensor unit.
1 . An apparatus for mounting a component, comprising:
an articulated robot mounting a component on a replacement target where the component is provided at a mounting position;
a first sensor unit provided in the articulated robot and sensing the mounting position or whether or not the component is provided;
a second sensor unit provided in the articulated robot and sensing spaced distances between the articulated robot and the mounting position at a plurality of points; and
a control unit controlling the articulated robot to mount the component on the replacement target and controlling a position of the articulated robot so that a difference between spaced distance values between the articulated robot and the plurality of points sensed by the second sensor unit converges to zero, when the component is not sensed or a surface of the mounting position is sensed by the first sensor unit.
2 . The apparatus for mounting a component of claim 1 , wherein the articulated robot moves to positions of one or more replacement targets along a rail guiding movement of the articulated robot.
3 . The apparatus for mounting a component of claim 1 , wherein the articulated robot mounts the component on the mounting position of the replacement target or separates the component from the mounting position of the replacement target, under the control of the control unit.
4 . The apparatus for mounting a component of claim 3 , wherein when the replacement target is carried into a pallet or a storage box by a transfer robot moving the replacement target and the component is sensed by the first sensor unit, the articulated robot separates the component from the replacement target.
5 . The apparatus for mounting a component of claim 1 , wherein the replacement target is a gas cylinder supplying gas to a substrate processing apparatus,
the component includes a cap mounted on the gas cylinder, and
the mounting position is provided as a position of a neck ring of the gas cylinder.
6 . The apparatus for mounting a component of claim 5 , wherein the first sensor unit is provided as a vision sensor, and
the first sensor unit image-processes edges of four points spaced apart from each other at equal intervals at the neck ring to sense a center point of the neck ring from edges of three or more points of the edges of the four points.
7 . The apparatus for mounting a component of claim 6 , wherein the control unit provides a polygon formed by virtually connecting a plurality of vertices to each other inside a rim of the neck ring on the basis of the center point of the neck ring sensed by the vision sensor as a first plane that is a sensing reference of the second sensor unit, and
the second sensor unit is provided as a distance sensor and senses spaced distances between the vertices of the first plane provided by the control unit and the articulated robot.
8 . The apparatus for mounting a component of claim 7 , wherein the control unit provides the first plane having a square shape or a rhombic shape formed by virtually connecting four vertices to each other or provides the first plane having a right triangular shape formed by virtually connecting three vertices to each other.
9 . The apparatus for mounting a component of claim 8 , wherein the four vertices include a first vertex, a second vertex, a third vertex, and a fourth vertex, and
the control unit provides a vertex having a minimum spaced distance value among the four vertices sensed by the second sensor unit as the fourth vertex, and provides the first plane having the right triangular shape by virtually connecting the first vertex, the second vertex, and the third vertex excluding the fourth vertex to each other.
10 . The apparatus for mounting a component of claim 9 , wherein the control unit
sets one of data sensed at the edges of the four points sensed by the first sensor unit as first noise data, and
sets data of the fourth vertex sensed by the second sensor unit as second noise data.
11 . The apparatus for mounting a component of claim 10 , wherein the replacement target includes a valve provided on the mounting position, and
at least one of the first noise data and the second noise data constitutes data sensed at a position of the valve.
12 . The apparatus for mounting a component of claim 11 , wherein the first noise data is composed of a value deviating from a radius from the center point sensed from the edges of the four points sensed by the first sensor unit.
13 . The apparatus for mounting a component of claim 9 , wherein the control unit determines that the neck ring is inclined when a height of at least one of the first vertex, the second vertex, and the third vertex is different from a height of the others of the first vertex, the second vertex, and the third vertex.
14 . The apparatus for mounting a component of claim 13 , wherein the control unit
controls an inclination of the articulated robot so that the difference between the spaced distance values between the articulated robot and the plurality of points sensed by the second sensor unit converges to zero, and
controls the inclination of the articulated robot so that an inclination of the second vertex based on the first vertex on the first plane and an inclination of the third vertex V 3 based on the first vertex on the first plane are zero.
15 . The apparatus for mounting a component of claim 14 , wherein the articulated robot includes a nut runner installing the component, and
the control unit controls a position of the nut runner so that a rotary shaft of the nut runner coincides with the center point of the neck ring sensed by the first sensor unit and the neck ring and the nut runner are parallel to each other.
16 . A method for mounting a component, comprising:
providing an apparatus for mounting a component including a vision sensor capturing and processing an image, a distance sensor sensing a distance, and an articulated robot moving a component;
sensing the component or a mounting position where the component is mounted, by the vision sensor;
sensing spaced distances of the articulated robot from a surface of the mounting position by the distance sensor when the component is not sensed or the surface of the mounting position is sensed by the vision sensor;
disposing the articulated robot in parallel with the mounting position so that a difference between spaced distance values between the articulated robot and a plurality of points positioned on the surface of the mounting position converges to zero; and
coupling the component to the mounting position by a nut runner provided in the articulated robot.
17 . The method for mounting a component of claim 16 , further comprising, after the sensing of the component or the mounting position,
image-processing edges of four points spaced apart from each other at equal intervals at the mounting position to sense a center point of the mounting position from edges of three or more points of the edges of the four points, by the vision sensor; and
providing a polygon formed by vertically connecting a plurality of vertices to each other inside a rim of the mounting position on the basis of the center point of the mounting position sensed by the vision sensor as a first plane, and
wherein in the sensing of the spaced distances of the articulated robot, the distance sensor senses the spaced distances of the articulated robot on the basis of the first plane.
18 . The method for mounting a component of claim 17 , wherein the disposing of the articulated robot in parallel with the mounting position includes making a rotary shaft of the nut runner coincide with the center point of the mounting position.
19 . The method for mounting a component of claim 17 , wherein a valve is provided at the mounting position,
the first plane has a square shape or a rhombic shape having four sides having the same length,
the sensing of the spaced distances of the articulated robot includes providing data of a fourth vertex as second noise data while providing a vertex having a minimum spaced distance value among four vertices of the first plane as the fourth vertex so as to exclude data of a position of the valve from the four vertices of the first plane, and
the spaced distances of the articulated robot are sensed at positions of a first vertex, a second vertex, and a third vertex excluding the second noise data.
20 . The method for mounting a component of claim 19 , before the sensing of the spaced distances of the articulated robot, further comprising setting one of the data sensed at the edges of the four points sensed by the vision sensor as first noise data,
wherein in the setting of the first noise data, a value deviating from a radius from the center point sensed from the edges of the four points sensed by the vision sensor is set as the first noise data.