# US 2014/0360307 A1 · Robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0360307 A1 - Document ID: US20140360307A1 - Status: Published application - Kind: A1 - Application number: 14/067,965 - Filed: 2013-10-31 - Published: 2014-12-11 - Earliest claimed: 2013-06-10 - Assignees: Kabushiki Kaisha Yaskawa Denki - Applicants: Kabushiki Kaisha Yaskawa Denki - Inventors: Shingi TAKAHASHI; Takuya OKADA; Tomoyuki SHIRAKI - Web page: https://patentgrep.com/patent/US20140360307A1 ## CPC - B25J 9/103: {with backlash-preventing means} - B25J 17/02: Wrist joints - F16H 55/18: Special devices for taking up backlash {(for gears having orbital motion F16H1/2863)} - Y10S 901/25: Gearing - Y10T 74/20329: Joint between elements - 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}) - F16H: GEARING - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other. ## Claims ### Claim 1 A robot comprising: a first link; a second link connected to the first link in a rotatable manner; an actuator that drives the second link in a rotatable manner; a scissors gear that includes a main gear and a sub gear and outputs driving force from the actuator to the second link; and a support part that is attached to the first link to support the scissors gear in a rotatable manner, and the scissors gear being arranged adjacent to the support part in a direction of a rotational axis of the scissors gear, and including a spring that applies biasing force to the main gear and the sub gear in rotational directions different from each other. ### Claim 2 (depends on 1) The robot according to claim 1, wherein the main gear is formed on a first end side of a first shaft, the first shaft connects the second link on a second end side thereof and is supported by the support part at a position closer to the second end side than a portion on which the main gear is formed, and the spring is connected to the first shaft and arranged adjacent to the second link side with respect to the support part. ### Claim 3 (depends on 2) The robot according to claim 2, wherein the sub gear is formed on a first end side of a second shaft, and the spring is connected to the second end side of the first shaft and a second end side of the second shaft, and applies biasing force to the main gear and the sub gear in rotational directions different from each other. ### Claim 4 (depends on 1) The robot according to claim 1, further comprising: an external gear connected to the actuator, wherein each of the main gear and the sub gear is an internal gear meshed with the external gear. ### Claim 5 (depends on 2) The robot according to claim 2, further comprising: an external gear connected to the actuator, wherein each of the main gear and the sub gear is an internal gear meshed with the external gear. ### Claim 6 (depends on 3) The robot according to claim 3, further comprising: an external gear connected to the actuator, wherein each of the main gear and the sub gear is an internal gear meshed with the external gear. ### Claim 7 (depends on 4) The robot according to claim 4, wherein the internal gear that constitutes the main gear is formed in the first shaft formed in a cylindrical shape, and the support part is arranged inside the first shaft. ### Claim 8 (depends on 5) The robot according to claim 5, wherein the internal gear that constitutes the main gear is formed in the first shaft formed in a cylindrical shape, and the support part is arranged inside the first shaft. ### Claim 9 (depends on 6) The robot according to claim 6, wherein the internal gear that constitutes the main gear is formed in the first shaft formed in a cylindrical shape, and the support part is arranged inside the first shaft. ### Claim 10 (depends on 1) The robot according to claim 1, further comprising: a first external gear connected to the actuator, wherein each of the main gear and the sub gear is a second external gear meshed with the first external gear. ### Claim 11 (depends on 2) The robot according to claim 2, further comprising: a first external gear connected to the actuator, wherein each of the main gear and the sub gear is a second external gear meshed with the first external gear. ### Claim 12 (depends on 3) The robot according to claim 3, further comprising: a first external gear connected to the actuator, wherein each of the main gear and the sub gear is a second external gear meshed with the first external gear. ### Claim 13 (depends on 10) The robot according to claim 10, wherein the second external gear that constitutes the main gear is formed in the first shaft formed in a cylindrical shape, and the support part is arranged outside the first shaft. ### Claim 14 (depends on 11) The robot according to claim 11, wherein the second external gear that constitutes the main gear is formed in the first shaft formed in a cylindrical shape, and the support part is arranged outside the first shaft. ### Claim 15 (depends on 12) The robot according to claim 12, wherein the second external gear that constitutes the main gear is formed in the first shaft formed in a cylindrical shape, and the support part is arranged outside the first shaft. ### Claim 16 (depends on 1) The robot according to claim 1, wherein the spring includes a first end portion and a second end portion, and the spring is formed in such a manner that the first end portion is connected to the sub gear, the spring is wound by a predetermined number of turns from the first end portion along the circumference of the scissors gear, and then the second end portion is connected to the main gear. ### Claim 17 (depends on 2) The robot according to claim 2, wherein the spring includes a first end portion and a second end portion, and the spring is formed in such a manner that the first end portion is connected to the sub gear, the spring is wound by a predetermined number of turns from the first end portion along the circumference of the scissors gear, and then the second end portion is connected to the main gear. ### Claim 18 (depends on 1) The robot according to claim 1, further comprising: a wrist having a plurality of links, wherein the second link is a distal-end link in the wrist. ### Claim 19 (depends on 2) The robot according to claim 2, further comprising: a wrist having a plurality of links, wherein the second link is a distal-end link in the wrist. ### Claim 20 A robot comprising: link means; output means for outputting driving force for rotating the link means; first rotating means for rotating by the driving force to transmit the driving force to the link means; second rotating means for rotating by the driving force to transmit the driving force to the link means; support means for supporting the first and second rotating means in a rotatable manner; and means for applying biasing force to the first and second rotating means in rotational directions different from each other, the applying means being arranged adjacent to the support means in a direction of a rotational axis of the first and second rotating means.