Patent ID: 7056080
Filing Date: 2006-06-06
Classification: B25J,H01L,Y10S,Y10T

Abstract:
1. A two-arm transfer robot comprising: a swivel base arranged to swivel about a swivel axis; first end second link arm mechanisms attached to the swivel base, the first and second link arm mechanisms being symmetrical with respect to the swivel axis; a first hand member supported by the first link arm mechanism for carrying a work; and a second hand member supported by the second link arm mechanism for carrying a work; wherein the first hand member and the second hand member are movable at a same height without interfering with each other; wherein each of the first and the second link arm mechanisms is a parallelogram link mechanism which comprises a first arm having a tip and a base end pivotally connected to the swivel base at a first connection axis, a second arm substantially identical in length to the first arm and having a tip and a base end, an intermediate connector pivotally connected to the tip of the first arm and the base end of the second arm at a second connection axis, a movable member pivotally connected to the tip of the second arm at a third connection axis, a first assisting arm extending in parallel to the first arm and pivotally connected to the swivel base and the intermediate connector, and a second assisting arm extending in parallel to the second arm and pivotally connected to the intermediate connector and the movable member; wherein the first arm, the second arm and the intermediate connector are provided with a gear transmission mechanism for converting pivotal movement of the first arm in one direction into pivotal movement of the second arm in an opposite direction at an angular rate which is twice as great as an angular rate of the first arm; wherein all of the swivel axis and the first to third connection axes are vertical: wherein each movable member is movable along a horizontal linear path without changing initial orientation of the movable member when the first arm is caused to pivot about the first connection axis; and wherein the path of the movable member of the first link arm mechanism and the path of the movable member of the second link arm mechanism extend in parallel to each other at a same height and are horizontally spaced from each other.