| 摘要 |
An articulated arm transfer device employs a pair of upper arms each upper arm being rotatable at its shoulder end, and a pair of forearms each forearm being rotatable at its wrist end. The elbow ends of each pair are connected to each other by a link means. The shoulder ends are mounted on a support in such a manner that one upper arm is rotated by a drive means, and holding means for an object to be transferred is mounted on the wrist ends. The link means includes shafts upon which the elbow ends are mounted and at least two S-bands connecting the shafts in such a manner that rotation of one shaft in eitehr direction casues rotation of the other shaft in the opposite direction. The elbow end of one upper arm is fixed to its shaft, while the elbow end of the other upper arm is rotatably mounted on its shaft. The elbow end of one forearm is rotatably mounted on the shaft to which the elbow end of an upper arm is fixed, and the elbow end of the other forearm is fixed to the shaft on which the elbow end of the other upper arm is rotatably mounted. <IMAGE> |
