Abstract: A transfer robot includes a swivel base pivotable about a vertical axis, a hand for holding a plate-like work placed thereon, and a linear transfer mechanism supporting the hand and provided on the swivel base. The transfer mechanism is designed to move the hand forward and backward along a horizontal linear path. The hand is provided with a front stopper for checking a front edge of the work. The swivel base is provided with a work holder contacting a rear edge of the work when the hand is moved to a retracted position on the linear path.

Abstract: A massaging apparatus comprises a leg rest 8 including leg supporting members 15 and 16 which are provided with lower thigh-location grooves 15a and 16a for placing user's lower thighs and rotatably provided peripherally of the lower thigh-location grooves 15a and 16a, and airbags 27 and 28 for rotating the leg supporting members 16 and 16 peripherally of the lower thigh-location grooves 15a and 16a. The massaging apparatus also includes airbags 19 to 22 provided in the lower thigh-location grooves 15a and 16a, air supply-exhaust means 35 for operating the airbags 19 to 22 and massaging the lower thighs by the airbags 19 to 22, and an arithmetic control circuit 36 for operating and controlling the airbags 27 and 28 and the air supply-exhaust means 35.

Abstract: A two-arm transfer robot includes a swivel base arranged to swivel about a vertical swivel axis, and a pair of link arm mechanisms attached to the swivel base. These two link arm mechanisms are symmetrical in structure and function with respect to the swivel axis. A first hand member is supported by one of the link arm mechanisms for carrying a work, while a second hand member is supported by the other link arm mechanism for carrying a work. The first hand member and the second hand member are horizontally movable at the same height without interfering with each other.

Abstract: A massager including a shoulder massaging apparatus having a pair of massaging members and a first moving device for moving the pair of massaging members between a contacting position in which the pair of members contact with shoulders of a user and a retreated position in which the pair of massaging members are separated from the shoulders to massage the shoulders by disposing the pair of massaging members in the contacting position, a neck massaging apparatus having a second moving device for moving the pair of massaging members between a contacting position in which the pair of members contact with a neck of the user, and a retreated position in which the pair of massaging members are separated from the neck, to massage the neck by disposing the pair of massaging members in the contacting position, and a controlling apparatus for controlling operations of the shoulder and neck massaging apparatuses, the controlling apparatus being controllable independent, before and after, and simultaneous operations of t

Abstract: A transfer robot includes a swivel base pivotable about a vertical axis, a hand for holding a plate-like work placed thereon, and a linear transfer mechanism supporting the hand and provided on the swivel base. The transfer mechanism is designed to move the hand forward and backward along a horizontal linear path. The hand is provided with a front stopper for checking a front edge of the work. The swivel base is provided with a work holder contacting a rear edge of the work when the hand is moved to a retracted position on the linear path.

Abstract: A two-arm transfer robot includes a swivel base arranged to swivel about a vertical swivel axis, and a pair of link arm mechanisms attached to the swivel base. These two link arm mechanisms are symmetrical in structure and function with respect to the swivel axis. A first hand member is supported by one of the link arm mechanisms for carrying a work, while a second hand member is supported by the other link arm mechanism for carrying a work. The first hand member and the second hand member are horizontally movable at the same height without interfering with each other.

Abstract: A linear moving mechanism includes a guide member providing a horizontal straight transport path, a moving member movable along the transport path and a drive mechanism which drives the moving member. The drive mechanism includes a first link arm pivotable around a first vertical shaft, and a second link arm having a first end and a second end. The first vertical shaft is on the transport path or on a line parallel to the transport path. The first end is connected to the first link arm for pivotal movement of the second link arm in a horizontal plane, whereas the second end is connected to the moving member for pivotal movement of the second link arm in a horizontal plane.

Abstract: A transfer robot is provided which includes a stationary base, two coaxially rotatable shafts, two motors for driving these shafts, and an arm mechanism provided with at least one handling member for holding a workpiece. The arm mechanism includes a base link rotatable about a first axis, and a pantograph assembly carried by the base link. The pantograph assembly is made up of an outer link supported by the base link for rotation about a second axis, intermediate links supported by the outer link for rotation about third axes, an inner link supported by the intermediate links for rotation about fourth axes. The third axes are offset from the second axis toward the first axis. The distance between the first and the second axes is equal to the distance between the third and the fourth axes.

Abstract: A transfer robot includes a first pantograph assembly, a second pantograph assembly, a handling member carried by the second pantograph assembly, a rotation-transmitting mechanism for associating the first pantograph assembly with the second pantograph assembly, a stationary base member, a first shaft and a second shaft which are rotatable about a vertical axis. The transfer robot also includes first and second driving devices associated with the first shaft and the second shaft, respectively. The second pantograph assembly is offset toward the vertical axis relative to the first pantograph assembly.

Abstract: A two-armed transfer robot is provided which includes an upper arm mechanism and a lower arm mechanism which is substantially identical to the upper arm mechanism. Each arm mechanism is provided with a handling member for carrying a workpiece to be processed. Each arm mechanism is also provided with a pantograph assembly consisting of a base arm, an outer link, a pair of intermediate links and an inner link. The handling member of each arm mechanism is arranged to be spaced from a central driving shaft when the handling member is retreated closer to the shaft. The base arm of the pantograph assembly is inclined away from the handling member when the handling member is retreated closer to the shaft. At the same time, the intermediate links are also inclined away from the handling member.

Abstract: A two-armed transfer robot is provided which includes a first double-pantograph mechanism and a second double-pantograph mechanism which is substantially similar in arrangement to the first double-pantograph mechanism. Each double-pantograph mechanism includes a first pantograph assembly and a second pantograph assembly. The first pantograph assembly is provided with an inner link, a pair of first intermediate links and an outer link. The second pantograph assembly is provided with the outer link in common with the first pantograph assembly, a pair of second intermediate links and a hand-supporting link. The transfer robot also includes a stationary base member, first to fourth shafts coaxially supported by the base member for rotational movement about a vertical axis, first to fourth driving devices for actuating the first to the fourth shafts, respectively. The driving devices are fixed to the base member.

Abstract: A two-armed transfer robot includes first and second arm mechanisms each having a handling member for carrying a workpiece.First to third shafts associated with the arm mechanisms are coaxially supported by a stationary base frame for rotation about a first axis. The first arm mechanism has a pantograph assembly including a first arm, an outer link, a pair of intermediate links and an inner link. The first arm carries the outer link for rotation about a second axis. The outer link carries each intermediate link for rotation about a third axis. The third axes are spaced outward from the second axis. The second axis is located between the third axes as viewed circumferentially about the first axis. The first arm mechanism also has rotation-transmitting members and connecting members. The second arm mechanism is substantially identical to the first arm mechanism. The first and the second handling members are vertically spaced from each other to avoid interference with each other.

Abstract: A two-armed transfer robot includes a pair of double-pantograph mechanisms. These mechanisms are substantially symmetrical to each other with a vertical plane. Each double-pantograph mechanism includes a first pantograph assembly and a second pantograph assembly. The second pantograph assembly supports a handling member for carrying a workpiece to be processed. The second pantograph assembly is offset away from the vertical plane with respect to the first pantograph assembly. A rotation-transmitting mechanism is provided between the first and the second pantograph assemblies of each double-pantograph mechanism. Thus, the two pantograph assemblies of each double-pantograph mechanism are actuated in cooperation for linearly moving the handling member. The handling members of the respective double-pantograph mechanisms are vertically spaced from each other. The handling members are arranged not only to move linearly but to rotate simultaneously around a vertical axis.

Abstract: A two-armed transfer robot includes a pair of double-pantograph mechanisms. These mechanisms are substantially symmetrical to each other with a vertical plane. Each double-pantograph mechanism includes a first pantograph assembly and a second pantograph assembly. The second pantograph assembly supports a handling member for carrying a workpiece to be processed. The second pantograph assembly is offset away from the vertical plane with respect to the first pantograph assembly. A rotation-transmitting mechanism is provided between the first and the second pantograph assemblies of each double-pantograph mechanism. Thus, the two pantograph assemblies of each double-pantograph mechanism are actuated in cooperation for linearly moving the handling member. The handling members of the respective double-pantograph mechanisms are vertically spaced from each other. The handling members are arranged not only to move linearly but to rotate simultaneously around a vertical axis.