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

Claim 6:
7. 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 having a target body; 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 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 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 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 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 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.