Patent ID: 9227320
Filing Date: 2016-01-05
CPC Classification: B25J,G05B,H01L

Claim Text:
1. A transfer device comprising: a transfer unit configured to transfer a substrate mounted on the transfer unit from a transfer original position to a corrected transfer destination position; a plurality of position detecting units installed between the transfer original position and the corrected transfer destination position and configured to detect a position of the substrate which is being transferred by the transfer unit; and a control unit configured to calculate the corrected transfer destination position by calculating a position of the substrate when the substrate is mounted on a predetermined position of the transfer unit set before the start of the transfer of the substrate based on a position information of the transfer unit and correcting an initial transfer destination position set at the start of the transfer of the substrate, based on a deviation between (a) the position of the substrate detected by the position detecting units and (b) the position of the substrate when the substrate is mounted on the predetermined position of the transfer unit set before the start of the transfer of the substrate, before the substrate is transferred to the initial transfer destination position, and configured to control the transfer unit to transfer the substrate to the corrected transfer destination position along a transfer path produced by modifying an initial transfer path which is oriented from the transfer original position to the initial transfer destination position.