# US 11,077,549 B2 · Robot and robot system

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- Number: US 11,077,549 B2
- Document ID: US11077549B2
- Status: Granted
- Kind: B2
- Application number: 16/180,212
- Filed: 2018-11-05
- Published: 2019-05-09
- Granted: 2021-08-03
- Earliest claimed: 2017-11-06
- Assignees: Seiko Epson Corporation
- Applicants: Seiko Epson Corporation
- Inventors: Yoshinobu Goto; Takuya Owa
- Web page: https://patentgrep.com/patent/US11077549B2

## CPC

- B25J 9/047: {the pivoting axis of the first arm being offset to the vertical axis}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)}
- B25J 9/104: {with cables, chains or ribbons}
- B25J 9/12: electric
- B25J 13/088: {with position, velocity or acceleration sensors}
- B25J 18/005: {having a curved shape}
- B25J 19/0029: {arranged within the different robot elements}
- 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})

## Abstract

A robot includes a robot main body including a base and a robot arm, a drive unit that drives the robot arm, and a wiring electrically connected to the drive unit, in which the robot arm includes a casing including a main body and a cover detachably connected to the main body, the drive unit includes a first pulley, a second pulley having a hollow hole, a belt connecting the first pulley and the second pulley, and a motor that generates a driving force for driving the robot arm and rotates the first pulley or the second pulley by the driving force, the wiring includes an insertion area inserted through the hollow hole of the second pulley and an intersection area intersecting with the belt as seen in a direction along a rotation axis of the second pulley.

## Claims

### Claim 1

A robot comprising:
a robot main body that includes a base and a robot arm that is rotatable with respect to the base;
a drive unit that is disposed inside the robot arm and drives the robot arm; and
a wiring that is disposed inside the robot arm and electrically connected to the drive unit,
wherein the robot arm includes a casing including a main body and a cover detachably connected to the main body,
the drive unit includes a first pulley, a second pulley having a hollow hole, a belt connecting the first pulley and the second pulley, and a motor that generates a driving force for driving the robot arm and rotates the first pulley or the second pulley by the driving force,
the wiring includes an insertion area inserted through the hollow hole of the second pulley and an intersection area intersecting with the belt as seen in a direction along a rotation axis of the second pulley,
the intersection area is positioned between the belt and the main body, and
the main body is provided with a first fixture that fixes the wiring and is disposed inside the belt and a second fixture that fixes the wiring and is disposed outside the belt, as seen in the direction along a rotation axis of the second pulley.

### Claim 2 (depends on 1)

The robot according to claim 1,
wherein the drive unit includes a reduction gear having a through-hole through which the wiring is inserted,
the first pulley is attached to the motor,
the second pulley is attached to the reduction gear so that the hollow hole and the through-hole communicate with each other, and
the motor and the reduction gear are positioned on a side of the main body with respect to the belt.

### Claim 3 (depends on 1)

The robot according to claim 1,
wherein the robot arm includes an A arm including the casing, a B arm connected to the A arm and rotating with respect to the A arm, a drive unit for the A arm which serves as the drive unit and drives the A arm, and a drive unit for the B arm which serves as the drive unit and drives the B arm, and
the drive unit for the A arm and the drive unit for the B arm are provided on the A arm.

### Claim 4 (depends on 1)

The robot according to claim 1, further comprising:
a control board and a power supply board that supplies electric power to the control board, which are provided in the robot main body.

### Claim 5

A robot comprising:
a robot main body that includes a base and a robot arm that is rotatable with respect to the base;
a drive unit that is disposed inside the robot arm and drives the robot arm;
a wiring that is disposed inside the robot arm and electrically connected to the drive unit; and
a drive board that is disposed inside the robot arm and drives the drive unit,
wherein the robot arm includes a casing including a main body and a cover detachably connected to the main body,
the drive unit includes a first pulley, a second pulley having a hollow hole, a belt connecting the first pulley and the second pulley, and a motor that generates a driving force for driving the robot arm and rotates the first pulley or the second pulley by the driving force,
the wiring includes an insertion area inserted through the hollow hole of the second pulley and an intersection area intersecting with the belt as seen in a direction along a rotation axis of the second pulley,
the intersection area is positioned between the belt and the main body,
the drive unit is attached to the main body, and
the drive board is attached to the cover.

### Claim 6

A robot system, comprising:
a robot that includes
a robot main body that includes a base and a robot arm rotating with respect to the base,
a drive unit that is disposed inside the robot arm and drives the robot arm, and
a wiring that is disposed inside the robot arm and electrically connected to the drive unit; and
a control device that is provided separately from the robot and includes a control board and a power supply board for supplying electric power to the control board,
wherein the robot arm includes a casing including a main body and a cover detachably connected to the main body,
the drive unit includes a first pulley, a second pulley having a hollow hole, a belt connecting the first pulley and the second pulley, and a motor that generates a driving force for driving the robot arm and rotates the first pulley or the second pulley by the driving force,
the wiring includes an insertion area inserted through the hollow hole of the second pulley and an intersection fixture intersecting with the belt as seen in a direction along a rotation axis of the second pulley,
the intersection area is positioned between the belt and the main body, and
the main body is provided with a first fixture which serves as the fixture and is disposed inside the belt and a second fixture which serves as the fixture and is disposed outside the belt, as seen in the direction along a rotation axis of the second pulley.

### Claim 7 (depends on 6)

The robot system according to claim 6,
wherein the drive unit includes a reduction gear having a through-hole through which the wiring is inserted,
the first pulley is attached to the motor,
the second pulley is attached to the reduction gear so that the hollow hole and the through-hole communicate with each other, and
the motor and the reduction gear are positioned on a side of the main body with respect to the belt.

### Claim 8 (depends on 6)

The robot system according to claim 6,
wherein the robot arm includes an A arm including the casing, a B arm connected to the A arm and rotating with respect to the A arm, a drive unit for the A arm which serves as the drive unit and drives the A arm, and a drive unit for the B arm which serves as the drive unit and drives the B arm, and
the drive unit for the A arm and the drive unit for the B arm are provided on the A arm.

### Claim 9 (depends on 6)

The robot system according to claim 6, further comprising:
a drive board that is disposed inside the robot arm and drives the drive unit.

### Claim 10 (depends on 9)

The robot system according to claim 9,
wherein the drive unit is attached to the main body, and
the drive board is attached to the cover.