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公开(公告)号：US07464630B2
公开(公告)日：2008-12-16
申请号：US09940689
申请日：2001-08-27
申请人： Michael Knaupp , Charles D. Burnham , Mohamed A. Hashish , Robert J. Mann , Mira K. Sahney , C. David Bader , Andreas Meyer , Sean A. Vaughan , Thomas A. Pesek , Jonathan M. Stewart
发明人： Michael Knaupp , Charles D. Burnham , Mohamed A. Hashish , Robert J. Mann , Mira K. Sahney , C. David Bader , Andreas Meyer , Sean A. Vaughan , Thomas A. Pesek , Jonathan M. Stewart
CPC分类号： B25J9/026 , B24C1/045 , B24C5/04 , B26F3/004 , Y10T83/0591 , Y10T83/364 , Y10T83/8726
摘要： An apparatus for generating and manipulating a high-pressure fluid jet includes an end effector assembly coupled to a manipulator that imparts motion to the end effector. The end effector assembly includes a cutting head coupled to a source of high-pressure fluid and to a source of abrasive. A motion assembly is coupled to the cutting head via a clamp positioned around the cutting head. A nozzle body assembly is removably coupled to the cutting head assembly, which may be separated from the cutting head assembly to allow access to the orifice, without removing the cutting head assembly from the clamp. The clamp has a quick release mechanism and an alignment member. The motion assembly includes two motors coupled together to form a gimbal wrist, each motor having a horizontal axis of rotation. The two axes of rotation are perpendicular to each other, but are not necessarily aligned with the manipulator's axes of motion.
摘要翻译： 用于产生和操纵高压流体射流的装置包括耦合到操纵器的端部执行器组件，该操纵器向最终执行器施加运动。 末端执行器组件包括联接到高压流体源和磨料源的切割头。 运动组件通过位于切割头周围的夹具联接到切割头。 喷嘴主体组件可移除地联接到切割头组件，切割头组件可以与切割头组件分离以允许进入孔口，而不从夹具移除切割头组件。 夹具具有快速释放机构和对准构件。 运动组件包括耦合在一起以形成万向手腕的两个马达，每个马达具有水平的旋转轴线。 两个旋转轴线彼此垂直，但不一定与机械手的运动轴对齐。
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公开(公告)号：US07703363B2
公开(公告)日：2010-04-27
申请号：US12013956
申请日：2008-01-14
申请人： Michael Knaupp , Charles D. Burnham , Mohamed A. Hashish , Robert J. Mann , Mira K. Sahney , C. David Bader , Andreas Meyer , Sean A. Vaughan , Thomas A. Pesek , Jonathan M. Stewart
发明人： Michael Knaupp , Charles D. Burnham , Mohamed A. Hashish , Robert J. Mann , Mira K. Sahney , C. David Bader , Andreas Meyer , Sean A. Vaughan , Thomas A. Pesek , Jonathan M. Stewart
CPC分类号： B25J9/026 , B24C1/045 , B24C5/04 , B26F3/004 , Y10T83/0591 , Y10T83/364 , Y10T83/8726
摘要： An apparatus for generating and manipulating a high-pressure fluid jet includes an assembly coupled to a motion assembly that imparts motion to the assembly along one or more axes. The motion assembly includes two motors coupled together to form a gimbal wrist, each motor having an axis of rotation. The two axes of rotation of the two motors can be perpendicular to each other, but are not necessarily aligned with the manipulator's axes of motion. The high-pressure fluid assembly incorporates a swivel that can rotate about two axes which may be parallel to the two motors' axes of rotation, allowing the high-pressure tubing contained therein to follow the motion imparted by the gimbal wrist of the motion assembly.
摘要翻译： 用于产生和操纵高压流体射流的装置包括联接到运动组件的组件，该运动组件沿着一个或多个轴向组件施加运动。 运动组件包括联接在一起以形成万向手腕的两个马达，每个马达具有旋转轴线。 两个电动机的两个旋转轴线可以彼此垂直，但不一定与机械手的运动轴对齐。 高压流体组件包括可以围绕两个轴线旋转的旋转件，该轴线可以平行于两个电动机的旋转轴线，允许其中包含的高压管线遵循由运动组件的万向手腕施加的运动。
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