# US 2014/0196562 A1 · Robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0196562 A1 - Document ID: US20140196562A1 - Status: Published application - Kind: A1 - Application number: 14/155,364 - 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/US20140196562A1 ## CPC - B25J 17/02: Wrist joints - B25J 9/0024: {Wrist motors at rear part of the upper arm} - B25J 9/104: {with cables, chains or ribbons} - B25J 18/04: rotatable - Y10T 74/20323: including flaccid drive element - 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 includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body. ## Claims ### Claim 1 A robot comprising: a first wrist connected to an arm; a second wrist connected to the first wrist rotatably around a first rotation axis; a third wrist connected to the second wrist rotatably around a second rotation axis perpendicular to the first rotation axis; a first actuator configured to rotationally drive the second wrist; a first rotating body configured to transmit a drive force of the first actuator to the second wrist; a second actuator configured to rotationally drive the third wrist; and a second rotating body configured to transmit a drive force of the second actuator to the third wrist, wherein the first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body. ### Claim 2 (depends on 1) The robot according to claim 1, further comprising: a first belt wound around the first rotating body and configured to transmit the drive force of the first actuator to the first rotating body; and a second belt wound around the second rotating body and configured to transmit the drive force of the second actuator to the second rotating body, wherein the first belt is disposed inside the second belt as viewed from a direction of the rotation axis of the first rotating body. ### Claim 3 (depends on 1) The robot according to claim 1, further comprising: an intermediate rotating body disposed between the first actuator and the first rotating body and configured to change the drive force of the first actuator and transmit the changed drive force to the first rotating body. ### Claim 4 (depends on 2) The robot according to claim 2, further comprising: an intermediate rotating body disposed between the first actuator and the first rotating body and configured to change the drive force of the first actuator and transmit the changed drive force to the first rotating body. ### Claim 5 (depends on 1) The robot according to claim 1, further comprising: a first driving-side rotating body disposed on an output shaft of the first actuator and configured to output the drive force of the first actuator to the first rotating body; and a second driving-side rotating body disposed on an output shaft of the second actuator and configured to output the drive force of the second actuator to the second rotating body, wherein the first driving-side rotating body and the second driving-side rotating body are arranged in such a manner that positions of the first and second driving-side rotating bodies are within a range of the second rotating body when viewed from the direction perpendicular to the rotation axis of the second rotating body. ### Claim 6 (depends on 2) The robot according to claim 2, further comprising: a first driving-side rotating body disposed on an output shaft of the first actuator and configured to output the drive force of the first actuator to the first rotating body; and a second driving-side rotating body disposed on an output shaft of the second actuator and configured to output the drive force of the second actuator to the second rotating body, wherein the first driving-side rotating body and the second driving-side rotating body are arranged in such a manner that positions of the first and second driving-side rotating bodies are within a range of the second rotating body when viewed from the direction perpendicular to the rotation axis of the second rotating body. ### Claim 7 (depends on 3) The robot according to claim 3, further comprising: a first driving-side rotating body disposed on an output shaft of the first actuator and configured to output the drive force of the first actuator to the first rotating body; and a second driving-side rotating body disposed on an output shaft of the second actuator and configured to output the drive force of the second actuator to the second rotating body, wherein the first driving-side rotating body and the second driving-side rotating body are arranged in such a manner that positions of the first and second driving-side rotating bodies are within a range of the second rotating body when viewed from the direction perpendicular to the rotation axis of the second rotating body. ### Claim 8 (depends on 4) The robot according to claim 4, further comprising: a first driving-side rotating body disposed on an output shaft of the first actuator and configured to output the drive force of the first actuator to the first rotating body; and a second driving-side rotating body disposed on an output shaft of the second actuator and configured to output the drive force of the second actuator to the second rotating body, wherein the first driving-side rotating body and the second driving-side rotating body are arranged in such a manner that positions of the first and second driving-side rotating bodies are within a range of the second rotating body when viewed from the direction perpendicular to the rotation axis of the second rotating body. ### Claim 9 (depends on 1) The robot according to claim 1, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 10 (depends on 2) The robot according to claim 2, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 11 (depends on 3) The robot according to claim 3, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 12 (depends on 4) The robot according to claim 4, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 13 (depends on 5) The robot according to claim 5, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 14 (depends on 6) The robot according to claim 6, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 15 (depends on 7) The robot according to claim 7, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 16 (depends on 8) The robot according to claim 8, wherein each of the first rotating body and the second rotating body includes a pulley. ### Claim 17 A robot, comprising: first wrist means; second wrist means for rotating around a first rotation axis; third wrist means for rotating around a second rotation axis perpendicular to the first rotation axis; first output means for outputting a drive force for rotating the second wrist means; first transmission means for transmitting the drive force of the first output means to the second wrist means; second output means for outputting a drive force for rotating the third wrist means; and second transmission means for transmitting the drive force of the second output means to the third wrist means, the second transmission means having a rotation axis that is parallel with a rotation axis of the first transmission means and is apart from the rotation axis of the first transmission means by a predetermined distance.