HIGH CAPACITY ROBOT ARM
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.
1 . A robot arm comprising:
a wrist;
an end effector coupled to the wrist via an adjustable joint; and
a leveling adjustment at the adjustable joint.
2 . The robot arm of claim 1 in which the adjustable joint includes a socket on the wrist and an end effector tang received in the socket.
3 . The robot arm of claim 2 further including brackets fastening the end effector to the wrist with adjustable set screws varying the orientation of the end effector with respect to the brackets.
4 . The robot arm of claim 2 in which the socket includes an ear and the tang includes a pin received in the ear.
5 . The robot arm of claim 2 further including a set screw in the wrist abutting the tang for adjusting the pitch of the end effector.
6 . The robot arm of claim I in which the adjustable joint includes a socket on the end effector receiving a ball of the wrist.
7 . The robot arm of claim 6 further including a sleeve between the ball and the socket.
8 . The robot arm of claim 7 in which the sleeve is in a plurality of sections.
9 . The robot arm of claim 7 in which the sleeve has a shoulder seated on the socket periphery.
10 . The robot arm of claim 6 further including a set screw in the wrist abutting the end effector for leveling the end effector.
11 . The robot arm of claim 6 in which the socket is split and tightenable about the ball.
12 . The robot arm of claim 1 further including an extension between the end effector and the wrist.
13 . The robot arm of claim 12 in which there are two spaced end effectors secured to two spaced extensions.
14 . The robot arm of claim 12 in which the end effectors include a stationary block secured to the extension and an adjustable block adjustably secured to the stationary block.
15 . The robot arm of claim 14 in the leveling adjustment includes a bore in the adjustable block receiving a fastener from the stationary block and a spring between the adjustable block and the stationary block.
16 . The robot arm of claim 15 further including pins of the stationary block received in bores in the adjustable block.
17 . A robot arm comprising:
a wrist;
an end effector; and
an adjustable joint coupling the end effector to the wrist, the adjustable joint including a member received in a socket.
18 . The robot arm of claim 17 in which the member is a ball.
19 . The robot arm of claim 17 in which the member is a tang.
20 . A robot arm comprising:
a wrist;
an end effector coupled to the wrist via an adjustable joint;
a leveling adjustment at the adjustable joint;
a forearm with a drive for the wrist; and
an upper flange and a lower flange coupling the wrist to the forearm drive.