Adjustable Robot Arm Joint for High-Capacity Substrate Handling
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Solution Overview
Problem
Existing robot arms for transporting substrates lack adjustable end effector attachments, particularly in elevation, roll, and pitch, and have inadequate connections between the wrist and forearm, limiting their versatility and capacity.
Innovation Solution
The robot arm features an adjustable joint coupling the end effector to the wrist, allowing independent pitch and roll adjustments, and a unique connection between the wrist and forearm using rotating drums and flanges, along with adjustable set screws and ball joints for enhanced positioning and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the end effector is fixed to the wrist link, then the structure is simple, but the adaptability and versatility are limited due to inability to adjust elevation, roll, and pitch
Solution Approach 1:
The end effector attachment is transformed from a fixed rigid connection to a dynamic adjustable joint. The spherical interface with adjustable set screws allows the end effector to be positioned and oriented in multiple degrees of freedom (elevation, roll, pitch), enabling adaptation to different substrate handling requirements while maintaining a relatively simple overall structure.
Solution Approach 2:
The adjustable joint is segmented into distinct functional components: a spherical interface for multi-axis movement, adjustable set screws for positioning, and a locking mechanism. This segmentation allows each component to perform its specific function independently, achieving high adaptability without proportionally increasing overall device complexity.
2Strength
If a standard connection between wrist and forearm is used, then the device complexity is low, but the strength and load capacity are insufficient for high-capacity substrate handling
Solution Approach 1:
The wrist-forearm connection merges multiple structural elements into a unified robust assembly. The flange with integrated drum, reinforced mounting features, and precision spherical interface combine to create a connection that simultaneously achieves high strength, precise positioning, and smooth rotation, suitable for heavy substrate handling applications.
Data Source
AI summary
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.