Patent ID: 11858147
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  H  G | IPC B  H

Claim 2:
3. The substrate transfer robot of claim 1, wherein:
the tip-end part of the hand is branched into a first tip-end part and a second tip-end part, the ideal optical axis connecting the first and second tip-end parts, and a hand axis being perpendicular to the ideal optical axis in a plane parallel to a substrate placing surface of the hand;
the calibration jig further includes a first object detection sensor and a second object detection sensor, (i) a first sensor axis of the first object detection sensor, (ii) the first target body or the second target body, and (iii) a second sensor axis of the second object detection sensor being lined up in this order at equal intervals on the same straight line in a plan view; and
the processor is further programmed to:
operate the robot body so that the first tip-end part and the second tip-end part enter between the first sensor axis and the second sensor axis;
operate the robot body so that the hand moves until the first tip-end part is detected by the first object detection sensor;
operate the robot body so that the hand moves until the second tip-end part is detected by the second object detection sensor;
operate the robot body so that the hand moves until (i) a straight line connecting target coordinates, which are plane coordinates of the first target body or the second target body, to plane coordinates of the turning axis and (ii) the hand axis enter into the same reference vertical plane;
obtain plane coordinates of the first tip-end part when the first tip-end part is detected by the first object detection sensor, as first sensor coordinates;
obtain plane coordinates of the second tip-end part when the second tip-end part is detected by the second object detection sensor, as second sensor coordinates;
obtain intermediate coordinates of the first sensor coordinates and the second sensor coordinates, as the target coordinates; and
acquire a turning position of the hand when the hand axis is within the reference vertical plane, as the reference turning position.