Transfer robot and inspection method for thin substrate
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsHitoshi Wakizako, Kazunari Shiraishi, Yukito Sagasaki, Ken-ichi Motonaga, Kazunori Hino, Hiroki Sanemasa
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Abstract
A transfer robot (5) for thin substrate capable of efficiently detecting the stored state of thin substrates and an inspection method for thin substrate capable of accurately detecting the stored state of thin substrates; the robot (5), comprising an inspection camera (1) for detecting the stored state of the thin substrates (3) in a storage cassette (2), wherein the plurality of thin substrates (3) stored in the storage cassette (2) are carried out from the storage cassette (2) by the robot.
Claims4
A thin-substrate inspection method for detecting a stored state of a plurality of thin substrates stored in a storage cassette by use of a camera, wherein the camera is disposed on a thin-substrate transfer robot that transfers the thin substrates, the camera being disposed such that an optical axis of the camera is substantially horizontal, and an image of all of the thin substrates in the storage cassette is picked up by the camera by moving the thin-substrate transfer robot in a vertical direction, thereby detecting a state of the thin substrates.
A thin-substrate inspection method for detecting a stored state of a plurality of thin substrates stored in a storage cassette provided with a door by use of a camera, wherein the camera is disposed on a thin-substrate transfer robot that transfers the thin substrates, and an image of all of the thin substrates in the storage cassette is picked up by the camera while moving the thin-substrate transfer robot in a vertical direction synchronously with a driving device for opening the door of the storage cassette, thereby detecting a state of the thin substrates.
A method for detecting a stored state of a plurality of thin substrates stored in a storage cassette, comprising:
- disposing a camera on a thin-substrate transfer robot that transfers the thin substrates, the camera being disposed such that an optical axis of the camera is substantially horizontal;
- moving the thin-substrate transfer robot in a vertical direction;
- and
- picking an image of all of the thin substrates in the storage cassette, thereby detecting a state of the thin substrates.
A method for detecting a stored state of a plurality of thin substrates stored in a storage cassette provided with a door, comprising:
- disposing a camera on a thin-substrate transfer robot that transfers the thin substrates;
- moving the thin-substrate transfer robot in a vertical direction synchronously with a driving device for opening the door of the storage cassette;
- and
- picking an image of all of the thin substrates in the storage cassette, thereby detecting a state of the thin substrates.
Dependencies are inferred from the claim text.