Patent ID: 6699003
Filing Date: 2004-03-02
Classification: B25J,H01L,Y10S,Y10T

Abstract:
A carrying device comprising:a first arm having a base end portion pivotally supported; a second arm having a base end portion pivotally supported; a holding member for holding a workpiece which is pivotally supported on tip end portions of said first and second arms via a first joint; and a posture maintaining linkage including first and second analogous antiparallel linkages for connecting said first and second arms and said holding member to each other, wherein each of said first and second antiparallel linkages have four links including a first-link, a second-link, a third-link, and a fourth-link, said first-link and said second-link having a same length and said third-link and said fourth-link having a same length, said first-link having an end and an other end, said second-link having an end and an other end, said third-link pivotally connecting said end of said first-link and said other end of said second-link, said fourth-link pivotally connecting said other end of said first-link and said end of said second-link, said third-link and said fourth-link being crossed with respect to each other, and wherein said posture maintaining linkage controls an orientation of said holding member so that said holding member is arranged on a bisector of an angle defined by said first and second arms.