Transfer Robot Hand Teaching by Edge Detection in Narrow Cassettes
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Solution Overview
Problem
The teaching work for transfer robots in semiconductor and liquid crystal substrate manufacturing is time-consuming due to the narrow slots in cassettes and limited visibility, making manual operation difficult, and existing solutions like object detection sensors may not be efficient for all transfer robots.
Innovation Solution
A teaching system for transfer robots with a vertical and horizontal articulated arm assembly, equipped with an object detection sensor, adjusts the position and angle of a hand section using detected edges to efficiently teach robot movements, utilizing a control device to record and adjust positions based on detected edges and rotation angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual operation is used for teaching work, then the operator can rely on their own eye and intuition to place substrates, but the teaching work becomes extremely time-consuming
Solution Approach 1:
The patent replaces manual mechanical operation with an automated detection system. An object detection sensor is attached to the hand of the robotic arm to automatically detect edges of substrates or cassette components, eliminating the need for manual visual inspection and operation during teaching work.
Solution Approach 2:
The teaching system enables the robot to perform self-teaching through automatic edge detection. The robotic arm equipped with the detection sensor can autonomously identify positions and orientations of cassette slots and substrates without requiring continuous manual guidance, reducing operator involvement and time consumption.
2Ease of manufacture
If the cassette is open only on one side to store substrates in narrow slots, then the substrate storage function is achieved, but the interior of the cassette becomes invisible except from the open side
Solution Approach 1:
The patent introduces an object detection sensor as an intermediary tool to overcome the visibility limitation. The sensor is attached to the robotic arm's hand and can detect edges of substrates and cassette components from within the narrow slots, providing detection capability where human vision cannot reach.
Solution Approach 2:
The patent replaces human visual detection with an automated object detection sensor. The sensor can detect edges and positions of substrates in the narrow cassette slots without requiring line-of-sight visibility, enabling the robot to learn precise placement positions despite the enclosed cassette structure.
3Ease of operation
If the transfer robot is located in front of the open side of the cassette, then the robot can access the substrate storage area, but it becomes difficult for the operator to see the interior of the cassette
Solution Approach 1:
The object detection sensor attached to the robotic arm serves as an intermediary detection tool. It is positioned at the robot's hand where it can directly access the narrow slots, providing detection capability from the robot's operational perspective rather than relying on the operator's line-of-sight from outside the cassette.
Solution Approach 2:
The patent replaces the operator's visual detection system with an automated sensor mounted on the robot. This allows the robot to autonomously detect and learn the positions of substrate slots and components from its own operational position in front of the cassette opening, eliminating the visibility constraint for the operator.
Data Source
AI summary
A teaching system is provided for a transfer robot including a vertical arm assembly, a rotation member, a horizontal arm assembly supported by the rotation member, a hand section supported by the horizontal arm assembly and provided with a detection sensor, and a control device configured to teach a position of the hand section using the sensing results of the target by the detection sensor. The target has first and second edges horizontally spaced apart from each other by distance L1. The control device adjusts the angel around a central axis and x, y positions of the hand section based on the distance L1 and a rotation angle through which the hand section is rotated around the central axis until the first or second edge is detected.