# US 2012/0067156 A1 · Robot for handling object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2012/0067156 A1 - Document ID: US20120067156A1 - Status: Published application - Kind: A1 - Application number: 13/187,709 - Filed: 2011-07-21 - Published: 2012-03-22 - Earliest claimed: 2010-09-21 - Assignees: Hon Hai Precision Industry Co., Ltd.; HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD. - Inventors: WEN-SHENG CHEN; HAI-YUAN LI - Web page: https://patentgrep.com/patent/US20120067156A1 ## CPC - B25J 9/106: {with articulated links} - Y10T 74/20305: Robotic arm - 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}) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A robot includes a support frame, a first robotic arm, a second robotic arm, a connecting member, a first connecting rod, a second connecting rod, a third connecting rod, a drive connecting rod, an action connecting rod, and an actuator. The first robotic arm is rotatably connected to the support frame. A second robotic arm is rotatably connected to the first robotic arm. A connecting member is rotatably connected to the second robotic arm. A first connecting rod and a second connecting rod connecting with each other to interconnect the connecting member and the second robotic arm. A third connecting rod is rotatably connected to the support frame and the connecting member. A drive connecting rod is rotatably connected to support frame. An action connecting rod connects the drive connecting rod to the second robotic arm. An actuator is connected to the second connecting rod. ## Claims ### Claim 1 A robot, comprising: a support frame; a first robotic arm rotatably connected to the support frame; and a second robotic arm rotatably connected to the first robotic arm; a connecting member rotatably connected to the second robotic arm; a first connecting rod and a second connecting rod connecting with each other to interconnect the connecting member and the second robotic arm; a third connecting rod rotatably connected to the support frame and the connecting member; a drive connecting rod rotatably connected to support frame; an action connecting rod connecting the drive connecting rod to the second robotic arm; an actuator connected to the second connecting rod; wherein the connecting member, the first connecting rod, the second connecting rod, and the second robotic arm cooperatively form a first parallelogram frame; the connecting member, the first robotic arm, the third connecting rod, and the support frame cooperatively form a second parallelogram frame. ### Claim 2 (depends on 1) The robot of claim 1, further comprising a first driving assembly for driving the first robotic arm to rotate, a second driving assembly for driving the drive connecting rod to rotate, wherein the first driving assembly and the second driving assembly are positioned on the support frame. ### Claim 3 (depends on 1) The robot of claim 1, wherein the connecting member comprises a shaft portion, a first connecting end, and a second connecting end, the first connecting end and the second connecting end extend from the shaft portion in two different directions; the shaft portion is rotatably connected to the second robotic arm, the first connecting end is rotatably connected to the first connecting rod, and the second connecting end is rotatably connected to the third connecting rod. ### Claim 4 (depends on 2) The robot of claim 2, further comprising a base connected to the support frame and a third driving assembly for driving the support frame to rotate relative to the base, wherein the third driving assembly is positioned between the first driving assembly and the second driving assembly. ### Claim 5 (depends on 4) The robot of claim 4, further comprising a protection housing, wherein the first driving assembly, the second driving assembly and the third driving assembly are received in the protection housing. ### Claim 6 (depends on 5) The robot of claim 5, wherein the protection housing is made of transparent materials. ### Claim 7 (depends on 5) The robot of claim 5, wherein the support frame comprises a bottom plate and a side plate extending from an edge of the bottom plate, a connecting base is fixed on the side plate, and an end of the third connecting rod is rotatably connected to the connecting base. ### Claim 8 (depends on 7) The robot of claim 7, wherein the side plate forms a first assembly portion and a second assembly portion on opposite sides of the connecting base; the first driving assembly comprises a first motor and a first speed reducing module, the first motor is fixedly positioned on the bottom plate, and the first speed reducing module is positioned on the first assembly portion; the second driving assembly comprises a second motor and a second speed reducing module, the second motor is fixedly positioned on the bottom plate, and the second speed reducing module is positioned on the second assembly portion. ### Claim 9 (depends on 1) The robot of claim 1, wherein the connecting member, the first connecting rod, the second connecting rod, the third connecting rod are positioned at one side of the second robotic arm; the drive connecting rod and the action connecting rod are positioned at the other side of the second robotic arm. ### Claim 10 (depends on 1) The robot of claim 1, wherein the actuator comprises a rotation motor driving the actuator to rotate relative to the second connecting rod. ### Claim 11 A robot, comprising: a support frame; a first robotic arm rotatably connected to the support frame; and a second robotic arm rotatably connected to the first robotic arm; a connecting member rotatably connected to the second robotic arm; a first connecting rod and a second connecting rod connecting with each other to interconnect the connecting member and the second robotic arm; a third connecting rod rotatably connected to the support frame and the connecting member; a drive connecting rod rotatably connected to support frame; an action connecting rod connecting the drive connecting rod to the second robotic arm; an actuator connected to the second connecting rod; a first driving assembly for driving the first robotic arm to rotate; and a second driving assembly for driving the second robotic arm to rotate. ### Claim 12 (depends on 11) The robot of claim 11, wherein the connecting member comprises a shaft portion, a first connecting end, and a second connecting end, the first connecting end and the second connecting end extend from the shaft portion in two different directions ; the shaft portion is rotatably connected to the second robotic arm, the first connecting end is rotatably connected to the first connecting rod, and the second connecting end is rotatably connected to the third connecting rod. ### Claim 13 (depends on 11) The robot of claim 11, further comprising a base and a third driving assembly for driving the support frame to rotate relative to the base, wherein the third driving assembly is positioned between the first driving assembly and the second driving assembly. ### Claim 14 (depends on 13) The robot of claim 13, further comprising a protection housing, wherein the first driving assembly, the second driving assembly and the third driving assembly are received in the protection housing. ### Claim 15 (depends on 14) The robot of claim 14, wherein the protection housing is made of transparent materials. ### Claim 16 (depends on 15) The robot of claim 15, wherein the support frame comprises a bottom plate and a side plate extending from an edge of the bottom plate, a connecting base is fixed on the side plate, and an end of the third connecting rod is rotatably connected to the connecting base. ### Claim 17 (depends on 16) The robot of claim 16, wherein the side plate forms a first assembly portion and a second assembly portion on opposite sides of the connecting base; the first driving assembly comprises a first motor and a first speed reducing module, the first motor is fixedly positioned on the bottom plate, and the first speed reducing module is positioned on the first assembly portion; the second driving assembly comprises a second motor and a second speed reducing module, the second motor is fixedly positioned on the bottom plate, and the second speed reducing module is positioned on the second assembly portion. ### Claim 18 (depends on 11) The robot of claim 11, wherein the connecting member, the first connecting rod, the second connecting rod, the third connecting rod are positioned at one side of the second robotic arm; the drive connecting rod and the action connecting rod are positioned at the other side of the second robotic arm. ### Claim 19 (depends on 11) The robot of claim 11, wherein the actuator comprises a rotation motor driving the actuator to rotate relative to the second connecting rod.