Patent ID: 6481309
Filing Date: 2002-11-19
Classification: B25J,Y10S,Y10T

Abstract:
A transfer arm comprising,a first short link, a first parallel link having a first link element pivotally connected to the first short link at one end thereof, and a second link element pivotally connected to the first short link at one end thereof, a drive shaft connected to the one end of the second link element to rotate the same, a second short link pivotally connected to the other ends of the first and second link elements, a second parallel link having a third link element and a fourth link element shorter than the third link element, a middle portion of the third link element and one end of the fourth link element being pivotally connected to the second short link, a third short link pivotally connected to one end of the third link element and the other end of the fourth link element, a holding plate connected to the third short link to be moved linearly according to a rotation of the drive shaft while deforming parallelograms formed by the first to fourth link elements, and a linear guide integrally formed with the first short link and extending from a side close to the first link element in a direction perpendicular to the first short link, the other end of the third link element being linearly slidably attached to the linear guide so that the holding plate can be moved linearly over two sides divided by the linear guide.