Transferring apparatus and large transferring apparatus

Abstract

A transferring apparatus is composed of a first arm swingably provided around a first axis of a pedestal, a second arm whose length is different to the first arm is swingably provided around a second axis, a hand attached to the front end of the second arm, and a first motor to reciprocatingly swings the first arm provided in the pedestal. A first pinion is fixed to the pedestal concentrically to the first shaft, and a second pinion is fixed to the base end of the second arm concentrically with the second axis. Further, racks are provided in the both of left and right side of the first pinion and the second pinion. A large transferring apparatus is composed so that two transferring apparatus are arranged in one pair, the hand are mutually coupled by a transfer beam.

1 . A transferring apparatus comprising;
 a pedestal having a first axis;   a first arm having a base end and a front end, the first arm swingably provided around the first axis, the front end having a second shaft parallel with the first axis;   a second arm having a length different to the first arm and having a base end and a front end, the second arm swingably provided around the second axis;   a hand attached to the front end of the second arm;   a drive means to swing the first arm reciprocatingly;   a first circular plate having a center and a periphery, the first circular plate attached to the pedestal and the center is within the first axis;   a second circular plate having a center and a periphery, the second circular plate attached to the base end of the second arm and the shaft and the center is within the second axis; and   a torque transmission means interposed between the periphery of the first circular plate and the periphery of the second circular plate, in which the torque transmission swings the second arm synchronously with the first arm;   wherein a ratio of a diameter of the first circular plate and a diameter of the second circular plate is set so that the front end of the second arm moves about linearly when the second arm swings synchronously with the first arm.   
     
     
         2 . A transferring apparatus according to  claim 1 , further comprising,
 an angle adjusting mechanism of the second arm to adjust an angle of the first circular plate.   
     
     
         3 . A transferring apparatus according to  claim 1 , further comprising,
 a parallel movement mechanism to maintain the hand at a predetermined angle to a rest frame regardless of a swing of the first arm.   
     
     
         4 . A transferring apparatus comprising;
 a pedestal having a first axis;   a first arm having a base end and a front end, the first arm swingably provided around the first axis, the front end having a second axis;   a second arm having a base end and a front end, the second arm swingably provided around the second axis parallel with the first axis;   a third arm having a front end, the third arm protruding from the front end of the second arm, in which the third arm performs liner motion against the second arm;   a hand attached to the front end of the third arm;   a drive means to swing the first arm reciprocatingly;   a first circular plate having a center and a periphery, the first circular plate attached to the pedestal and the center is within the first axis;   a second circular plate having a center and a periphery, the second circular plate attached to the base end of the second arm and the center is within the second axis;   a torque transmission means interposed between the periphery of the first circular plate and the periphery of the second circular plate, in which the torque transmission swings the second arm synchronously with the first arm;   an extend/retract drive means to extend and retract the third arm;   a control means to control so that the front end of the third arm moves about linearly accompanying with a swing of the first arm.   
     
     
         5 . A transferring apparatus according to  claim 1 , further comprising;
 a tilt mechanism to swing the hand with respect to the second arm or the front end of the third arm.   
     
     
         6 . A transferring apparatus according to  claim 1 ,
 wherein the first circular plate and the second circular plate are pinions, and the torque transmission means is equipped with a rack meshing with the pinions.   
     
     
         7 . A transferring apparatus according to  claim 6 ,
 wherein the pair of racks are arranged at both sides in left and right of a line connecting the first axis and the second axis, and   wherein at least one pinion is provided to tolerate a variation of a distance to the other pinion, and the one pinion is forced in a departing direction or an approaching direction to the other pinion.   
     
     
         8 . A large transferring apparatus for transferring a work comprising;
 the transferring apparatus according to  claim 1  arranged as one pair in left and right of a processing machine,   a beam to interconnect the hands of both transferring apparatuses, and   a work holding means provided in the beam,   wherein the first axis and the second axis of the left and the right transferring apparatus are arranged concentrically to each other, and   wherein the first axis and the second axis extend perpendicular to a transfer direction of the work and horizontally, and each the left and the right drive means operates synchronously.   
     
     
         9 . A transferring apparatus according to  claim 4 , further comprising;
 a tilt mechanism to swing the hand with respect to the second arm or the front end of the third arm.   
     
     
         10 . A transferring apparatus according to  claim 4 ,
 wherein the first circular plate and the second circular plate are pinions, and the torque transmission means is equipped with a rack meshing with the pinions.   
     
     
         11 . A transferring apparatus according to  claim 10 ,
 wherein the pair of racks are arranged at both sides in left and right of a line connecting the first axis and the second axis, and   wherein at least one pinion is provided to tolerate a variation of a distance to the other pinion, and the one pinion is forced in a departing direction or an approaching direction to the other pinion.   
     
     
         12 . A large transferring apparatus for transferring a work comprising;
 the transferring apparatus according to  claim 4  arranged as one pair in left and right of a processing machine,   a beam to interconnect the hands of both transferring apparatuses, and   a work holding means provided in the beam,   wherein the first axis and the second axis of the left and the right transferring apparatus are arranged concentrically to each other, and   wherein the first axis and the second axis extend perpendicular to a transfer direction of the work and horizontally, and each the left and the right drive means operates synchronously.