# US 2014/0196561 A1 · Robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0196561 A1 - Document ID: US20140196561A1 - Status: Published application - Kind: A1 - Application number: 14/155,361 - Filed: 2014-01-15 - Published: 2014-07-17 - Earliest claimed: 2013-01-17 - Assignees: Kabushiki Kaisha Yaskawa Denki - Applicants: Kabushiki Kaisha Yaskawa Denki - Inventors: Shingi TAKAHASHI; Takuya OKADA; Tomoyuki SHIRAKI - Web page: https://patentgrep.com/patent/US20140196561A1 ## CPC - B25J 18/04: rotatable - B25J 9/1035: {Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base} - B25J 17/02: Wrist joints - B25J 17/025: {mounted in series} - Y10T 74/20317: including electric motor - Y10T 74/20335: Wrist - 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 according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear. ## Claims ### Claim 1 A robot comprising: a first link; a second link that is rotatably connected to the first link; an actuator that rotationally drives the second link; and an external gear that is connected to the actuator, wherein the second link includes an internal gear that is engaged with the external gear. ### Claim 2 (depends on 1) The robot according to claim 1, further comprising a wrist section that includes the first and second links, wherein the second link is an endmost link of the wrist section. ### Claim 3 (depends on 1) The robot according to claim 1, wherein the internal gear is formed on a cylindrical shaft, and a bearing rotatably supporting the shaft is disposed inside the shaft. ### Claim 4 (depends on 2) The robot according to claim 2, wherein the internal gear is formed on a cylindrical shaft, and a bearing rotatably supporting the shaft is disposed inside the shaft. ### Claim 5 (depends on 3) The robot according to claim 3, wherein the bearing is disposed adjacent to a region including cogs of the internal gear formed thereon in a direction of a rotation axis of the internal gear. ### Claim 6 (depends on 4) The robot according to claim 4, wherein the bearing is disposed adjacent to a region including cogs of the internal gear formed thereon in a direction of a rotation axis of the internal gear. ### Claim 7 (depends on 1) The robot according to claim 1, wherein the second link includes a hollow part formed into a hollow shape. ### Claim 8 (depends on 2) The robot according to claim 2, wherein the second link includes a hollow part formed into a hollow shape. ### Claim 9 (depends on 3) The robot according to claim 3, wherein the second link includes a hollow part formed into a hollow shape. ### Claim 10 (depends on 4) The robot according to claim 4, wherein the second link includes a hollow part formed into a hollow shape. ### Claim 11 (depends on 5) The robot according to claim 5, wherein the second link includes a hollow part formed into a hollow shape. ### Claim 12 (depends on 6) The robot according to claim 6, wherein the second link includes a hollow part formed into a hollow shape. ### Claim 13 (depends on 7) The robot according to claim 7, wherein the external gear is located so as not to overlap the hollow part as viewed from a direction of a rotation axis of the external gear. ### Claim 14 (depends on 8) The robot according to claim 8, wherein the external gear is located so as not to overlap the hollow part as viewed from a direction of a rotation axis of the external gear. ### Claim 15 (depends on 9) The robot according to claim 9, wherein the external gear is located so as not to overlap the hollow part as viewed from a direction of a rotation axis of the external gear. ### Claim 16 (depends on 10) The robot according to claim 10, wherein the external gear is located so as not to overlap the hollow part as viewed from a direction of a rotation axis of the external gear. ### Claim 17 (depends on 11) The robot according to claim 11, wherein the external gear is located so as not to overlap the hollow part as viewed from a direction of a rotation axis of the external gear. ### Claim 18 (depends on 12) The robot according to claim 12, wherein the external gear is located so as not to overlap the hollow part as viewed from a direction of a rotation axis of the external gear. ### Claim 19 A robot comprising: link means; means for outputting a drive force to rotate the link means; first rotation means for rotating by the drive force; and second rotation means for rotating with rotation of the first rotation means to rotate the link means, wherein an inner diameter of the second rotation means includes an outer diameter of the first rotation means.