Patent ID: 8688261
Filing Date: 2014-04-01
Classification: B25J,G05B,H01L

Abstract:
1. A transport apparatus that comprises holding and transporting an object on a predetermined transport track using a transport portion provided at a leading end of an arm and has a vertical motion in a vertical direction, and a rectilinear motion and a rotary motion in a plane perpendicular to the vertical direction, the vertical direction being a Z direction, a rectilinear direction in terms of the design on the plane being a Y direction, and a direction perpendicular to the Y direction and the Z direction being an X direction, comprising: a transmissive sensor including light emitting portions and light receiving portions that are arranged to form at least one optical axis directing from the light emitting portions to the light receiving portions, wherein the optical axes are not parallel to each other on a projection plane including desired two directions among the X direction, the Y direction, and the Z direction when there is a plurality of optical axes, and at least one of the plurality of optical axes is not parallel to the desired two directions; one or more target members that can shield the optical axes; a teaching information calculating unit that acquires, from the transmissive sensor, position information when the target member is changed from a light transmission state in which the target member does not shield the optical axis to a light shielding state in which the target member shields the optical axis or from the light shielding state to the light transmission state and calculates teaching information on a predetermined target position on the transport track on the basis of the acquired position information; and a control unit that controls the transport position of the object on the basis of the teaching information on the target position calculated by the teaching information calculating unit, wherein the transmissive sensor is provided in either one of a leading end portion of the transport portion and a neighboring portion of the target position, the target members are provided in the other one of the leading end portion of the transport portion and the neighboring portion of the target position where the transmissive sensor is not provided, and the optical axes are sequentially moved relative to the target members in one of the desired two directions to acquire the position information.