Patent ID: 8641351
Filing Date: 2014-02-04
Classification: B25J,G05B,H01L

Abstract:
1. A robot comprising: a robot arm having a distal end at which an end effector is provided; arm drive unit configured to move the robot arm at least in a vertical direction; holding unit provided to the end effector in order to hold a plate member; holding-state detection unit configured to detect whether or not the plate member is held by the holding unit; and robot control unit configured to control the arm drive unit and the holding unit, wherein the robot control unit is configured to turn off the holding unit while the plate member is placed on the end effector, and control the arm drive unit to lower the end effector, by a predetermined distance, from an initial position higher than a preset temporary placing position toward the temporary placing position, switch the holding unit from an OFF state to an ON state while the end effector is stopped; and determine whether or not the plate member is held by the holding unit by using the holding-state detection unit, and wherein in a case in which the plate member is determined to be held by the holding unit, the robot control unit will turn off the holding unit and further lower the end effector by the predetermined distance, and determine again whether or not the plate member is held by the holding unit while the end effector is stopped, and wherein in a case in which the plate member is determined not to be held by the holding unit, the robot control unit will detect a position of the end effector at this point of time as a normal placing position.