# US 9,751,215 B2 · Robot arm and robot

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- Number: US 9,751,215 B2
- Document ID: US9751215B2
- Status: Granted
- Kind: B2
- Application number: 14/480,981
- Filed: 2014-09-09
- Published: 2015-03-12
- Granted: 2017-09-05
- Earliest claimed: 2013-09-10
- Assignees: Seiko Epson Corporation
- Applicants: Seiko Epson Corporation
- Inventors: Daisuke Kirihara; Kazuto Yoshimura
- Web page: https://patentgrep.com/patent/US9751215B2

## CPC

- B25J 17/02: Wrist joints
- B25J 9/06: characterised by multi-articulated arms
- B25J 19/0025: {Means for supplying energy to the end effector}
- B25J 18/005: {having a curved shape}
- Y10S 901/15: Jointed arm
- Y10S 901/28: Joint
- Y10S 901/29: Wrist
- Y10T 29/49963: Threaded fastener
- Y10T 74/20311: including power cable or connector
- Y10T 74/20317: including electric motor
- 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})
- 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 arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover.

## Claims

### Claim 1

A robot arm comprising:
a plurality of arms that are turnably connected, wherein
the plurality of arms include a plurality of links and an actuator that turns the plurality of links,
the actuator includes:
an outer cover provided on an outer surface of the actuator;
a motor that turns the plurality of links;
a motor frame that supports the motor;
a reduction gear that decelerates rotation from the motor and outputs a torque;
a collar fixed to the reduction gear; and
a wiring member including at least one of a wire and a pipe,
at least a part of wiring member is housed between a surface including a first body section formed by the motor frame and the collar and a surface including a second body section of the outer cover, and
the first body section and the second body section are hourglass-shaped.

### Claim 2 (depends on 1)

The robot arm according to claim 1, wherein
at least a part of the wiring member is wound around a longitudinal axis of one of the plurality of arms.

### Claim 3 (depends on 1)

The robot arm according to claim 1, wherein
the wiring member is curved in a U shape.

### Claim 4 (depends on 1)

The robot arm according to claim 1, wherein
the outer cover is configured by two members in a longitudinal axis direction of one of the plurality of arms, and
the two members are turnable around the longitudinal axis of the one of the plurality of arms.

### Claim 5 (depends on 1)

A robot comprising the robot arm according to claim 1.