# US 9,003,919 B2 · Ceiling-mounted scara robot

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- Number: US 9,003,919 B2
- Document ID: US9003919B2
- Status: Granted
- Kind: B2
- Application number: 13/819,126
- Filed: 2010-09-03
- Published: 2013-06-20
- Granted: 2015-04-14
- Earliest claimed: 2010-09-03
- Assignees: Mitsubishi Electric Corporation
- Applicants: Yoshitaka Kumagai; Mitsuhiro Fukatsu
- Inventors: Yoshitaka Kumagai; Mitsuhiro Fukatsu
- Web page: https://patentgrep.com/patent/US9003919B2

## CPC

- B25J 18/00: Arms
- B25J 9/0018: {Bases fixed on ceiling, i.e. upside down manipulators}
- B25J 9/042: {comprising an articulated arm}
- B25J 9/044: {with forearm providing vertical linear movement}
- Y10S 901/14: Arm movement, spatial
- Y10S 901/23: Electric motor
- Y10S 901/27: Arm part
- Y10T 74/20305: Robotic arm
- Y10T 74/2036: Pair of power 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})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A ceiling-mounted SCARA robot includes: a base, a first arm that is connected to the lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft within a horizontal plane, a second arm that is connected to the lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft within a horizontal plane, a working shaft that is mounted on the second arm, a second articulated shaft motor and a second articulated shaft reducer for driving the second arm, and a working-shaft rotation motor that rotates the working shaft. The second articulated shaft reducer is provided on the second coupling part, and the working-shaft rotation motor is arranged directly below the second articulated shaft reducer.

## Claims

### Claim 1

A ceiling-mounted SCARA robot comprising:
a base;
a first arm that is connected to a lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft as a center of pivotal movement within a horizontal plane;
a second arm that is connected to a lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft as a center of pivotal movement within a horizontal plane, wherein the first arm, the second arm and the second coupling part are designed such that the second arm is capable of being accommodated below the first arm;
a working shaft that is mounted on the second arm;
a second articulated shaft motor and a second articulated shaft reducer for driving the second arm; and
a working-shaft rotation motor that rotates the working shaft, wherein
the second articulated shaft reducer is provided on the second coupling part,
the working-shaft rotation motor is arranged directly below the second articulated shaft reducer, and
wherein at least a part of the working-shaft rotation motor is arranged inside of the second coupling part.

### Claim 2

A ceiling-mounted SCARA robot comprising:
a base;
a first arm that is connected to a lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft as a center of pivotal movement within a horizontal plane;
a second arm that is connected to a lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft as a center of pivotal movement within a horizontal plane, wherein the first arm, the second arm and the second coupling part are designed such that the second arm is capable of being accommodated below the first arm;
a working shaft that is mounted on the second arm;
a second articulated shaft motor and a second articulated shaft reducer for driving the second arm; and
a working-shaft rotation motor that rotates the working shaft; and
a working-shaft vertical-movement motor that moves the working shaft vertically, wherein
the second articulated shaft reducer is provided on the second coupling part,
the working-shaft rotation motor is arranged directly below the second articulated shaft reducer, and wherein
an accommodating space that is arranged to be in parallel to the second coupling part in a horizontal direction is provided in the second arm, and
the working-shaft vertical-movement motor is arranged in a position at a side near the second coupling part in the accommodating space of the second arm.

### Claim 3

A ceiling-mounted SCARA robot comprising:
a base;
a first arm that is connected to a lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft as a center of pivotal movement within a horizontal plane;
a second arm that is connected to a lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft as a center of pivotal movement within a horizontal plane, wherein the first arm, the second arm and the second coupling part are designed such that the second arm is capable of being accommodated below the first arm;
a working shaft that is mounted on the second arm;
a second articulated shaft motor and a second articulated shaft reducer for driving the second arm; and
a working-shaft rotation motor that rotates the working shaft, wherein
the second articulated shaft reducer is provided on the second coupling part,
the working-shaft rotation motor is arranged directly below the second articulated shaft reducer, and wherein
an accommodating space that is arranged to be in parallel to the second coupling part in a horizontal direction is provided in the first arm, and
the second articulated shaft motor is arranged in the accommodating space of the first arm.

### Claim 4 (depends on 3)

The ceiling-mounted SCARA robot according to claim 3, further comprising a working-shaft vertical-movement motor that moves the working shaft vertically,
wherein at a time of an accommodated state where the second arm is accommodated below the first arm, the working-shaft vertical-movement motor is positioned directly below the second articulated shaft motor.