AN GLASS TRANSER SYSTEM WITH AN ON-THE-SPOT AUTO TEACHING OF TRANSFER ROBOT AND AN AUTO TEACHING METHOD OF TRANSFER ROBOT THEROF

摘要

The present invention relates to a glass substrate transport system capable of performing on-site automatic teaching for a transport robot and a method for performing the on-site automatic teaching for the transport robot. According to the present invention, the glass substrate transport system can comprise: a plurality of ports in which a cassette is settled, on which glass substrates are loaded, and a port reference point, which serves as a reference for a vertical position of the transport robot, is formed on a lower base by coming in contact with the lower base; the transport robot in which a plurality of fingers in a stick shape are formed on a front surface of a hand, and which, after a finger enters a port, rises or falls for a certain distance, thereby moving a glass substrate from the cassette or loading the glass substrate on the cassette; a driving unit in which a position sensor, capable of detecting the position of the transport robot on a driving frame, is formed on the driving frame, with the transport robot moving on the driving frame, and in which a second reference member is formed on a front surface of the driving frame to serve as a reference for the vertical position of the transport robot; an entry sensor in which a first entry sensor and a second entry sensor are formed on a front surface of a hand by being apart from each other, and which is able to detect an entry distance, for which the finger enters the port; a height sensor in which a first height sensor and a second height sensor are formed on a front surface of a hand by being apart from each other, and which detects the distance from the hand to a first reference member when the hand enters a port; and a control unit which receives and analyzes in real time the data from the sensors, thereby controlling the movements of the transport robot.