# US 2014/0196563 A1 · Robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0196563 A1 - Document ID: US20140196563A1 - Status: Published application - Kind: A1 - Application number: 14/158,229 - Filed: 2014-01-17 - 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/US20140196563A1 ## CPC - B25J 17/02: Wrist joints - B25J 9/0024: {Wrist motors at rear part of the upper arm} - B25J 9/047: {the pivoting axis of the first arm being offset to the vertical axis} - B25J 19/0025: {Means for supplying energy to the end effector} - B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)} - 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 lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis. ## Claims ### Claim 1 A robot comprising: a lower arm; an upper arm connected to the lower arm rotatably about a first rotation axis; a wrist connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis; and an actuator attached to the upper arm, the actuator rotationally driving the wrist, wherein the actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis. ### Claim 2 (depends on 1) The robot according to claim 1, further comprising: a storage disposed on a side surface of the upper arm, the storage storing therein a cable that extends from the lower arm toward the wrist, wherein the actuator is disposed on the side surface of the upper arm on which the storage is disposed. ### Claim 3 (depends on 1) The robot according to claim 1, wherein the actuator is disposed so that the rotation axis of the actuator crosses the second rotation axis. ### Claim 4 (depends on 2) The robot according to claim 2, wherein the actuator is disposed so that the rotation axis of the actuator crosses the second rotation axis. ### Claim 5 (depends on 2) The robot according to claim 2, wherein the actuator is disposed in an area between the first rotation axis and the storage. ### Claim 6 (depends on 4) The robot according to claim 4, wherein the actuator is disposed in an area between the first rotation axis and the storage. ### Claim 7 (depends on 2) The robot according to claim 2, wherein the actuator is attached to the upper arm at a position close to the storage. ### Claim 8 (depends on 4) The robot according to claim 4, wherein the actuator is attached to the upper arm at a position close to the storage. ### Claim 9 (depends on 5) The robot according to claim 5, wherein the actuator is attached to the upper arm at a position close to the storage. ### Claim 10 (depends on 6) The robot according to claim 6, wherein the actuator is attached to the upper arm at a position close to the storage. ### Claim 11 A robot comprising: arm means for rotating about a first rotation axis; wrist means for rotating about a second rotation axis perpendicular to the first rotation axis; and drive means for outputting a driving force to rotate the wrist means, the drive means being attached to the arm means and having a rotation axis that is parallel with the first rotation axis and is perpendicular to the second rotation axis.