公开(公告)号：US4762013A

公开(公告)日：1988-08-09

申请号：US893673

申请日：1986-08-06

Applicant: Dirk A. Peter ,  Timothy H. Drury

Inventor： Dirk A. Peter ,  Timothy H. Drury

IPC: B05B13/04 ,  B05B3/18 ,  B05B15/08

CPC classification number: B05B13/041 ,  B05B13/0431 ,  B05B13/0473 ,  Y10T74/1884 ,  Y10T74/18936 ,  Y10T74/2066

Abstract: A reciprocating device for spray painting an object includes a plurality of mounting arms each having one end releasably retaining a spray painting device and an opposite end releasably coupled to one of a pair of spaced apart generally parallel vertically extending posts. The posts are attached to a driving mechanism which includes a servomotor coupled to one end of a crank arm having its other end rotatably coupled to a sliding block engaging a generally horizontally extending rod to convert the rotary motion of the motor to vertical motion of the rod. The rod is coupled to the ends of the posts and the motor is controlled as to its direction of rotation, speed of rotation and degree of rotation to define the excursion of the reciprocating movement and the speed of the movement. The assembly is mounted on rails for movement toward and away from the object to be painted by another driving mechanism.

Abstract translation: 用于喷涂物体的往复运动装置包括多个安装臂，每个安装臂的一端可释放地保持喷涂装置，并且相对端可释放地联接到一对间隔开的大致平行的垂直延伸的柱之一。 所述柱附接到驱动机构，所述驱动机构包括联接到曲柄臂的一端的伺服电动机，所述伺服电动机的另一端可旋转地联接到与大致水平延伸的杆接合的滑动块，以将所述电动机的旋转运动转换成所述杆的垂直运动 。 杆联接到柱的端部，并且电动机被控制为其旋转方向，旋转速度和旋转程度，以限定往复运动的偏移和运动的速度。 组件安装在轨道上，以便朝向和远离待被另一驱动机构涂漆的物体移动。

公开(公告)号：US4703668A

公开(公告)日：1987-11-03

申请号：US779899

申请日：1985-09-25

Applicant: Dirk A. Peter

Inventor： Dirk A. Peter

IPC: B25J17/02 ,  B25J19/00

CPC classification number: B25J19/0029 ,  B25J17/0291 ,  Y10T74/1906 ,  Y10T74/19665 ,  Y10T74/20335

Abstract: An improved wrist mechanism for a robot arm is disclosed. A first drive mechanism is provided which includes a hollow upper knuckle portion adapted for rotation about a first axis. The upper knuckle portion terminates in an angled end. A second drive mechanism is provided which includes a first hollow torque tube journalled in the upper knuckle portion for rotation relative thereto and a lower knuckle portion having an angled end journalled to the upper knuckle portion curved end for rotation about a second axis. The first torque tube and the lower knuckle portion engage each other for rotation together, and the first and second axes of rotation intersect at a first point. A third drive mechanism includes a second hollow torque tube journalled in the first torque tube for rotation relative thereto, an intermediate drive member journalled in the lower knuckle portion curved end, and an output tube journalled in the lower knuckle portion for rotation about a third axis. The output tube carries a tool mounting surface for attaching a tool thereto. The second torque tube, the intermediate drive means, and the output tube engage one another for rotation together, and the second and third axes of rotation intersect each other at a second point. The first and second points of intersection are offset from one another by a predetermined distance to provide a large radius of curvature for actuating or supply lines carried in a hollow internal passageway of the wrist mechanism to the tool mounted thereon.

Abstract translation: 公开了一种用于机器人手臂的改进的手腕机构。 提供了第一驱动机构，其包括适于围绕第一轴线旋转的空心上部转向节部分。 上关节部分终止于成角度的端部。 提供了第二驱动机构，该第二驱动机构包括一个第一中空转矩管，该第一中空转矩管轴颈连接在上部转向节中，用于相对于其转动，下部转向节部分具有一个成角度的端部，该角度端部连接到上部转向节弯曲端，用于围绕第二个轴线旋转。 第一扭矩管和下关节部分彼此接合以一起旋转，并且第一和第二轴线在第一点处相交。 第三驱动机构包括：第二中空扭矩管，其连接在第一扭矩管中，用于相对于其旋转;中间驱动构件，其支承在下转向节弯曲端中;以及输出管，其安装在下转向节中，用于绕第三轴线 。 输出管承载用于将工具附接到其上的工具安装表面。 第二扭矩管，中间驱动装置和输出管彼此接合以一起旋转，并且第二和第三旋转轴线在第二点彼此相交。 第一和第二交叉点彼此偏移预定距离，以提供用于将手腕机构的中空内部通道中承载的线路驱动或供给到安装在其上的工具的大曲率半径。