Patent ID: 9455171
Filing Date: 2016-09-27
CPC Classification: B25J,H01L

Claim Text:
1. An end effector comprising: a hand; a holder provided on the hand and configured to hold a first substrate; a mapping detector provided at a distal end portion of the hand, the mapping detector being configured to face a second substrate stored in a cassette and detect presence or absence of the second substrate; a light emitter, which the hand is provided with and which is configured to convert an electrical input to generate detection light; a light receiver, which the hand is provided with and which is configured to receive the detection light and convert the detection light into an electrical output; and an optical path formed in the hand, through which the detection light emitted from the light emitter passes to be incident on the light receiver, wherein the optical path is formed such that a first section of the optical path, in which the second substrate detected by the mapping detector blocks the detection light, and a second section of the optical path, in which the detection light is blocked by the first substrate held by the holder, do not overlap each other, and the first section and the second section are provided in series such that the first and second sections form one continuous optical path.