| 摘要 |
PROBLEM TO BE SOLVED: To provide a transfer apparatus which can transfer a workpiece and return it to an original position efficiently. SOLUTION: The apparatus comprises a pair of top and bottom actuation units B which move vertically in an opposite direction and move right and left in the same direction. Each actuation unit B comprises a fixed inner gear 10A, an input shaft 2A positioned in its center, an arm member 6A which is united with the shaft and rotates around the shaft, a planetary gear supporting shaft 8A rotatable to the arm member, a planetary gear 9A which has teeth of a fourth as many as those of an inner gear and is arranged integrally so as to rotate around the planetary gear supporting shaft, and an output shaft 11A which is installed eccentrically and parallel to the rotation axis of planetary gear supporting shaft. The output shaft moves so as to show a moving locus K of a square shape with round corners when seen from the axially longitudinal direction of the shaft. COPYRIGHT: (C)2006,JPO&NCIPI
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