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

Claim 10:
11. The substrate transfer robot of claim 10, wherein:
the robot body further comprises a calibration jig having a target body;
the robotic arm of the robot body includes a turning axis of the hand;
the processor of the controller is further programmed to:
acquire a reference turning position of the hand at which the turning axis is a turning center so that the ideal optical axis extends in the horizontal first direction;
at a first turning position with respect to the reference turning position, operate the robot body so that a second search is performed in which the target body is detected by the photoelectric sensor while moving the hand in a radial direction centering on the turning axis;
at a second turning position with respect to the reference turning position, operate the robot body so that a third search is performed in which the target body is detected by the photoelectric sensor while moving the hand in the radial direction centering on the turning axis;
obtain, as a second detected position, a position of the hand in the horizontal second direction perpendicular to the first direction when the target body is detected by the second search;
obtain, as a third detected position, a position of the hand in the second direction when the target body is detected by the third search; and
detect an inclination of the optical axis from the ideal optical axis based on a difference between the second detected position and the third detected position; and

the first turning position is a position turned from the reference turning position by a first angle in one of turning directions, and the second turning position is a position turned from the reference turning position by a second angle in the other turning direction, the first angle being equal to the second angle.