Patent ID: 6109860
Filing Date: 2000-08-29
Classification: B25J,H01L,Y10S,Y10T

Abstract:
A two-armed transfer robot comprising:a first arm mechanism and a second arm mechanism, each arm mechanism being provided at an extremity thereof with a handling member for carrying a workpiece to be processed, the handling member arranged not only to linearly move in a horizontal plane but to rotate in the horizontal plane;a stationary base member;first to fourth shafts rotatable about a first axis extending vertically, each shaft being coaxially supported by the base member; andfirst to fourth driving devices associated with the first to the fourth shafts, respectively, each driving device being attached to the base member;wherein the first arm mechanism has a pantograph assembly including a first arm, an outer link, a pair of intermediate links and an inner link, the first arm being connected to the first shaft, the outer link being supported with respect to the first arm for pivotal movement about a second axis extending in parallel to the first axis, each intermediate link being supported with respect to the outer link for pivotal movement about a third axis, the third axes being spaced outward from the second axis, the second axis being located between the third axes as viewed circumferentially about the first axis, the inner link being supported with respect to each intermediate link for pivotal movement about a fourth axis located at a free end of said each intermediate link, the inner link being spaced from the first to fourth shafts, a distance between the third axis and the fourth axis being equal to a distance between the first axis and the second axis;the first arm mechanism further having a first rotation-transmitting member fixed to the second shaft, a second rotation-transmitting member fixed to the outer link in a coaxial manner with the second axis, a third rotation-transmitting member fixed to the first arm in a coaxial manner with the second axis, a pair of fourth rotation-transmitting members each fixed to one of the intermediate links in a coaxial manner with the third axis, a first connecting member extending between the first and the second rotation-transmitting members, and a second connecting member extending between the third and the fourth rotation-transmitting members;the handling member being spaced from the first to fourth shafts when the handling member is retreated closer to the shafts;the first arm being inclined about the first axis in a direction opposite to the handling member when the handling member is retreated closer to the shafts, while each intermediate link being inclined about its third axis in a direction opposite to the handling member when the handling member is retreated closer to the shafts;the second arm mechanism being connected to the third and fourth shafts, the second arm mechanism being substantially identical to the first arm mechanism, the handling member of the first arm mechanism being spaced vertically from the handling member of the second arm mechanism;the handling members of the first and second arm mechanisms being arranged not only to linearly move in horizontal straight lines passing through the first axis but to rotate independently of each other around the first axis.