# US 11,992,940 B2 · Articulated robot

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- Number: US 11,992,940 B2
- Document ID: US11992940B2
- Status: Granted
- Kind: B2
- Application number: 18/249,441
- Filed: 2021-11-15
- Published: 2023-11-30
- Granted: 2024-05-28
- Earliest claimed: 2020-11-20
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Tomoya Konishi
- Web page: https://patentgrep.com/patent/US11992940B2

## CPC

- B25J 19/0004: {Braking devices (brakes in general F16D)}
- B25J 9/044: {with forearm providing vertical linear movement}
- B25J 19/0029: {arranged within the different robot elements}
- B25J 19/0075: {Means for protecting the manipulator from its environment or vice versa}
- 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

An articulated robot including a base, an arm supported so as to be rotatable about a predetermined axis with respect to the base and rotatable within a rotational angle range smaller than ±180°, and a hollow shaft that is disposed outside the rotational angle range and stands upward from the base to be parallel to the axis. A cable body is wired from the base to the arm through an inside of the shaft. The articulated robot includes a stopper embedded in a side surface of the shaft, the stopper against which a side surface of the arm rotated beyond the rotational angle range abuts.

## Claims

### Claim 1

An articulated robot, comprising:
a base;
an arm supported so as to be rotatable about a predetermined axis with respect to the base and rotatable within a rotational angle range smaller than ±180°; and
a hollow shaft that is disposed outside the rotational angle range and stands upward from the base to be parallel to the axis,
wherein a cable body is wired from the base to the arm through an inside of the shaft, and
wherein the articulated robot further comprises a stopper embedded in a side surface of the shaft, the stopper against which a side surface of the arm rotated beyond the rotational angle range abuts.

### Claim 2 (depends on 1)

The articulated robot according to claim 1, wherein the stopper is detachably attached to the side surface of the shaft.

### Claim 3 (depends on 2)

The articulated robot according to claim 2,
wherein an opening that communicates with an inside space of the shaft is formed in the side surface of the shaft, and
the stopper is attached to a position of the shaft to close the opening.

### Claim 4 (depends on 3)

The articulated robot according to claim 3, further comprising a sealing member that is interposed between the stopper and the shaft and seals an entire periphery of the opening.

### Claim 5 (depends on 1)

The articulated robot according to claim 1, wherein one of a side surface of the arm and a surface of the stopper has a convex shape that protrudes outwardly at a middle position in a direction along the axis, and an other of the side surface and the surface has a flat shape without recesses or protrusions in the direction along the axis.