Link-type transfer robot

Patent metadata

Field	Value
Publication number	US-2015321347-A1
Application number	US-201314647366-A
Country	US
Kind code	A1
Filing date	Nov 26, 2013
Priority date	Dec 4, 2012
Publication date	Nov 12, 2015
Grant date	—

Abstract

The present invention provides a transfer robot which has a simple structure and a small occupied area in an operation.
A transfer robot of the present invention includes a support member fixed to a side wall or the like, a transfer arm by which a hand member is held capable of linear movement, and first and second link members. One end portions of the first and second link members are rotatably linked to the support member, respectively. Another end portions of the first and second link members are rotatably linked to the transfer arm, respectively. The hand member holds/transfers a work. A rotational driving force applied to a linking portion between the support member and the first link member is transmitted to the transfer arm by a predetermined mechanism and linearly moves the hand member. The transfer arm moves by rotating the first link member or the second link member.

First claim

1 . A link-type transfer robot comprising:
a hand portion to hold a work; a transfer arm to hold the hand portion capable of linear movement; a support member with a fixed position; first and second link members each having one end portion rotatably linked to the support member and the other end portion rotatably linked to the transfer arm; an arm driving portion to linearly move the hand portion with respect to the transfer arm by using power transmitted from a linking portion between the first link member and the support member; and a link driving portion to move the transfer arm by rotating/driving the first or the second link member with respect to the support member.

2 . The link-type transfer robot according to claim 1 , which is configured so that the hand portion is moved vertically by that, when the link driving portion moves the transfer arm, the arm driving portion relatively moves the hand portion in a direction canceling a horizontal movement component of the transfer arm.

3 . The link-type transfer robot according to claim 1 , wherein the transfer arm is an expandable/contractible transfer arm configured to expand/contract by relative movement of the arm member in plural stages.

4 . The link-type transfer robot according to claim 1 , wherein
the transfer arm includes:
a driving pulley rotatably supported in the vicinity of one of end portions of an arm body and driven by the arm driving portion;
a driven pulley rotatably supported in the vicinity of the other end portion of the arm body; and
an arm belt wound between the driving pulley and the driven pulley,
wherein the arm driving portion has a first rotating shaft penetrating the support member and the first link member; and the arm belt is rotationally moved by transmission of a rotational driving force of the first rotating shaft to the driving pulley, and the hand portion is linearly moved by using the rotational moving force of the arm belt.

5 . The link-type transfer robot according to claim 4 , wherein
the driving pulleys are provided in plural along the same rotating shaft; the driven pulleys are provided in plural along the same rotating shaft; the first rotating shaft includes a plurality of concentric rotating shafts; the arm belts are wound around the corresponding driving pulleys and driven pulleys, respectively; a plurality of the hand portions are provided in correspondence with each of the arm belts; and the arm belts are rotationally moved by transmitting a rotational driving force from each of concentric rotating shafts provided in the first rotating shaft to the concentric rotating shafts of the corresponding driving pulleys, respectively, and the corresponding hand portions are linearly moved by using the rotational moving force of the respective arm belts.

6 . The link-type transfer robot according to claim 4 , wherein the link driving portion has a second rotating shaft penetrating the support member and fixed to the second link member; and
the second link member is rotated/driven by rotating the second rotating shaft.

7 . The link-type transfer robot according to claim 4 or 5 , wherein the link driving portion has a second rotating shaft which is a rotating shaft concentric to the first rotating shaft;
the second rotating shaft is fixed to the first link member; and
the first link member is rotated/driven by rotating the second rotating shaft.

8 . The link-type transfer robot according to claim 2 , wherein
the transfer arm is an expandable/contractible transfer arm configured to expand/contract by relative movement of the arm member in plural stages.

9 . The link-type transfer robot according to claim 2 , wherein the transfer arm includes:
a driving pulley rotatably supported in the vicinity of one of end portions of an arm body and driven by the arm driving portion; a driven pulley rotatably supported in the vicinity of the other end portion of the arm body; and an arm belt wound between the driving pulley and the driven pulley, wherein the arm driving portion has a first rotating shaft penetrating the support member and the first link member; and the arm belt is rotationally moved by transmission of a rotational driving force of the first rotating shaft to the driving pulley, and the hand portion is linearly moved by using the rotational moving force of the arm belt.

10 . The link-type transfer robot according to claim 3 , wherein the transfer arm includes:
a driving pulley rotatably supported in the vicinity of one of end portions of an arm body and driven by the arm driving portion; a driven pulley rotatably supported in the vicinity of the other end portion of the arm body; and an arm belt wound between the driving pulley and the driven pulley, wherein the arm driving portion has a first rotating shaft penetrating the support member and the first link member; and the arm belt is rotationally moved by transmission of a rotational driving force of the first rotating shaft to the driving pulley, and the hand portion is linearly moved by using the rotational moving force of the arm belt.

11 . The link-type transfer robot according to claim 5 , wherein the link driving portion has a second rotating shaft penetrating the support member and fixed to the second link member; and
the second link member is rotated/driven by rotating the second rotating shaft.

12 . The link-type transfer robot according to claim 5 , wherein the link driving portion has a second rotating shaft which is a rotating shaft concentric to the first rotating shaft;
the second rotating shaft is fixed to the first link member; and the first link member is rotated/driven by rotating the second rotating shaft.

Assignees

• Tazmo Co Ltd
• Nat Inst Of Advanced Ind Scien

Inventors

• Hirota Kenji
• Imai Shinichi
• Hara Shiro
• Maekawa Hitoshi

Classifications

• H10P72/3202 Primary

  Mechanical details, e.g. rollers or belts · CPC title

• B25J18/02

  extensible · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J9/1065

  with parallelograms · CPC title

• B25J18/04

  rotatable · CPC title