| 摘要 |
PROBLEM TO BE SOLVED: To provide a two-arm type conveying robot device which can minimize the height of the base end part of a hand member, and attain size reduction and high productivity. SOLUTION: A first parallel crank mechanism 26 and, the second parallel crank mechanism 46 are disposed vertically. In the parallel crank mechanisms, one joint in the first parallel 4-joint links 19, 39, are disposed so as to be coaxial with a first fulcrum O1 , and the first links 15, 35 and one of the base end parts of intermediate links 16, 17, and 36, 37 are fitted at the first to fourth rotating shafts. A second parallel 4-joint links 23 are disposed, being offset at the outside of the first parallel 4-joint links 19, 39. A clearance is formed in a radial direction between the rear part of the hand member and the rotating shaft when the respective hand members 25, 45 are pulled to the rotational shaft, O1 side, and the intermediate links are inclined to the opposite side of the respective hand members beyond the first fulcrum O1 , thus it is possible to make the hand members conduct linear movement and rotation freely. |
