Transfer apparatus

Patent metadata

Field	Value
Publication number	US-10144127-B2
Application number	US-201715678809-A
Country	US
Kind code	B2
Filing date	Aug 16, 2017
Priority date	Jun 28, 2013
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

A transfer apparatus includes a base, a first holder, a second holder offset from the first holder in a first direction, and a movement mechanism for moving the first holder and the second holder relative to the base in a plane parallel to the first direction. The movement mechanism includes a swing member, a first link arm and a second link arm. The swing member is pivotally supported on the base. The first link arm is pivotally connected to the first holder. The first link arm is also connected to the swing member for pivoting about a first intermediate axis extending in a second direction perpendicular to the first direction. The second link arm is pivotally connected to the second holder. The second link arm is also connected to the swing member for pivoting about a second intermediate axis extending in the second direction. The first intermediate axis is offset from the second intermediate axis in the first direction.

First claim

What is claimed is:

1. A transfer apparatus comprising:
a base;
a first movable part;
a second movable part offset from the first movable part in a first linear direction; and
a movement mechanism moving the first movable part and the second movable part relative to the base in a plane parallel to the first linear direction;
wherein the movement mechanism includes a swing member, a first link arm and a second link arm,
the swing member is pivotally supported on the base,
the first link arm is pivotally connected to the first movable part, the first link arm being connected to the swing member pivoting about a first intermediate axis extending in a second linear direction perpendicular to the first linear direction,
the second link arm is pivotally connected to the second movable part, the second link arm being connected to the swing member pivoting about a second intermediate axis extending in the second linear direction,
the second intermediate axis is offset from the first intermediate axis in a third linear direction opposite to the first linear direction,
the entire first movable part becomes offset from a circular rotation area of the swing member in the third linear direction by moving forward in the third linear direction, while the second movable part moves backward in the third linear direction, and
the entire second movable part becomes offset from the circular rotation area in the first linear direction by moving forward in the first linear direction, while the first movable part moves backward in the first linear direction.

2. The transfer apparatus according to claim 1 , wherein the entire second movable part is located within the circular rotation area when the entire first movable part is offset from the circular rotation area in the third linear direction, and
the entire first movable part is located within the circular rotation area when the entire second movable part is offset from the circular rotation area in the first linear direction.

3. The transfer apparatus according to claim 1 , wherein the first link arm includes a bent portion projecting in the first linear direction.

4. The transfer apparatus according to claim 3 , wherein the second link arm includes a bent portion projecting in the third linear direction.

5. The transfer apparatus according to claim 1 , wherein the first link arm crosses the second link arm, and
the swing member is connected to the base pivoting about a pivotal axis extending in the second linear direction.

6. The transfer apparatus according to claim 1 , wherein the swing member comprises a swing arm,
both of the first link arm and the second link arm are pivotally connected to the swing arm, and
the swing arm crosses both of the first link arm and the second link arm.

7. The transfer apparatus according to claim 1 , further comprising:
a first holder including the first movable part; and
a second holder including the second movable part.

8. The transfer apparatus according to claim 1 , wherein the swing member includes:
a first swing arm having a first end pivotally connected to the base and a second end pivotally connected to the first link arm pivoting about the first intermediate axis,
a second swing arm having a first end pivotally connected to the base and a second end pivotally connected to the second link arm pivoting about the second intermediate axis, and
a connector pivotally connected to the first and second swing arms at the first and second intermediate axes, respectively.

9. The transfer apparatus according to claim 8 , wherein the first swing arm is pivotally connected to the base pivoting about a first pivotal axis,
the second swing arm is pivotally connected to the base pivoting about a second pivotal axis,
the first pivotal axis is offset from the second pivotal axis in the first linear direction, and
a distance between the first intermediate axis and the second intermediate axis is equal to a distance between the first pivotal axis and the second pivotal axis.

10. The transfer apparatus according to claim 6 , wherein the swing arm includes a first end edge and a second end edge, the first end edge being located at the first linear direction side of the swing arm, the second end edge being located at the third linear direction side or the swing arm,
the first intermediate axis is offset from the second end edge of the swing arm in the first linear direction as viewed in plan, and
the second intermediate axis is offset from the first end edge of the swing arm in the third linear direction as viewed in plan.

11. A transfer apparatus comprising:
a base;
a first movable part;
a second movable part offset from the first movable part in a first linear direction; and
a movement mechanism moving the first movable part and the second movable part relative to the base in a plane parallel to the first linear direction;
wherein the movement mechanism includes two swing members, two first link arms and two second link arms,
each of the swing members is pivotally supported on the base,
each of the first link arms is pivotally connected to the first movable part, each of the first link arms being connected to a respective one of the swing members pivoting about a first intermediate axis extending in a second linear direction perpendicular to the first linear direction,
each of the second link arms is pivotally connected to the second movable part, each of the second link arms being connected to a respective one of the swing members pivoting about a respective second intermediate axis extending in the second linear direction,
each second intermediate axis is offset from the respective first intermediate axis in a third linear direction opposite to the first linear direction,
the entire first movable part becomes offset from a circular rotation area of one of the swing members in the third linear direction by moving forward in the third linear direction, while the second movable part moves backward in the third linear direction, and
the entire second movable part becomes offset from the circular rotation area in the first linear direction by moving forward in the first linear direction, while the first movable part moves backward in the first linear direction.

12. The transfer apparatus according to claim 11 , wherein the entire second movable part is located within the circular rotation area when the entire first movable part is offset from the circular rotation area in the third linear direction, and
the entire first movable part is located within the circular rotation area when the entire second movable part is offset from the circular rotation area in the first linear direction.

13. The transfer apparatus according to claim 11 , further comprising a drive unit disposed in the base,
wherein the drive unit pivots each of the swing members relative to the base, and
each of the first link arms crosses a respective one of the second link arms.

14. The transfer apparatus according to claim 11 , wherein each of the first link arms includes a bent portion projecting in the first linear direction.

15. The transfer apparatus according to claim 11 , wherein each of the second link arms includes a bent portion projecting in the third linear direction.

16. The transfer apparatus according to claim 11 , wherein each of the swing members comprises a swing arm,
each of the first link arms and each of the second link arms are pivotally connected to the swing arm, and
each of the swing arms crosses a respective one of the first link arms and a respective one of the second link arms.

Assignees

• Daihen Corp

Inventors

• Iura Jun

Classifications

• Y10S901/28

  Joint · CPC title

• Y10T74/20329

  Joint between elements · CPC title

• B25J9/107 Primary

  of the froglegs type · CPC title

• B25J9/0087

  Dual arms (double SCARA arms B25J9/043) · CPC title