Material or article handling – Horizontally swinging load support – Swinging about pivot
Patent
1998-12-14
2000-08-15
Underwood, Donald W.
Material or article handling
Horizontally swinging load support
Swinging about pivot
7447901, 901 15, 414917, B25J 1800
Patent
active
061026492
ABSTRACT:
A two-armed transfer robot is provided which includes a first double-pantograph mechanism and a second double-pantograph mechanism which is substantially similar in arrangement to the first double-pantograph mechanism. Each double-pantograph mechanism includes a first pantograph assembly and a second pantograph assembly. The first pantograph assembly is provided with an inner link, a pair of first intermediate links and an outer link. The second pantograph assembly is provided with the outer link in common with the first pantograph assembly, a pair of second intermediate links and a hand-supporting link. The transfer robot also includes a stationary base member, first to fourth shafts coaxially supported by the base member for rotational movement about a vertical axis, first to fourth driving devices for actuating the first to the fourth shafts, respectively. The driving devices are fixed to the base member. The transfer robot further includes first and second handling members supported by the hand-supporting links of the first and the second double-pantograph mechanisms, respectively. The first and the second intermediate links of each double-pantograph mechanism is inclined beyond the vertical axis in a direction opposite to the handling member when the handling member is retreated closer to the shafts.
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Ogawa Hironori
Tsubota Ryusuke
Daihen Corporation
Underwood Donald W.
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