Patent ID: 6293746
Filing Date: 2001-09-25
Classification: B25J,H01L,Y10S

Abstract:
A transfer robot comprising:a stationary base member;a first shaft and a second shaft which are rotatable about a common first axis, each of the first and the second shafts being coaxially supported by the base member;a first driving device and a second driving device associated with the first shaft and the second shaft, respectively, each of the first and the second driving devices being attached to the base member;a base link fixed to the first shaft;an outer link supported by the base link for rotation about a second axis;a pair of intermediate links each supported by the outer link for rotation about a respective third axis which is located closer to the first axis than the second axis;an inner link supported by each of the intermediate links for rotation about a respective fourth axis;a first rotation transmitting member fixed to the second shaft;a second rotation transmitting member fixed to the outer link, the second rotation transmitting member having an axis coinciding with the second axis;a third rotation transmitting member fixed to the base link, the third rotation transmitting member having an axis coinciding with the second axis;fourth rotation transmitting members fixed to the intermediate links, respectively, each of the fourth rotation transmitting members having an axis coinciding with a respective one of said third axes;a first connection member for connecting the first and the second rotation transmitting members to each other;a second connection member for connecting the third and the fourth rotation transmitting members to each other; anda first handling member carried by the inner link for supporting a workpiece to be processed;wherein a distance between the first axis and the second axis is equal to a distance between directly opposite ones of the third and fourth axes pairs.