High capacity robot arm

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.

What is claimed is: 
     
         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.