JP3973048B2 - Double arm robot - Google Patents

Description

  The present invention relates to a robot. More specifically, the present invention relates to a double arm type robot for taking out and supplying a workpiece.

  2. Description of the Related Art Conventionally, for example, a double-arm robot shown in FIGS. 5 to 7 is used to take out a thin plate-like work such as a glass substrate for liquid crystal or a semiconductor wafer from a stocker and supply the work to the stocker.

  In the double arm robot 100, the two arms 101 are provided symmetrically so that the parts other than the hand portion 113 provided at the tip of the arm 101 are on the same plane.

  The arm 101 includes a first arm 111 (hereinafter referred to as the upper arm 111), a second arm 112 (hereinafter referred to as the forearm 112) connected to the upper arm 111, and a hand portion that is connected to the forearm 112 and holds the work 109. 113.

  The base end of the upper arm 111 is connected to the drive shaft of the base 102 to form a rotatable joint 114 (hereinafter referred to as a shoulder joint 114). Further, the distal end of the upper arm 111 and the proximal end of the forearm 112 are connected via a drive shaft to constitute a rotatable joint portion 115 (hereinafter referred to as an elbow joint portion 115). Further, the front end of the forearm 112 and the columns 117a and 117b, which are the bases of the hand portion 113, are connected to each other via a drive shaft to constitute a rotatable joint portion 116 (hereinafter referred to as a hand joint portion 116).

  The arm 101 rotates the shoulder joint part 114, the elbow joint part 115, and the hand joint part 116 by a rotational drive source (not shown) to move the hand part 113 in the direction indicated by the arrow X in FIG. . At this time, in the arm 101, due to the mechanism, the hand portion 113 faces in one direction, the extended position where the upper arm 111 and the forearm 112 are fully extended, and the contracted position where the upper arm 111 and the forearm 112 are folded. It is trying to move straight between. This mechanism is configured, for example, such that each joint 114, 115, 116 is provided with a timing pulley, the timing pulleys are connected by a timing belt, and each joint 114, 115, 116 performs a predetermined rotation. Is.

  Also, one column 117a is U-shaped, and an upper and lower space is created between the two hand portions 113. When both arms 101 are contracted, the other portion is placed in the space portion of the U-shaped column 117a. Column 117b (hand part 113) is inserted so that the two hand parts 113 do not come into contact with each other. Further, the upper part 103 of the base 102 is rotatably provided so that the direction can be changed by turning the double arm type robot 100. Here, a two-dot chain line circle 106 in FIG. 5 represents the locus of the corner of the workpiece 109 due to the rotation of the upper base 103, and represents the space required for the turning of the double arm robot 100. The base 102 is provided in a multi-stage telescopic structure so that the upper base 103 can be moved in the vertical direction indicated by the arrow Z in the figure with respect to the lower base 104 by the rotation shaft 105. Can be adjusted.

  According to this double arm type robot 100, the hand unit 113 is moved in the direction of arrow X by the arm 101, the workpiece 109 can be taken out from the stocker, and the workpiece 109 can be supplied to the stocker. The other is used for taking out, and the supply operation of the work 109 and the take-out operation of another work 109 can be performed simultaneously. Further, since the work 109 such as a glass substrate for liquid crystal needs to avoid dust, all the operations of the double arm robot 100 are performed in a clean room.

JP-A-6-126663 JP-A-9-102526 Japanese Patent Laid-Open No. 10-329059 JP-A-4-64838

  However, in the conventional double arm type robot 100, when both arms 101 contract, both elbow joints 115 protrude symmetrically, and the turning radius of the double arm type robot 100, that is, the area required for the turning shown by the circle 106 is present. There is a problem that it gets bigger. Further, a U-shaped column 117a protrudes toward the outside of the turning center of the upper base 103 so that the two hand portions 113 do not come into contact with each other, and the turning radius of the double arm type robot 100 is larger. End up. Further, the U-shaped column 117a is heavy, and there is a problem that the double arm type robot 100 is enlarged.

  On the other hand, it is necessary to provide a sufficient space around the double arm robot 100 so as not to collide with other devices, and it is necessary to increase the size of the large clean room and the accompanying purification equipment. Cost increases. Further, when the space occupied by the double arm type robot in the clean room is increased, the degree of freedom in layout is reduced.

  By the way, with the recent increase in the size of glass substrates for liquid crystals, the deflection of the glass plate also increases, so that it is necessary to increase the interval (pitch) of each stage of the stocker. Accordingly, it is necessary to increase the vertical stroke in the double arm robot 100 as well. Here, in the conventional double arm type robot 100, both elbow joints 115 project symmetrically with the contraction operation of the arm 101, and therefore the mechanism for the vertical movement of the arm 101 is the arm 101 in consideration of the installation space. Should be placed on the underside. However, the multistage telescopic structure that has been conventionally employed as the vertical movement mechanism increases in complexity as the vertical stroke increases. Therefore, the problem of increase in production cost and increase in occupied space similar to the above is caused. In addition, if the vertical movement mechanism becomes larger and the lowest position of the arm 101 becomes higher, there is a problem that the workable range of the arm 101 is limited and decreases accordingly. Here, it is conceivable to provide a recessed hole in a part of the floor of the clean room and insert the double arm robot 100 into the hole, but in this case, the arrangement position of the double arm robot 100 is limited to the hole. As a result, the degree of freedom of layout of each device is reduced. In addition, there is a problem that it is difficult to attach and detach the double arm type robot 100 and the maintenance becomes complicated.

  Therefore, an object of the present invention is to provide a double arm type robot that has a small turning radius and can be configured by a vertical movement mechanism that does not increase the size and complexity of the apparatus.

In order to achieve this object, the invention according to claim 1 is a double arm type comprising two sets of arms that are rotatably connected by a joint portion and transmit a rotational force from a rotational drive source to cause the hand portion to perform a desired operation. in the robot, the with two pairs of arms are attached via the joint portion of the proximal end, the first and second support members and said first and second disposed in said column different heights on top of each other And a pivotable pedestal portion to which the moving member is attached, and the hand portion moves the first and second supporting members. a straight direction orthogonal in respect direction direction and the support member extending from said column, shrinkage and position retracted the hand folding the arm and an extended position in which fully stretched the arm Is adapted to move between the columns, the relative to the rotational center of the base portion, the rotation center of the joint portion of the proximal end of said arm to said first and second support members when said base portion to pivot The base joint portion of the arm is disposed so as to pivot outward from the shaft , and a distal end portion that is a free end opposite to a side attached to the column of the support member, The hand unit is placed between two sets of arms, and the hand unit is placed between the extended position and the retracted position by placing the work, and when the hand moves to the contracted position, the work is moved to the second position. It is made to position between the joint parts of the base end of a pair of arms .

According to a second aspect of the invention, in the double-arm robot of the mounting according to claim 1, when moving to the position shrinkage arm, hand portion is positioned between the joint of the proximal end, the workpiece held by the hand section The center matches the center of rotation of the pedestal.

According to a third aspect of the present invention, in the double arm type robot according to the first or second aspect , when the two arms move to the retracted position, the elbow joints are lateral to the moving direction of the hand part and are in the same direction. To protrude.

According to a fourth aspect of the present invention, in the double arm type robot according to any one of the first to third aspects, the rotation center axis of the joint portion at the base end of the arm is set in two sets from the turning center axis of the pedestal portion. The arm is eccentric in the direction perpendicular to the expansion and contraction direction of the arm, and the joints other than the joint at the base end of the arm that moves with the expansion and contraction of the two arms are moved closer to the pivot axis.

The invention according to claim 5 is the double arm type robot according to any one of claims 1 to 4 , wherein the two arms are arranged between the first support member and the second support member. .

According to a sixth aspect of the present invention, in the double arm type robot according to any one of the first to fifth aspects, the two arms are arranged symmetrically in the vertical direction between the support members without interfering with each other. It is a thing.

According to a seventh aspect of the present invention, in the double arm type robot according to any one of the first to sixth aspects, the rotation center axes of the joint portions at the base ends of the two arms are attached so as to overlap in a coaxial direction. It is a thing.

The invention according to claim 8 is the double arm type robot according to any one of claims 1 to 7 , wherein the two arms are arranged so as to face each other.

The invention according to claim 9 is the double arm type robot according to any one of claims 1 to 7 , wherein the rotation center axes of the joint portions at the base ends of the two arms do not overlap coaxially.

A tenth aspect of the present invention is the double-arm robot according to any one of the first to ninth aspects, wherein the two arms are horizontal articulated robots having a plurality of joint portions. .

As apparent from the above description, according to the double arm type robot according to claim 1, the two arms are connected to each other via the first and second supporting members which are integrally or separately movable up and down along the column. Supporting at different heights up and down, and changing the direction of the arm by turning the swivel, it is possible to expand the vertical direction of workpiece transfer, particularly the lower area, and to expand the work storage area downward. That is, the lowest position of the arm can be lowered, the height at which the double arm type robot can be handled is lowered, and the workable range of the arm can be expanded. The double-arm robot configured as described above can increase the stroke in the vertical movement direction without making the mechanism complicated and large as compared with the case where the vertical movement mechanism is configured with a multi-stage telescopic structure or the like.

  Furthermore, since the joint radius at the base end of the arm is offset so that the pivot radius of the robot is positioned inside the swivel area of the column, the length of the support member from the rotation center of the shoulder joint at the base end of the arm to the column In addition, it is possible to reduce the swivel operation area of the robot that substantially corresponds to the length of the column plus the thickness dimension. In other words, when the robot turns, it is possible to secure an area where the arm that is folded inside the column turning area can be swiveled, thus saving space in the robot operating area.

  These effects unique to the present invention, “expansion of work storage area” and “volume reduction of robot operation area”, greatly increase the utilization efficiency of expensive clean rooms and factory spaces, in other words, clean rooms and associated purification. It is possible to reduce the size of facilities and the like, and increase the degree of freedom in layout.

Furthermore, according to the present invention, since the joint portion of the base end of the arm is provided at a position away from the column (the end opposite to the column side of the support member, that is, the free end ), the upper and lower base ends In the operation of retracting the substrate (work) between the joints (shrinking operation), the work trajectory of the edge of the work is placed inside the column with respect to the turning radius so that the work and the column do not interfere with each other and the work is not broken. . Further, even if the moving member (moving mechanism) is positioned on the side of the arm in the expansion / contraction direction, the robot operation area can be saved. That is, by setting the movement trajectory of the joint portion at a position other than the base end of the arm on the side surface opposite to the side surface on which the vertical movement mechanism is arranged, the installation space can be obtained even if the vertical movement mechanism is arranged on the side surface of the arm. Does not dominate.

In addition, according to the invention described in claim 1, since it is not necessary to provide a U-shaped column for changing the height of the hand portion to each other, the protrusion to the radially outer side of the turning radius is reduced accordingly, Furthermore, the turning radius can be reduced. Moreover, since the support members are installed at different heights with respect to the column, when the arm is retracted to the retracted position, the hand portion is accommodated between the joint portion of the base end of the arm, that is, the shoulder joint portion, so Since the hand part and thus the workpiece can be arranged in the vicinity, the turning radius can be minimized. Furthermore, the weight of the hand portion can be reduced by the amount that the U-shaped column can be reduced.

According to the second aspect of the present invention, since the locus of the corner of the workpiece is minimized, the turning radius of the double arm robot cannot be further reduced, that is, a circle indicated by a two-dot chain line in FIG. The turning radius is within the range.

Further, according to the invention described in claim 3 , since the two arms are projected only on one side compared to the conventional structure in which the projecting amount when the arm is contracted is projected symmetrically to the left and right, the robot The turning radius during turning can be reduced. In addition, since the two sets of arms protrude in the same direction, the column can be arranged on the side where the elbow joint 4 does not protrude.

According to the fourth aspect of the present invention, since the hand portion can be extended and contracted through or around the rotation center of the pedestal portion serving as the turning center of the entire robot, the turning radius can be reduced.

According to the fifth aspect of the present invention, when the arm is retracted to the contracted position, the hand portion is accommodated between the joint portion at the base end of the arm, that is, the shoulder joint portion, and the hand portion and the work are arranged in the vicinity of the turning center. Therefore, it is possible to minimize the turning radius.

According to the invention described in claim 6 , the two arms can be arranged so as not to contact each other and close to each other, and a workpiece supply operation and another workpiece take-out operation can be performed. It can be done efficiently.

According to the seventh aspect of the present invention, the turning radius can be further reduced by arranging the rotation center axis of the shoulder joint portion coaxially without the two arms interfering with each other.

According to the eighth aspect of the present invention, the two arms can be arranged close to each other without being brought into contact with each other, and the workpiece supply operation and another workpiece removal operation can be efficiently performed. Can do.

According to the ninth aspect of the present invention, the rotation center axes of the joint portions at the base ends of the two sets of arms are not arranged on the same axis but are arranged vertically so that the protrusion of the arms during the turning is equivalent to the overlap. By reducing the amount, the turning radius can be reduced, and it can contribute sufficiently to reduce the space occupied by the robot.

According to the invention described in claim 10 , the horizontal articulated robot can be reduced in size and space.

  Hereinafter, the configuration of the present invention will be described in detail based on an example of an embodiment shown in the drawings.

  1 to 4 show an embodiment of a double arm type robot of the present invention. This double arm type robot 1 includes two sets of arms 2 that are rotatably connected by joint portions 3, 4, and 5 to transmit a rotational force from a rotational drive source and perform a desired operation. The rotation center axis of the joint portion 3 at the base end provided in the arm 2 is configured to be arranged vertically (or axially).

  The double arm type robot 1 includes two sets of arms 2, one arm drive type device 2 is used for supplying and the other is used for taking out, and a workpiece 9 supplying operation and another workpiece 9 extracting operation are simultaneously performed. Is possible.

  Further, the double arm type robot 1 of the present embodiment is configured such that the hand portion 8 holding the workpiece 9 by the arm 2 can be linearly moved in the direction of taking out and supplying the workpiece 9 indicated by an arrow X in the drawing. In the present specification, for convenience of explanation, the direction indicated by the arrow Z in the drawing orthogonal to the moving plane of the hand unit 8 is the vertical direction, and the direction of the arrow Z in the drawing is the upper side.

  The double arm robot 1 includes a moving member 11 (hereinafter referred to as a vertical movement mechanism 11) that moves a support member 10 (hereinafter referred to as a slider 10) provided with an arm 2 up and down. The vertical position can be adjusted. Further, the pedestal 13 of the vertical movement mechanism 11 is rotatably provided so that the direction can be changed by turning the double arm type robot 1. Furthermore, in the double arm type robot 1 of the present embodiment, the base 13 is mounted on the base 14 in the direction indicated by the arrow Y in the drawing, that is, in the direction orthogonal to the moving direction of the hand unit 8 and the vertical moving direction of the slider 10. The position of the vertical movement mechanism 11 can be adjusted.

  The two arms 2 provided in the double arm type robot 1 have, for example, a plurality of joints, that is, the double arm type robot 1 is configured as a horizontal articulated robot. The arm 2 in this embodiment includes a first arm 6 (hereinafter referred to as the upper arm 6), a second arm 7 (hereinafter referred to as the forearm 7) connected to the upper arm 6, and a work 9 connected to the forearm 7. And a hand portion 8 for holding the.

  The base end of the upper arm 6 is connected to the slider 10 via a drive shaft to constitute a rotatable joint 3 (hereinafter referred to as a shoulder joint 3). This shoulder joint 3 becomes the joint 3 at the base end of the arm 2. Further, the distal end of the upper arm 6 and the proximal end of the forearm 7 are connected via a drive shaft to constitute a rotatable joint 4 (hereinafter referred to as an elbow joint 4). Further, the tip of the forearm 7 and the hand portion 8 are connected via a drive shaft to constitute a rotatable joint portion 5 (hereinafter referred to as a hand joint portion 5).

  The arm 2 rotates the shoulder joint 3, the elbow joint 4, and the hand joint 5 by a rotation drive source (not shown), and moves the hand 8 in the workpiece take-out / supply direction. At this time, in the arm 2, due to the mechanism, the hand portion 8 faces in one direction, the extended position where the upper arm 6 and the forearm 7 are fully extended, and the contracted position where the upper arm 6 and the forearm 7 are folded. Expansion and contraction is performed so as to move in a straight line. Although this mechanism is not described in detail here, each of the joint portions 3, 4 and 5 is provided with a timing pulley, the timing pulleys are connected by a timing belt, and each of the joint portions 3, 4 and 5 rotates a predetermined amount. Conventional ones configured to do so can be utilized. It should be noted that it is desirable to increase the cleanliness of the arm 2 by applying grease pools and labyrinth seals to the joint portions 3, 4 and 5 so that the grease does not leak.

  Here, in the double arm type robot 1 of the present embodiment, the center of the work 9 held by the hand unit 8 is designed to coincide with the rotation center of the pedestal 13 when the arm 2 is retracted. Yes. A two-dot chain line circle 15 in FIG. 2 represents the locus of the corner of the workpiece 9 and represents the minimum area required around the double arm robot 1 when the pedestal 2 is rotated. .

  The two arms 2 are arranged on the slider 10 so as to face each other in the vertical direction so as not to interfere with each other. That is, the two arms 2 are arranged symmetrically so that the central axis of rotation of the shoulder joint portion 3 is coaxial. Accordingly, the two sets of arms 2 can be arranged so as not to contact each other and close to each other, and a workpiece supply operation and another workpiece take-out operation can be efficiently performed. In this configuration, it is not necessary to provide a U-shaped column for preventing contact on one arm 2 as in the prior art.

  In addition, the two arms 2 are configured such that the direction in which the elbow joint 4 protrudes to the side of the moving direction of the hand portion 8 when the arm 2 moves to the contracted position is the same direction. For this reason, both elbow joint parts 4 do not protrude symmetrically as in the prior art.

  Further, the position at which the two arms 2 are attached to the slider 10 is set such that the rotation center of the shoulder joint 3 is an eccentric position of the rotation center of the pedestal 13 and is opposite to the elbow joint 4 and orthogonal to the workpiece 9 take-out / supply direction. It is offset so that it is in the direction. Thereby, even when the hand part 8 is in the retracted position, the elbow joint part 4 and the hand part 8 protrude from the minimum area circle 15 required around the double arm type robot 1 when the pedestal 2 is rotated. I'm trying not to get it.

  The vertical movement mechanism 11 is located on the side of the work 9 in the take-out / supply direction, that is, in the expansion / contraction direction of the arm 2, and is configured to slide the slider 10 on the side surface of the column 12, for example. Conventionally, since the two arms 2 are provided symmetrically, the vertical movement mechanism 11 needs to be disposed below the two arms 2 in consideration of the installation space. On the other hand, in the double arm type robot 1 of the present invention, two pairs of arms 2 are arranged vertically symmetrically so that the elbow joint 4 protrudes in the same direction when the hand 8 moves to the contracted position. Since it does in this way, the vertical movement mechanism 11 can be arrange | positioned in the side part which the elbow joint part 4 of the arm 2 does not protrude.

  According to the double arm type robot 1 configured as described above, the hand portion 8 is expanded and contracted in the X direction in the figure by the two sets of arms 2, and if necessary, the arm 2 is moved to the arm 2 by the vertical movement mechanism 11 in the figure. It is possible to adjust the vertical position in the direction, rotate by turning the pedestal 13, and adjust the position in the Y direction in the figure to perform the work 9 supply work and the work 9 take-out work properly and efficiently. Needless to say, the space occupied by the double arm robot 1 can be reduced as follows.

  That is, the two arms 2 are arranged vertically symmetrically, the rotation center axis of the shoulder joint portion 3 at the proximal end is coaxially arranged, and the elbow joint portion 4 is further moved when the hand portion 8 moves to the contracted position. Since the projecting directions are the same, the both elbow joint portions 4 do not project symmetrically as in the prior art. Therefore, the turning radius of the double arm type robot 1 is smaller than that of the conventional art, and the space occupied by the double arm type robot can be reduced.

  Further, since the two sets of arms 2 are arranged symmetrically in the vertical direction and do not interfere with each other, it is not necessary to provide a conventional U-shaped column having a large weight on one arm 2. For this reason, the double arm type robot 1 can be miniaturized.

Further, when the pedestal 2 is rotated by offsetting the rotation center of the shoulder joint portion 3 and the rotation center of the pedestal 13, the elbow joint portion 4 or the like from the minimum region circle 15 required around the double arm type robot 1. The turning radius of the double arm type robot 1 can be reduced by preventing the hand portion 8 from protruding.

  Further, since the vertical movement mechanism 11 is located on the side of the arm 2 in the expansion / contraction direction, the lowest position of the arm 2 can be lowered, and the height at which the double arm robot 1 can be handled is lowered. The workable range of 2 can be expanded. In addition, since the slider 10 is configured to slide on the side surface of the column 12, the vertical movement mechanism 11 is configured with a multistage telescopic structure or the like even when a large stroke in the vertical movement direction is required. Compared to the above, the mechanism can be handled without increasing the complexity and size. Further, since the two sets of arms 2 are arranged in a vertically symmetrical manner, even if the vertical movement mechanism 11 is arranged on the side surface of the arm 2, it does not occupy a large installation space.

  The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited thereto, and various modifications can be made without departing from the scope of the present invention.

  For example, in the above-described embodiment, the arm 2 is of a type that expands and contracts in the X direction in the figure, but is not limited thereto. For example, the arm 2 is configured as a type having three degrees of freedom on a plane. Also good. In addition, it is not limited to arrange | positioning two sets of arms 2 up and down so that the rotation center axis | shaft of the shoulder indirect part 3 used as a base end may become coaxial.

  Further, the vertical movement mechanism 11 is not particularly limited to the one using the column 12 as in the above-described embodiment. For example, as shown in FIG. 4, the vertical movement mechanism 16 and C are configured with a conventional multistage telescopic structure or the like. It is good also as the moving member 11 which consists of shape frame 10 '. In this case, the arms 2 are respectively arranged at the upper end and the lower end of the C-shaped frame 10 ′ so as to face each other in the vertical direction so that the rotation center axis of the shoulder joint portion 3 is coaxial. The elevating mechanism 16 is configured to support the C-shaped frame 10 'so that it can be raised and lowered to obtain a predetermined stroke.

  Further, the base 13 may be fixed so as to be rotatable, and the base 14 may be omitted.

  In addition, the two sets of arms 2 are not limited to the configuration of facing each other, and the two sets of similarly configured arms 2 are arranged so that the rotation center axis of the shoulder joint portion 3 serving as the base end is coaxial. Alternatively, they may be arranged one above the other. In this case, the distance between the two sets of arms 2 in the vertical axis direction is larger than that in the face-to-face arrangement, but the components constituting the two sets of arms 2 can be shared.

  Alternatively, the two or more arms 2 may be arranged so as to be stacked one above the other so that the central axis of rotation of the shoulder joint 3 serving as the base end is coaxial. Also in this case, it is possible to increase the multiplicity of work by using a plurality of arms 2 without increasing the installation space of the robot, compared to the case where two or more arms 2 are arranged on the same plane. become.

It is a schematic perspective view which shows an example of embodiment of the double arm type robot to which this invention is applied. It is a schematic plan view of the double arm type robot. It is a schematic side view of the double arm type robot. It is a schematic front view which shows an example of other embodiment of the double arm type robot to which this invention is applied. It is a schematic plan view of a conventional double arm type robot. It is a schematic front view of the conventional double arm type robot. It is a schematic side view of the conventional double arm type robot.

Explanation of symbols

1 Double-arm robot 2 Arm 3 Shoulder joint (base joint)
4 Elbow joint (joint)
5 Hand joint (joint)
10 Slider (support member)
11 Vertical movement mechanism (moving member)
12 columns

Claims (10)

In a double arm type robot having two sets of arms that are rotatably connected by a joint portion and transmit a rotational force from a rotation driving source to cause the hand portion to perform a desired operation, the two sets of arms are joint portions at the base end thereof. with attached via, and a column for holding movably the first and second support members and said first and second support members arranged in the column in the vertical direction different heights on top of each other a moving member formed, and a moving member pivotally is mounted pedestal portion, wherein the hand unit is Cartesian to the moving direction and the support member relates to the direction extending from the column of the first and second support members The column is moved between an extended position where the arm is fully extended and a retracted position where the arm is folded and the hand is retracted. Relative to the rotational center of the base portion when the section is pivoted, together are arranged so as to pivot outward from the central axis of rotation of the joint of the proximal end of said arm in the first and second support members, The joint portion of the base end of the arm is disposed on a distal end portion that is a free end opposite to the side attached to the column of the support member, with the two sets of arms interposed therebetween, and the hand portion is A workpiece is placed and moved between the extended position and the contracted position, and when the workpiece is moved to the contracted position, the work is positioned between the proximal joints of the two sets of arms. double arm type robot, characterized in that for. 2. When the arm is moved to a contracted position, the hand portion is positioned between the joint portions at the proximal end, and the center of the work held by the hand portion coincides with the rotation center of the pedestal. The double arm robot described . 3. The double arm type robot according to claim 1, wherein when the two sets of arms move to the contracted position, the elbow joints of the arms protrude laterally in the direction of movement of the hand part and in the same direction. . The rotation center axis of the joint portion at the base end of the arm is decentered in a direction perpendicular to the expansion / contraction direction of the two sets of arms from the turning center axis of the pedestal portion, and moves along with the expansion / contraction operation of the two sets of arms. The double-arm robot according to any one of claims 1 to 3 , wherein a position of a joint portion other than the joint portion at the base end of the arm is brought close to the turning center axis . 5. The double arm robot according to claim 1, wherein the two sets of arms are arranged between the first and second support members . 6. The double arm according to any one of claims 1 to 5 , wherein the two sets of arms are arranged symmetrically in the vertical direction without interfering with each other between the first and second support members. Type robot. The double arm robot according to any one of claims 1 to 6 , wherein the two sets of arms are arranged so as to face each other . The double-arm robot according to any one of claims 1 to 7 , wherein a rotation center axis of a joint portion at a base end of the two sets of arms is attached so as to overlap in a coaxial direction . The double-arm robot according to any one of claims 1 to 7 , wherein a rotation center axis of a joint portion at a base end of the two sets of arms does not overlap coaxially . The double-arm robot according to any one of claims 1 to 9 , wherein the two sets of arms have a plurality of joint portions and are horizontal articulated robots.

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