Robot Hand Sensor Layout for Wafer Teaching in Narrow Spaces
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Solution Overview
Problem
Conventional industrial robots require a large space for teaching due to the need for multiple sensor readings and hand position adjustments, especially when handling multiple objects, which limits their ability to operate in narrow environments.
Innovation Solution
An industrial robot with a hand equipped with a first sensor and a second sensor, where the optical axes of the light emitting and receiving elements are parallel to different directions, allowing for efficient position detection of loading portions in various directions without significant hand posture changes, enabling teaching in confined spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If one sensor for teaching is provided on a hand and sensing is performed multiple times by changing the entry angle of the hand, then position detection can be achieved, but the moving range of the hand increases and a large space is required for teaching
Solution Approach 1:
The patent applies dimensionality change by adding a second sensor with its optical axis oriented in a different direction (parallel to the first direction) compared to the first sensor (parallel to the second direction). This allows position detection in multiple directions simultaneously without requiring the hand to change its entry angle or move to different positions, thereby reducing the space required for teaching while maintaining measurement precision.
2Measurement precision
If one sensor for teaching is provided on a hand and sensing is performed multiple times by changing the entry position of the hand, then position detection can be achieved, but the moving range of the hand increases and a large space is required for teaching
Solution Approach 1:
By equipping the hand with two sensors having orthogonal optical axes (one parallel to the second direction, the other parallel to the first direction), the system can detect positions in multiple directions simultaneously from a single hand position. This eliminates the need to move the hand to different positions for multiple sensing operations, thereby improving teaching efficiency while maintaining accurate position detection.
3Ease of operation
If multiple sensors with different orientations are mounted on the hand, then position detection in multiple directions can be achieved without changing hand posture, but the device complexity increases
Solution Approach 1:
The patent adds a second sensor with its optical axis parallel to the first direction, orthogonal to the first sensor's optical axis (which is parallel to the second direction). This orthogonal arrangement enables simultaneous position detection in both directions without requiring complex sensor mechanisms or hand posture changes. The simplicity of the orthogonal configuration minimizes the increase in device complexity while significantly improving ease of operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration reduces the moving range of the hand and allows for effective teaching in narrow places by optimizing sensor placement and movement, enabling precise position detection of loading portions in multiple directions without increasing the required space.
Implementation Method 1
a first sensor and a second sensor including a light emitting element and a light receiving element, and mounted on the hand
Data Source
AI summary
A first sensor is disposed in such a way that optical axes of a light emitting element and a light receiving element thereof are parallel to a left-right direction. A second sensor is disposed in such a way that optical axes of a light emitting element and a light receiving element thereof are parallel to a front-rear direction. When a position of a wafer to be loaded on a loading portion is taught, a position of the loading portion or a teaching jig to be loaded on the loading portion in the front-rear direction is detected by the first sensor by moving a hand in the front-rear direction by a moving mechanism, and a position of the loading portion or the teaching jig in the left-right direction is detected by the second sensor by moving the hand in the left-right direction by the moving mechanism.