1. A two-arm transfer robot comprising:
a swivel base arranged to swivel about a swivel axis;
first end second link arm mechanisms attached to the swivel base, the first and second link arm mechanisms being symmetrical with respect to the swivel axis;
a first hand member supported by the first link arm mechanism for carrying a work; and
a second hand member supported by the second link arm mechanism for carrying a work;
wherein the first hand member and the second hand member are movable at a same height without interfering with each other;
wherein each of the first and the second link arm mechanisms is a parallelogram link mechanism which comprises a first arm having a tip and a base end pivotally connected to the swivel base at a first connection axis, a second arm substantially identical in length to the first arm and having a tip and a base end, an intermediate connector pivotally connected to the tip of the first arm and the base end of the second arm at a second connection axis, a movable member pivotally connected to the tip of the second arm at a third connection axis, a first assisting arm extending in parallel to the first arm and pivotally connected to the swivel base and the intermediate connector, and a second assisting arm extending in parallel to the second arm and pivotally connected to the intermediate connector and the movable member;
wherein the first arm, the second arm and the intermediate connector are provided with a gear transmission mechanism for converting pivotal movement of the first arm in one direction into pivotal movement of the second arm in an opposite direction at an angular rate which is twice as great as an angular rate of the first arm;
wherein all of the swivel axis and the first to third connection axes are vertical:
wherein each movable member is movable along a horizontal linear path without changing initial orientation of the movable member when the first arm is caused to pivot about the first connection axis; and
wherein the path of the movable member of the first link arm mechanism and the path of the movable member of the second link arm mechanism extend in parallel to each other at a same height and are horizontally spaced from each other.
2. The two-arm transfer robot according to claim 1,further comprising a first bracket for connecting the first hand member to the movable member of the first link arm mechanism and a second bracket for connecting the second hand member to the movable member of the second link arm mechanism, wherein each of the first and the second brackets extends longitudinally of the horizontal linear path, the first hand member being arranged not to interfere with the second bracket, the second hand member being arranged not to interfere with the first bracket.
3. The two-arm transfer robot according to claim 2, wherein in each of the first and the second link arm mechanisms the first arm has a pivot angle range defined by a first limit position and a second limit position, the movable member being disposed on a prescribed side of the pivot swivel axis when the first arm is in the first limit position, the movable member being disposed on a side of the swivel axis that is opposite to said prescribed side when the first arm is in the second limit position.
4. The two-arm transfer robot according to claim 3, wherein in each of the first and the second link arm mechanisms, the bracket extends from the movable member to the swivel axis when the first arm is in the first limit position, the hand member being supported by the bracket to be oriented in a direction in which the bracket extends.
5. The two-arm transfer robot according to claim 4, wherein in each of the first and the second link arm mechanisms, the hand member is attached to an upper surface of the bracket, the hand member being arranged to overhang the bracket of the other link arm mechanism when the first arm is in the first limit position.
6. The two-arm transfer robot according to claim 1, wherein the first hand member and the second hand member are movable along a common horizontal linear path, and wherein a displacement range of the first hand member along the common path and a displacement range of the second hand member along the common path have no overlap.
7. The two-arm transfer robot according to claim 1, wherein each of the first and the second hand members has a configuration appropriate for carrying a flat round work.
8. A two-arm transfer robot comprising:
a swivel base arranged to swivel about a swivel axis;
first and second link arm mechanisms attached to the swivel base, the first and second link arm mechanisms being symmetrical with respect to the swivel axis;
a first hand member supported by the first link arm mechanism for carrying a work; and
a second hand member supported by the second link arm mechanism for carrying a work;
wherein the first hand member and the second hand member are movable at a same height without interfering with each other;
wherein each of the first and the second link arm mechanisms is a parallelogram link mechanism which comprises a first arm having a tip and a base end pivotally connected to the swivel base at a first connection axis, a second arm substantially identical in length to the first arm and having a tip and a base end, an intermediate connector pivotally connected to the tip of the firs arm and the base end of the second arm at a second connection axis, a movable member pivotally connected to the tip of the second arm at a third connection axis, a first assisting arm extending in parallel to the first arm and pivotally connected to the swivel base and the intermediate connector, and a second assisting arm extending in parallel to the second arm and pivotally connected to the intermediate connector and the movable member;
wherein the first arm, the second arm and the intermediate connector are provided with a gear transmission mechanism for converting pivotal movement of the first arm in one direction into pivotal movement of the second arm in an opposite direction at an angular rate which is twice as great as an angular rate of the first arm;
wherein all of the swivel axis and the first to third connection axes are vertical;
wherein each movable member is movable along a horizontal linear path without changing initial orientation of the movable member when the first arm is caused to pivot about the first connection axis;
wherein the transfer robot further comprises a first bracket for connecting the first band member to the movable member of the first link arm mechanism and a second bracket for connecting the second hand member to the movable member of the second link arm mechanism;
wherein each of the first and the second brackets extends longitudinally of the horizontal linear path, the first hand member being arranged not to interfere with the second bracket, the second hand member being arranged not to interfere with the first bracket;
wherein in each of the first and the second link arm mechanisms, the first arm has a pivot angle range defined by a first limit position and a second limit position, the movable member being disposed on a prescribed side of the swivel axis when the first arm is in the first limit position, the movable member being disposed on a side of the swivel axis that is opposite to said prescribed side when the first arm is in the second limit position;
wherein in each of the first and the second link arm mechanisms, the bracket extends from the movable member to the swivel axis when the first arm is in the first limit position, the hand member being supported by the bracket to be oriented in a direction in which the bracket extends; and
wherein in each of the first and the second link arm mechanisms, the hand member is attached to an upper surface of the bracket, the hand member being arranged to overhang the bracket of the other link arm mechanism when the first arm is in the first limit position.
9. The two-arm transfer robot according to claim 8, wherein the first hand member and the second hand member are movable along a common horizontal linear path, and wherein a displacement range of the first hand member along the common path and a displacement range of the second hand member along the common path have no overlap.
10. The two-arm transfer robot according to claim 8, wherein each of the first and the second hand members has a configuration appropriate for carrying a flat round work.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A device for positioning a target adjacent first and second intersecting surfaces of a structure comprising:
a first lever having a first end and a second end;
a second lever having a first end and a second end;
a pin that extends through said first and second levers to define a pivot point, said pin having a first section that is offset from a second section by an offset section with the target being located on said first section, said first end of said first and second levers on receipt of an input force causing said first and second levers to pivot about said pin and transmit an actuation force that correspondingly moves the second end of said first and second levers into engagement with said first and second intersecting surfaces on the structure; and
locking means connected to said first and second levers to sustain said actuation force and thereby hold said second end of said first and second levers onto the first and second intersecting surfaces, said first section of said pin thereafter being selectively rotated with respect to said second section to bring a face on the target into parallel alignment with one of said first and second intersecting surfaces.
2. The device as recited in claim 1 wherein said selectively rotation about the pivot point brings the face on the target into a plane that is aligned with the other of said first or second intersecting surfaces.
3. The device as recited in claim 2 further including first and second pads that are respectively located on the second end of said first and second levers, said first and second pads each having a clip thereon that snaps onto a surface on said second end such that a face on said pad may pivot thereon on engaging with a corresponding first and second intersecting surface such that an engaging force is applied thereto along a plane that is substantially perpendicular to the intersecting surface.
4. The device as recited in claim 3 wherein said second section of said pin extends beyond the pivot point to receive a stabilizer member, said stabilizer member engaging a point on the intersection of the first and second intersecting surfaces to provide resistance to any moment that would move the target from the alignment with respect to the intersecting surface.
5. The device as recited in claim 4 wherein said target is made of a reflective material to return a signal to an instrument through which a distance is calculated with respect to a plane that is parallel to the surface.
6. The device as recited in claim 5 wherein said locking means includes an arcuate disc fixed to said lever and having a plurality of teeth and a third lever connected to said pin and having a surface edge thereon that resiliently engage said plurality of teeth, said third lever being moved as the first lever moves toward the second lever in response to the actuation force, and release means connected to said third lever to disengage surface edge from the plurality of teeth and thereafter allow the first end of the first and second levers to expand and terminate the actuation force.
7. The device as recited in claim 6 wherein said first and second pads each have a face covered with a non-skid material to assist in the retention on said first and second intersecting surfaces.
8. A device for positioning a target on first and second intersecting surfaces of a structure comprising:
a first lever having a first end and a second end;
a second lever having a first end and a second end;
a pin that extends through said first and second levers to define a pivot point, said pin having a first section that extends above the pivot point to receive the target, said first end of said first and second levers on receipt of an input force causing said first and second levers to pivot about said pin and transmit an actuation force that correspondingly moves the second end of said first and second levers into engagement with said first and second intersecting surfaces on the structure; and
locking means connected to said first and second levers to sustain said actuation force and respectively hold said second end of said levers onto the first and second intersecting surfaces, said target thereafter being selectively rotated on said pin to bring a face thereon into parallel alignment with one of said first and second intersecting surfaces.
9. The device as recited in claim 8 wherein said target is made of a reflective material that returns a signal from an instrument along a plane that is parallel to the first surface to provide data from which a measurement may be calculated as to the linear distance from the instrument.
10. The device as recited in claim 9 wherein said pin includes a first section that is offset from the pivot point such that said first section is rotated with respect to said pivot point to selectively align the target with one of the first and second intersecting surfaces.
11. The device as recited in claim 10 wherein said pin includes a second section that extends therefrom for receiving an alignment pad to provide vertical resistance to a moment relating to vertical movement of said pads such that the target is stationary.
12. The device as recited in claim 11 wherein said first and second pads have a non-skid surface to enhance the engagement with the first and second surface.
13. The device as recited in claim 12 wherein said locking means includes a release mechanism to allow the first end of said first and second levers to expand when an operator desires to move the device.
14. The device as recited in claim 13 wherein said alignment pad is connected to said second section through a snap connection.