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US 10,894,326 B2Granted
High capacity robot arm with adjustable joint at an end effector
AssigneePersimmon Technologies Corporation
InventorsMartin Hosek, Tuan Thuc Ha
Life of this patent
Estimating the term…
Abstract
A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm.
Claims17
A robot arm comprising:
- a wrist;
- an end effector coupled to the wrist by an adjustable joint, where the adjustable joint comprises a socket on the wrist and a tang of the end effector, where the tang is located in the socket, where the tang and the socket are configured to allow the end effector to rotate with respect to the wrist, and where the adjustable joint comprises a first set of fasteners configured to adjust a roll position of the end effector on the wrist and a different second set of fasteners configured to adjust a pitch position of the end effector on the wrist,
- where the first set of fasteners comprises brackets attached by adjustment screws to opposite sides of the wrist and set screws, where the adjustment screws contact the end effector and the set screws on the bracket each contact one of the adjustment screws.
A robot arm comprising:
- a wrist;
- an end effector coupled to the wrist by an adjustable joint, where the adjustable joint comprises a socket on the wrist and a tang of the end effector, where the tang is located in the socket, where the tang and the socket are configured to allow the end effector to rotate with respect to the wrist, and where the adjustable joint comprises a first set of fasteners configured to adjust a roll position of the end effector on the wrist and a different second set of fasteners configured to adjust a pitch position of the end effector on the wrist,
- where the tang comprises a generally triangular shaped projection with an open space in the generally triangular shaped projection and a pin extending into the open space, and where the socket comprises an ear located in the open space and having the pin located inside the ear.
A robot arm comprising:
- a wrist;
- an end effector configured to support at least one substrate thereon;
- and
- an adjustable joint coupling the end effector to the wrist, where the adjustable joint comprises a portion of the end effector received in a socket of the wrist, where the portion of the end effector comprises a tang, where the tang comprises a first portion comprising a projection with an open space and a second portion at the open space, where the first portion and the second portion contact different portions of the wrist, where the robot arm comprises a leveling adjustment at the adjustable joint configured to adjust and fix pitch and roll of the end effector relative to the wrist, and where the adjustable joint and the leveling adjustment are configured to independently adjust pitch and roll of the end effector on the wrist,
- where the projection comprises a generally triangular shaped projection with an open space in the generally triangular shaped projection and the second portion comprises a pin extending into the open space, and where the socket comprises an ear located in the open space and having the pin located inside the ear, where the adjustable joint comprises a shoulder adjustment screw connecting the wrist to the tang of the end effector proximate an apex of the generally triangular shaped projection, and a set screw on the wrist configured to abut the tang proximate the apex of the generally triangular shaped projection for adjusting pitch of the end effector relative to the wrist.
2 more elements
Dependencies are inferred from the claim text.