Stocker Robot Teaching via QR Code Image Coordinates
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Solution Overview
Problem
The existing methods for teaching a stocker robot to transport cassettes in a semiconductor or display device manufacturing process are time-consuming and inefficient, as they require manual correction of predetermined position coordinates that often differ from real coordinates.
Innovation Solution
A stocker system equipped with a teaching jig, such as a QR code, and a teaching unit on the robot arm, which uses image coordinates to compensate for position differences, allowing for automated and rapid teaching of the robot's position coordinates, including the use of a second teaching jig and unit for additional directional adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual teaching operation is performed by a worker to correct position coordinates, then the stocker robot can be positioned accurately, but a lot of time is required
Solution Approach 1:
The patent replaces the manual mechanical teaching operation with an automated optical recognition system. A teaching jig with QR code is positioned in the shelf, and a teaching unit with imaging device automatically captures and decodes the QR code to obtain position coordinates, eliminating the need for manual worker intervention and significantly reducing teaching time while maintaining accuracy
Solution Approach 2:
The system enables self-teaching capability where the stocker robot autonomously acquires position information through the teaching unit reading the QR code on the teaching jig. The robot automatically compensates position coordinates based on the decoded information without requiring external manual operation, making the teaching process self-service oriented
2Ease of operation
If predetermined position coordinates are used for stocker robot movement, then the system is simple to operate, but the coordinates may be different from real coordinates requiring teaching correction
Solution Approach 1:
The patent introduces a teaching jig with QR code as an intermediary element between the shelf and the teaching unit. This intermediary carries encoded position information that the teaching unit reads to automatically compensate the predetermined coordinates, bridging the gap between simple predetermined coordinates and accurate real coordinates without complicating the operation
Solution Approach 2:
The position information is pre-encoded into the QR code on the teaching jig during system setup. When the teaching unit reads the QR code, it automatically obtains the compensation data needed to correct position coordinates, performing the correction action in advance rather than requiring manual measurement and adjustment during 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 approach significantly simplifies the teaching operation and reduces the time required to accurately position the stocker robot, enabling faster and more precise cassette handling by compensating for coordinate discrepancies using QR codes and distance measurements.
Implementation Method 1
The teaching unit may include a QR scanner for identifying the QR code
Implementation Method 2
A QR code consists of black modules (square dots) arranged in a square pattern on a white background and is detected as a two-dimensional digital image by a semiconductor image sensor
Implementation Method 3
The second teaching unit may include a laser displacement sensor for measuring a distance to the second teaching jig
Data Source
AI summary
Disclosed is a stocker for receiving a cassette. The stocker includes a shelf for receiving a cassette, a stocker robot, a teaching jig, and a teaching unit. The stocker robot includes a robot arm configured to load the cassette in the shelf and to unload the cassette from the shelf. The teaching jig is disposed in the shelf to teach the stocker robot. The teaching unit is disposed on the robot arm to acquire information for teaching the stocker robot using the teaching jig.