Substrate Orientation Detection Before Robot Transfer
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Solution Overview
Problem
Existing substrate orientation detectors only detect the orientation of the robot's hand and not the substrate itself, leading to potential damage during transfer if the substrate's orientation is inappropriate.
Innovation Solution
A robot configuration with a substrate detector and orientation examiner that detects the substrate's orientation using a non-contact method based on height information before grasping, preventing unintended contact and damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an orientation detector is used to detect hand orientation, then the hand orientation can be adjusted, but the substrate orientation cannot be detected before being held
Solution Approach 1:
A non-contact sensor is introduced as an intermediary device to detect substrate orientation information before the hand grasps the substrate. The sensor acts as a mediator between the substrate and the control system, providing orientation data without requiring physical contact.
Solution Approach 2:
The substrate orientation is detected before the hand grasps the substrate. This preliminary detection allows the system to verify proper orientation and adjust if necessary before the grasping action occurs, preventing damage that would result from grasping a misoriented substrate.
2Productivity
If the robot grasps the substrate without orientation verification, then the transfer process is simple, but the substrate may be damaged due to inappropriate orientation
Solution Approach 1:
Orientation verification is performed as a preliminary action before the grasping and transfer operations. This ensures that the substrate is properly oriented before handling, preventing damage while maintaining efficient transfer operations.
Solution Approach 2:
The system takes preliminary action to prevent potential damage by detecting and verifying substrate orientation before the grasping action occurs. This preliminary anti-action counteracts the risk of damage that would otherwise occur from grasping a misoriented substrate.
3Reliability
If non-contact detection is used to examine substrate orientation, then contact-related damage is prevented, but additional detection equipment is required
Solution Approach 1:
A non-contact sensor serves as an intermediary detection device that examines substrate orientation without physical contact. This approach protects the substrate from contact-related damage while providing the necessary orientation information through optical or electromagnetic fields.
Data Source
AI summary
A robot that transfers a substrate includes a hand, an arm, a substrate detector, and a substrate orientation examiner. The hand holds and transfers the substrate. The arm is connected to the hand and moves the hand. The substrate detector detects absence or presence of the substrate in a non-contact manner. The substrate orientation examiner examines an orientation of the substrate based on a height detected by the substrate detector at which the substrate is located when it is not held by the hand.