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US 10,940,594 B2Granted
Robot arm with high capacity adjustable joint
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.
Claims12
A robot arm comprising:
- a wrist;
- an end effector coupled to the wrist via an adjustable joint, where the adjustable joint comprises a rotating portion and a two point mount, where the rotating portion couples the wrist to the end effector and is configured to allow the end effector to rotate with respect to the wrist, and where the two point mount is directly attached to both the wrist and to the end effector;
- and
- a leveling adjustment at the adjustable joint, where the leveling adjustment comprises the two point mount and is configured to adjust and level the end effector relative to the wrist,
- where the rotating portion comprises a socket on one of the end effectors or the wrist, and the rotating portion further comprises a ball on the other of the end effector or the wrist, where the ball is in the socket.
2 more elements
A robot arm comprising:
- a wrist;
- an end effector coupled to the wrist via an adjustable joint, where the adjustable joint comprises a rotating portion and a multi-point mount, where the rotating portion couples the wrist to the end effector and is configured to allow the end effector to rotate with respect to the wrist, and where the multi-point mount is directly attached to both the wrist and to the end effector;
- and
- a leveling adjustment at the adjustable joint, where the leveling adjustment comprises at least a portion of the multi-point mount and is configured to adjust and level the end effector relative to the wrist,
- where the rotating portion is spaced from the leveling adjustment,
- where the rotating portion comprises a socket on the end effectors or the wrist, and the rotating portion further comprises a ball on the other of the end effector or the wrist, where the ball is in the socket.
3 more elements
Dependencies are inferred from the claim text.