# US 12,179,351 B2 · Industrial robot with retrofittable gear > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,351 B2 - Document ID: US12179351B2 - Status: Granted - Kind: B2 - Application number: 17/997,569 - Filed: 2021-05-14 - Published: 2023-07-13 - Granted: 2024-12-31 - Earliest claimed: 2020-05-21 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Tomoyuki Motokado; Toshihiko Inoue - Web page: https://patentgrep.com/patent/US12179351B2 ## CPC - B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)} - B25J 17/0283: {Three-dimensional joints} - B25J 19/0029: {arranged within the different robot elements} - B25J 19/0062: {Lubrication means} - 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 Provided is an industrial robot in which a gear for causing a work tool to rotate can easily be retrofitted to a robot without requiring work to adjust backlash. The present invention comprises: a first wrist element that, at the distal end of a front arm of a robot, is capable of rotating about a first axis following the longitudinal direction of the front arm; a second wrist element that, at the first wrist element, is capable of rotating about a second axis intersecting the first axis in a roughly perpendicular manner; a third wrist element that, at the second wrist element, is capable of rotating about a third axis extending from the intersection point of the first and second axes in a direction roughly perpendicular to the direction in which the second axis extends; a first gear that is attached to the third wrist element coaxially with the third axis and that is capable of rotating about the third axis; a second gear that is driven by rotation of the first gear due to meshing with the first gear and that is capable of rotating; and a case secured to the second wrist element. The second gear is attached to the case via a bearing so as to be capable of rotating about a fourth axis positioned at a prescribed distance relative to the third axis. ## Claims ### Claim 1 An industrial robot comprising: a first wrist element that is provided at a distal end of a front arm of the robot in a manner rotatable about a first axis following a longitudinal direction of the front arm; a second wrist element that is provided at the first wrist element in a manner rotatable about a second axis intersecting the first axis in a substantially perpendicular manner; a third wrist element that is provided at the second wrist element in a manner rotatable about a third axis extending from an intersection point of the first and second axes in a direction substantially perpendicular to a direction in which the second axis extends; a first gear that is attached to the third wrist element concentrically with the third axis and is provided rotatably about the third axis; a second gear that is provided to be rotatable with rotation of the first gear by meshing with the first gear; and a case secured to the second wrist element via a stepped portion of a fitting portion of the case, wherein the second gear is attached to the case via a bearing in a manner rotatable about a fourth axis positioned at a prescribed distance relative to the third axis. ### Claim 2 (depends on 1) The industrial robot according to claim 1, wherein the fitting portion fits with the second wrist element, and the second gear is disposed at a prescribed distance from the fitting portion, in the case. ### Claim 3 (depends on 1) The industrial robot according to claim 1, wherein the case internally houses the first gear and the second gear together with a lubricant. ### Claim 4 (depends on 1) The industrial robot according to claim 1, wherein the second gear includes a hollow portion along the fourth axis, and a work tool is attached to a tip of the second gear, the industrial robot further comprises: a linear body including at least one selected from wiring and piping connected to the work tool; a flexible conduit into which the linear body is inserted, the conduit guiding the linear body from the front arm through the hollow portion to the work tool; a first conduit attaching part disposed near the front arm; and a second conduit attaching part connected to the second gear, wherein the linear body is received in the second conduit attaching part such that the linear body extends in a direction opposite to a direction in which the second wrist element is oriented such that a tip portion of the work tool faces straight downward, one end of the conduit is attached to the first conduit attaching part, and one other end of the conduit is attached to the second conduit attaching part, the conduit extends along the first wrist element on a side of the first wrist element opposite to the tip portion of the work tool between the first conduit attaching part and the second conduit attaching part, and is disposed so as not to come in contact with a body of the robot, and at least the other end of the conduit is rotatably attached in the second conduit attaching part. ### Claim 5 (depends on 4) The industrial robot according to claim 4, wherein the second conduit attaching part is disposed closer to a side of the second wrist element than to the third wrist element. ### Claim 6 (depends on 4) The industrial robot according to claim 4, wherein the conduit is inserted into a hollow hole provided in the front arm, and the first conduit attaching part is disposed at a rear of the front arm. ### Claim 7 (depends on 1) The industrial robot according to claim 1, wherein the case includes a raised portion extending upward alongside the second wrist element.