Patent ID: 6099238
Filing Date: 2000-08-08
Classification: B25J,H01L,Y10T

Abstract:
A two-armed transfer robot comprising:a first arm mechanism and a second arm mechanism, each arm mechanism being provided at an extremity thereof with a handling member for carrying a workpiece to be processed, the handling member arranged to linearly move in a horizontal plane as well as rotate in the horizontal plane;a stationary base member;first to fourth shafts rotatable about a single vertical axis common to the first to the fourth shafts, each shaft being supported by the base member;first to fourth driving devices associated with the first to fourth shafts, respectively, each driving device being attached to the base member; anda first controlling unit and a second controlling unit;wherein the first arm mechanism includes a pair of first arm links each having a base end and an extremity, a pair of second arm links each having a base end and an extremity, a first bearing-connector mechanism, and a first handling member, the base ends of the first arm links being connected respectively to the first shaft and the second shaft, the base ends of the second arm links being connected respectively to the extremities of the first arm links for pivotal movement around vertical axes, the extremity of each second arm link being provided with a rack, the first handling member being connected to the extremities of the respective second arm links via the first bearing-connector mechanism in a manner that the racks of the respective second arm links are held in mesh with each other;the second arm mechanism including a pair of third arm links each being substantially identical to the first arm links and having a base end and an extremity, a pair of fourth arm links each being substantially identical to the second arm links and having a base end and an extremity, a second bearing-connector mechanism, and a second handling member, the base ends of the third arm links being connected respectively to the third shaft and the fourth shaft, the base ends of the fourth arm links being connected respectively to the extremities of the third arm links for pivotal movement around vertical axes, the extremity of each fourth arm link being provided with a rack, the second handling member being connected to the extremities of the respective fourth arm links via the second bearing-connector mechanism in a manner that the racks of the respective fourth arm links are held in mesh with each other;the first controlling unit used for synchronously actuating the first driving device and the second driving device in a same direction as well as opposite directions;the second controlling unit used for synchronously actuating the third driving device and the fourth driving device in a same direction as well as opposite directions; andthe first arm links being vertically spaced from the third arm links, the second arm links being spaced from but held in a close vertical facing relation to the fourth arm links, the first handling member being spaced from but held in a close vertical facing relation to the second handling member, so that the first and the second handling members are prevented from interfering with each other when moving linearly and around said single vertical axis; andwherein each bearing-connector mechanism provided at the extremity of a corresponding arm link is made small in thickness and includes a through-hole vertically extending through the extremity of the corresponding arm link, a circular plate smaller in diameter than the through-hole so the plate is inserted into the through-hole, a circular groove formed between an inner wall of the through-hole and an outer wall of the circular plate when the plate is held in the through-hole, a passage formed at the extremity of the corresponding arm link to communicate with the circular groove, a plurality of balls inserted into the circular groove via the passage, and a stopper to block the passage for preventing the inserted balls from coming out.