# US 10,118,290 B2 · Support structure for an upper half body of a robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,290 B2 - Document ID: US10118290B2 - Status: Granted - Kind: B2 - Application number: 15/512,256 - Filed: 2015-09-18 - Published: 2017-10-05 - Granted: 2018-11-06 - Earliest claimed: 2014-09-19 - Assignees: Thk Co., Ltd. - Applicants: Thk Co., Ltd. - Inventors: Masaki Nagatsuka - Web page: https://patentgrep.com/patent/US10118290B2 ## CPC - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - G06N 3/008: based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract A support structure for an upper half body of a robot includes: a columnar backbone pan extending in an upward direction from a haunch bone part of a robot; an upper half body support part connected to the backbone part; and a driving unit on which an arm unit of the robot is rotatably mounted and which has an accommodation space receiving at least a predetermined actuator for driving said arm unit to rotate from the outside of the arm unit, wherein the driving unit is connected to the upper half body support part and the haunch bone part at a first connection point on the upper half body support part which is away a predetermined distance from a connection point of the upper half body support part and the backbone part to a side thereof, and at a second connection point on the haunch bone part, respectively. ## Claims ### Claim 1 A support structure for an upper half body of a robot, comprising: a columnar backbone part extending in an upward direction from a haunch bone part of said robot; an upper half body support part connected to said backbone part and extending from said backbone part to a side of said robot; and a driving unit on which an arm unit of said robot is rotatably mounted and which is provided at least with a predetermined actuator for driving said arm unit to rotate from the outside of said arm unit; wherein said driving unit is connected to said upper half body support part and said haunch bone part at a first connection point on said upper half body support part which is away a predetermined distance from a connection point of said upper half body support part and said backbone part to a side thereof, and at a second connection point on said haunch bone part, respectively. ### Claim 2 (depends on 1) The support structure for an upper half body of a robot, as set forth in claim 1 wherein said backbone part is a columnar member having a predetermined thickness; said upper half body support part is a member formed into a plate shape which is thinner than said predetermined thickness; said driving unit includes: a first base member with said arm unit rotatably mounted thereon; and a second base member arranged at a location opposed to said first base member and fixedly secured to said first member to form an accommodation space for receiving at least said predetermined actuator between said first base member and said second base member; said predetermined actuator is fixedly secured to at least either one of said first base member and said second base member in a state of being received in said accommodation space; and said driving unit is connected with said upper half body support part and said haunch bone part, with said first base member and said second base member of said driving unit extending between said first connection point and said second connection point. ### Claim 3 (depends on 2) The support structure for an upper half body of a robot as set forth in claim 2, wherein said upper half body support part has a front upper half body support part located at the front side of said robot, and a rear upper half body support part located at the rear side of said robot, across said backbone part; and said first base member and said second base member are connected at their front sides with said front upper half body support part, and said first base member and said second base member are connected at their rear sides with said rear upper half body support part, with said driving unit being sandwiched between said front upper half body support part and said rear upper half body support part. ### Claim 4 (depends on 2) The support structure for an upper half body of a robot as set forth in claim 2, wherein the connection of said driving unit with said upper half body support part and said haunch bone part is removable when said arm unit is mounted on said first base member. ### Claim 5 (depends on 1) The support structure for an upper half body of a robot as set forth in claim 1, wherein said driving unit is provided, as said predetermined actuator, with an arm unit pitching actuator for driving said arm unit to rotate in a pitch direction. ### Claim 6 (depends on 5) The support structure for an upper half body of a robot as set forth in claim 5, wherein said driving unit is further provided, as said predetermined actuator, with a haunch bone part driving actuator for driving the upper half body of said robot to rotate with respect to said haunch bone part.