Patent ID: 6655901
Filing Date: 2003-12-02
Classification: B25J,H01L

Abstract:
A transfer robot comprising:a machine base having a top; at least one hand for holding a workpiece; an intermediate base member for supporting the hand, the intermediate base member having a bottom; a hand moving mechanism for moving the hand horizontally reciprocally at least in an X direction; a first arm having a base end and a free end, the base end being connected to the machine base via a first connecting portion having a first axis extending in the X direction, the first arm being rotatable about the axis of the first connecting portion for allowing the free end to pass under the first connecting portion, the first axis being positioned at a predetermined height above a floor surface; a second arm having a base end and a free end, the free end of the second arm being connected to the intermediate base member via a second connecting portion having a second axis extending in the X direction; and a driving mechanism for rotating the first arm about the first axis of the first connecting portion while also rotating the hand moving mechanism about the second axis of the second connecting portion; wherein the transfer robot further includes an intermediate arm having a base end connected to the free end of the first arm via a third connecting portion having a third axis extending in the X direction, the intermediate arm also connected to the base end of the second arm via a fourth connecting portion having a fourth axis extending in the X direction, the driving mechanism causing the intermediate arm to rotate about the third axis of the third connecting portion while also causing the second arm to rotate about the fourth axis of the fourth connecting portion, a length between the free end of the first arm and the first axis is smaller than the height of the first axis, each of the intermediate arm and the second arm is no greater in length than the first arm, the intermediate arm and the second arm providing a combined length which is greater than the length of the first arm, and the intermediate base member is disposed entirely clear of the machine base in the X direction for movement to a position in which the bottom of the intermediate base member is located under the top of the machine base.