# US 2018/0021961 A1 · Conveying robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0021961 A1 - Document ID: US20180021961A1 - Status: Published application - Kind: A1 - Application number: 15/643,821 - Filed: 2017-07-07 - Published: 2018-01-25 - Earliest claimed: 2016-07-21 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Takeshi HASUO - Web page: https://patentgrep.com/patent/US20180021961A1 ## CPC - B25J 18/04: rotatable - B25J 9/0018: {Bases fixed on ceiling, i.e. upside down manipulators} - B25J 9/0027: {Means for extending the operation range} - B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type - B25J 15/04: with provision for the remote detachment or exchange of the head or parts thereof - B25J 18/007: {the end effector rotating around a fixed point} - B25J 18/02: extensible - B21D 43/105: {Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom} - 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}) - B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F) ## Abstract The installation space is made compact, the conveying speed of a workpiece is increased, and interference with peripheral devices is readily avoided. Provided is a conveying robot including: a pedestal; a rotating base provided in a rotatable manner about a first axis, which is substantially horizontal, relative to the pedestal; a first arm provided on the rotating base in a swivelable manner about a second axis that is orthogonal to an axis parallel to the first axis; and a second arm that is provided on the first arm in a movable manner in a longitudinal direction of the first arm and whose distal end supports a wrist unit, which is capable of holding a workpiece to be conveyed. ## Claims ### Claim 1 A conveying robot comprising: a pedestal; a rotating base provided in a rotatable manner about a first axis, which is substantially horizontal, relative to the pedestal; a first arm provided on the rotating base in a swivelable manner about a second axis that is orthogonal to an axis parallel to the first axis; and a second arm that is provided on the first arm in a movable manner along a longitudinal direction of the first arm and whose distal end supports a wrist unit, which is capable of holding a workpiece to be conveyed. ### Claim 2 (depends on 1) The conveying robot according to claim 1, wherein a movement range within which the first arm is moved about the first axis by the rotating base is disposed in or below a substantially horizontal plane including the first axis. ### Claim 3 (depends on 2) The conveying robot according to claim 2, wherein the pedestal is installed such that the wrist unit is moved substantially in the same direction as a conveying direction of the workpiece by a swiveling motion of the first arm about the first axis caused by the rotating base. ### Claim 4 (depends on 1) The conveying robot according to claim 1, wherein the wrist unit includes at least two rotational shafts that intersect each other. ### Claim 5 (depends on 1) The conveying robot according to claim 1, further comprising: a sliding arm having a band-plate-like frame and a pair of sliders disposed at opposite sides from each other with the frame interposed therebetween in a thickness direction, the pair of sliders being provided in a relatively movable manner along a longitudinal direction of the frame, wherein one of the sliders is attached to the rotational shaft at a terminal end of the wrist unit. ### Claim 6 (depends on 5) The conveying robot according to claim 5, wherein the other slider is provided with a distal-end swivel shaft that swivels a tool, which grips the workpiece, about an axis extending in a width direction of the frame. ### Claim 7 (depends on 6) The conveying robot according to claim 6, further comprising: an attaching/detaching mechanism that is disposed between the pedestal and the tool and that makes the rotating base, the first arm, the second arm, the wrist unit, the sliding arm, or the tool mechanically attachable and detachable together with an electrical wire by means of an electrical signal. ### Claim 8 (depends on 5) The conveying robot according to claim 5, further comprising: an attaching/detaching mechanism that can mechanically attach and detach the rotational shaft at the terminal end of the wrist unit to and from the sliding arm together with an electrical wire therebetween by means of an electrical signal. ### Claim 9 (depends on 5) The conveying robot according to claim 5, wherein the wrist unit includes three rotational shafts that intersect each other, and wherein the wrist unit and one of the sliders are attached to each other such that the rotational shaft at the terminal end of the wrist unit is inclined in a width direction of the sliding arm.