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

Claim 0:
1. A substrate transfer robot, comprising:
a robot body comprising:
a hand configured to hold a substrate;
a robotic arm including a turning axis of the hand and configured to displace the hand; and
a photoelectric sensor at a tip-end part of the hand, an ideal optical axis being defined at the hand;

a calibration jig comprising:
a first target body;
a first target moving device configured to move the first target body from a detectable range of the photoelectric sensor to an undetectable range;
a second target body;
a second target moving device configured to move the second target body from the detectable range of the photoelectric sensor to the undetectable range; and

a controller comprising a processor 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 a horizontal first direction;
at a first turning position with respect to the reference turning position, operate the robot body so that a first search is performed in which the first 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 second search is performed in which the second target body is detected by the photoelectric sensor while moving the hand in the radial direction centering on the turning axis;
obtain, as a first detected position, a position of the hand in a horizontal second direction perpendicular to the first direction when the first target body is detected by the first search;
obtain, as a second detected position, a position of the hand in the second direction when the second target body is detected by the second search; and
detect an inclination of the optical axis from the ideal optical axis based on a difference between the first detected position and the second detected position, wherein:

a distance in the second direction from the turning axis to the first target body is equal to a distance in the second direction from the turning axis to the second target body;
on the hand, an intersecting position between the optical axis and the first target body is different from an intersecting position between the optical axis and the second target body;
the first target body and the second target body are lined up in the first direction; and
the processor is further programmed to operate the first target moving device and the second target moving device so that, during the first search, the first target body is in the detectable range and the second target body is in the undetectable range, and during the second search, the first target body is in the undetectable range and the second target body is in the detectable range.