# US 12,539,599 B2 · Robot

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- Number: US 12,539,599 B2
- Document ID: US12539599B2
- Status: Granted
- Kind: B2
- Application number: 18/728,198
- Filed: 2022-02-24
- Published: 2025-04-03
- Granted: 2026-02-03
- Earliest claimed: 2022-02-24
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Daisuke Shiramatsu
- Web page: https://patentgrep.com/patent/US12539599B2

## CPC

- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/046: {Revolute coordinate type}
- B25J 19/0029: {arranged within the different robot elements}
- B25J 19/0083: {using gaiters}
- 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 base installed on an installation surface, a movable part rotatable around a vertical axis relative to the base, and a support mechanism that supports the movable part so as to be rotatable around the axis relative to the base, where the movable part has an inner surface extending circumferentially at the periphery of the support mechanism and facing the base, and an opening connecting an inner space across which the inner surface and the base face each other with an outer space at a specific position in the circumferential direction, and the inner surface slopes in the direction away from the base towards the opening.

## Claims

### Claim 1

A robot comprising:
a base installed on an installation surface;
a movable part rotatable around a vertical axis relative to the base; and
a support mechanism that supports the movable part in such a manner as to be rotatable around the axis relative to the base,
wherein the movable part comprises an inner surface extending in a circumferential direction around the support mechanism and facing the base and an opening that allows an inner space and an outer space to communicate with each other at a specific position in the circumferential direction, the inner space being where the inner surface and the base face each other,
wherein the inner surface is sloped toward the opening in a direction extending away from the base,
wherein the base has an annular surface that extends in the circumferential direction around the support mechanism and that faces the movable part, and
wherein the annular surface is sloped radially outward in a direction extending away from the movable part.

### Claim 2 (depends on 1)

The robot according to claim 1,
wherein the movable part comprises a tubular outer peripheral wall disposed at an outer peripheral edge of the inner surface and extending in a direction of the axis toward the base, and
wherein the outer peripheral wall is provided with the opening.

### Claim 3 (depends on 2)

The robot according to claim 2, wherein the opening is a slit extending in a height direction of the outer peripheral wall.

### Claim 4 (depends on 3)

The robot according to claim 3,
wherein the movable part comprises two housings detachably combined with each other with a gasket interposed therebetween,
wherein each housing comprises one part of the outer peripheral wall in the circumferential direction, and
wherein the slit comprises slits provided at two locations by outer peripheral walls of the two housings separated from each other by a thickness of the gasket.

### Claim 5 (depends on 4)

The robot according to claim 4, wherein the gasket has an edge that faces the inner space and that is sloped from a center between the two slits toward each slit in the direction extending away from the base along the axis.