# US 2014/0360306 A1 · Parallel robot, robot system, and assembly method for transfer system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0360306 A1 - Document ID: US20140360306A1 - Status: Published application - Kind: A1 - Application number: 14/287,166 - Filed: 2014-05-26 - Published: 2014-12-11 - Earliest claimed: 2013-06-07 - Assignees: Kabushiki Kaisha Yaskawa Denki - Applicants: Kabushiki Kaisha Yaskawa Denki - Inventors: Nobuhiko MIHARA; Takashi SANADA - Web page: https://patentgrep.com/patent/US20140360306A1 ## CPC - B25J 19/0029: {arranged within the different robot elements} - B25J 9/0051: {with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators} - B25J 9/0018: {Bases fixed on ceiling, i.e. upside down manipulators} - B25J 9/003: {having parallel kinematics} - Y10S 901/27: Arm part - Y10T 74/20311: including power cable or connector - 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}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A parallel robot includes a base casing, a plurality of arms, and an end unit. The base casing contains a plurality of actuators. Each of the arms is coupled to one of the actuators. The end unit is coupled to the plurality of arms. A communication hole for allowing piping and/or wiring to continue is formed in the base casing at its side facing the end unit. ## Claims ### Claim 1 A parallel robot, comprising: a base casing containing a plurality of actuators; a plurality of arms, each of the arms being coupled to one of the actuators; and an end unit coupled to the plurality of arms, wherein a communication hole for allowing at least one of piping and wiring to continue is formed in the base casing at a side thereof facing the end unit. ### Claim 2 (depends on 1) The parallel robot according to claim 1, wherein the communication hole is positioned in an area surrounded by the plurality of arms. ### Claim 3 (depends on 1) The parallel robot according to claim 1, wherein the communication hole for allowing at least one of the piping and the wiring to continue is formed in the base casing also at a side thereof opposite to the end unit. ### Claim 4 (depends on 2) The parallel robot according to claim 2, wherein the communication hole for allowing at least one of the piping and the wiring to continue is formed in the base casing also at a side thereof opposite to the end unit. ### Claim 5 (depends on 3) The parallel robot according to claim 3, wherein the communication hole penetrates the base casing between the side facing the end unit and the side opposite to the end unit. ### Claim 6 (depends on 4) The parallel robot according to claim 4, wherein the communication hole penetrates the base casing between the side facing the end unit and the side opposite to the end unit. ### Claim 7 (depends on 5) The parallel robot according to claim 5, wherein the communication hole is constituted by a tubular unit provided in the base casing to allow the side facing the end unit and the side opposite to the end unit to communicate with each other. ### Claim 8 (depends on 6) The parallel robot according to claim 6, wherein the communication hole is constituted by a tubular unit provided in the base casing to allow the side facing the end unit and the side opposite to the end unit to communicate with each other. ### Claim 9 (depends on 7) The parallel robot according to claim 7, wherein the tubular unit is positioned in an area surrounded by the plurality of actuators. ### Claim 10 (depends on 8) The parallel robot according to claim 8, wherein the tubular unit is positioned in an area surrounded by the plurality of actuators. ### Claim 11 (depends on 1) The parallel robot according to claim 1, wherein the end unit includes a retainer configured to retain an end effector and an actuator configured to drive the retainer for rotation. ### Claim 12 (depends on 1) A robot system, comprising: a parallel robot according to claim 1; an end effector provided on the end unit of the parallel robot; and at least one of a hose and a cable for driving the end effector, wherein at least one of the hose and the cable is routed through the communication hole to the end effector. ### Claim 13 (depends on 12) The robot system according to claim 12, wherein at least one of the hose and the cable is routed through a space surrounded by the plurality of arms to the end effector. ### Claim 14 (depends on 12) The robot system according to claim 12, further comprising: an installation member configured to retain the base casing of the parallel robot in such a manner that the end unit is positioned downward; and an external device installed on the installation member at an upper side thereof and coupled to at least one of the hose and the cable. ### Claim 15 (depends on 13) The robot system according to claim 13, further comprising: an installation member configured to retain the base casing of the parallel robot in such a manner that the end unit is positioned downward; and an external device installed on the installation member at an upper side thereof and coupled to at least one of the hose and the cable. ### Claim 16 (depends on 14) The robot system according to claim 14, further comprising: a division member configured to divide vertically surroundings of the base casing of the parallel robot; a workpiece transfer device arranged below the parallel robot; and a side wall installed around the workpiece transfer device, wherein the division member and the side wall divide a work space of the parallel robot from an external space. ### Claim 17 (depends on 15) The robot system according to claim 15, further comprising: a division member configured to divide vertically surroundings of the base casing of the parallel robot; a workpiece transfer device arranged below the parallel robot; and a side wall installed around the workpiece transfer device, wherein the division member and the side wall divide a work space of the parallel robot from an external space. ### Claim 18 An assembly method for a transfer system, the method comprising: installing a parallel robot, the parallel robot comprising: a base casing containing a plurality of actuators; a plurality of arms, each of the arms being coupled to one of the actuators; and an end unit coupled to the plurality of arms, the base casing having a communication hole for allowing at least one of piping and wiring to continue formed therein at a side thereof facing the end unit; routing at least one of a hose and a cable through the communication hole; attaching an end effector to the end unit; and coupling at least one of the hose and the cable to the end effector.