Patent ID: 8668428
Filing Date: 2014-03-11
Classification: B25J,H01L,Y10T

Abstract:
1. A horizontal articulated robot for use in transferring a substrate, comprising: a body; a first arm including a base end portion and a tip end portion, the base end portion of the first arm being supported by the body to be rotatable about a first joint; a second arm including a base end portion and a tip end portion, the base end portion of the second arm being supported by the tip end portion of the first arm to be rotatable about a second joint; and a fork for holding the substrate, the fork including a base end portion supported by the tip end portion of the second arm to be rotatable about a third joint, wherein the first arm includes a first enlarged portion formed in the tip end portion thereof, the first enlarged portion having an upper surface positioned higher than an upper surface of the base end portion of the first arm, wherein the second arm includes a second enlarged portion formed in the tip end portion thereof, the second enlarged portion having a lower surface positioned lower than a lower surface of the base end portion of the second arm, wherein the first enlarged portion and the second enlarged portion are at least partially overlapped with each other horizontally, wherein the robot further comprises: a second arm drive motor provided within the body to serve as a drive power source for rotating the second arm; a first joint pulley accommodated within the first arm and configured to be rotated by the second arm drive motor; a first belt wound around the first joint pulley; a second-arm-driving-reducer input pulley configured to be rotated together with the first joint pulley by the first belt; a second-arm-driving reducer to which the rotation of the second-arm-driving-reducer input pulley is inputted; a second-arm-driving-reducer output pulley provided to an output shaft of the second-arm-driving reducer; a second belt wound around the second-arm-driving-reducer output pulley; and a second joint pulley connected to the base end portion of the second arm and configured to be rotated together with the second-arm-driving-reducer output pulley by the second belt, and wherein the second-arm-driving-reducer input pulley, the second-arm-driving reducer, the second-arm-driving-reducer output pulley, the second belt and the second joint pulley are accommodated within the first enlarged portion.