公开(公告)号：US5421218A

公开(公告)日：1995-06-06

申请号：US613115

申请日：1990-11-13

Applicant: Hadi A. Akeel ,  Antoni J. Malarz

Inventor： Hadi A. Akeel ,  Antoni J. Malarz

IPC: B05B13/04 ,  B25J19/00

CPC classification number: B25J19/0079 ,  B05B13/0431 ,  B25J19/0029 ,  Y10T74/20311

Abstract: A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during operation of the robot.

公开(公告)号：USRE34597E

公开(公告)日：1994-05-03

申请号：US842795

申请日：1992-02-27

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: B23K26/08 ,  B23K26/10 ,  B25J9/04 ,  B25J17/02 ,  B25J19/00 ,  B23K26/00

CPC classification number: B23K26/0884 ,  B25J17/0258 ,  B25J19/0037 ,  B25J9/041

Abstract: A robot-laser system having a minimum number of mirrors for reflecting a laser beam from a fixed laser beam source to a desired location wherein the mirrors are mounted within the hollow, servo-controlled parts of the robot to move therewith. Only a single mirror is mounted within is associated controlled part to reflect the laser beam as it travels between adjacent controlled parts. The robot has a number of degrees of freedom constituted by two orthogonally related linear movements along intersecting longitudinal axes and two orthogonally related rotary joints having intersecting pivotal axes. Preferably, two of the mirrors are mounted so that the laser beam strikes and is reflected from both points of axes intersection within two of the controlled parts. In one of disclosed embodiments a mirror mounted in the base of the robot reflects the laser beam from the source to the other mirrors.

Abstract translation: 一种机器人激光系统，其具有最少数量的反射镜，用于将来自固定激光束源的激光束反射到期望位置，其中反射镜安装在机器人的空心伺服控制部分内以与其一起移动。 激光束在相邻受控部件之间行进时，只有一个反射镜被安装在相关的控制部分中以反射激光束。 机器人具有由相交的纵向轴线两个正交相关的线性运动构成的多个自由度和两个具有相交的枢轴的正交相关的旋转接头。 优选地，安装两个反射镜，使得激光束在两个受控部分内的两个轴相交点上被撞击并被反射。 在所公开的实施例中的一个中，安装在机器人的基座中的反射镜将激光束从源反射到另一个反射镜。

公开(公告)号：US5293911A

公开(公告)日：1994-03-15

申请号：US32621

申请日：1993-03-17

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: G01B7/00 ,  B05B5/16 ,  B05B12/14 ,  G01B21/00 ,  G01D5/06 ,  B05B9/047

CPC classification number: G01D5/06 ,  B05B12/14 ,  B05B5/1625 ,  B05B5/1675 ,  B05B13/0431 ,  B05B13/0452 ,  Y10T137/87981

Abstract: A method and system for transfer of fluids, such as paint, using a fluid canister carried by a transfer device, such as a robot, instead of having paint lines connected to a delivery device, such as a spray gun, carried by the robot. A novel mechanism for initially docking and then filling the canister from a fluid outlet of a pressurized source of fluid without straining the robot is provided. Also, a novel mechanism for cleaning the canister between canister fillings is provided so that paint colors can be changed without loss of productive robot time. In one embodiment, the canister is integrated with the robot. Also, a novel, non-contact sensor is provided for providing a signal to allow the metering of the paint entering or/and discharged from the canister.

Abstract translation: 使用由诸如机器人之类的转移装置承载的流体罐而不是具有连接到由机器人携带的输送装置（例如喷枪）的油漆线的流体，例如油漆的转移的方法和系统。 提供了一种用于初始对接并随后从加压流体源的流体出口填充罐而不使机器人变紧的新型机构。 此外，提供了一种用于在罐填充物之间清洁罐的新型机构，使得可以改变涂料颜色而不损失生产性机器人时间。 在一个实施例中，罐与机器人集成。 而且，提供了一种新颖的非接触传感器，用于提供信号以允许油漆进入或排出的油漆的计量。

公开(公告)号：US5286160A

公开(公告)日：1994-02-15

申请号：US850406

申请日：1992-03-11

Applicant: Hadi A. Akeel ,  Richard A. McCann ,  James S. Hager

Inventor： Hadi A. Akeel ,  Richard A. McCann ,  James S. Hager

IPC: B25J9/00 ,  B25J15/06 ,  B62D65/14

CPC classification number: B05B13/0292 ,  B25J15/0608 ,  B25J9/0084 ,  B62D65/14

Abstract: Method and system are provided wherein a process robot moves the door of a vehicle to an open position, performs a robotically controlled process within the vehicle and then moves the door back to a closed position. A separate, two-axis programmable arm holds the door in the open position. In particular, the process robot has attached thereto a tool extension whereby the process robot goes in through a window opening of the door of the vehicle, executes a door open path where the door contacts the inner panel of the door and opens the door over a magnetic holder positioned on the two-axis programmable arm below the bottom of the door. The magnet is of sufficient magnetic strength to accurately hold the door at the programmed holding position of the two-axis arm. The process robot then performs a production operation (i.e. painting, priming, sealing, etc.) within the vehicle. The process robot then inserts the tool extension into the window slot of the door and closes the door without touching the processed surfaces of the vehicle.

Abstract translation: 提供了一种方法和系统，其中过程机器人（26）将车辆（23）的门（38）移动到打开位置，在车辆（23）内执行机器人控制的过程，然后将门（38）移回 关闭位置 单独的两轴可编程臂（26）将门（38）保持在打开位置。 特别地，工艺机器人26已经附着有工具延伸部28，由此，过程机器人26通过车辆（23）的门38的窗口进入，执行门打开路径， 门（38）接触门的内板并将门打开在位于门（38）底部下方的双轴可编程臂（26）上的磁性保持器（32）上。 磁体（32）具有足够的磁强度，以将门（38）精确地保持在双轴臂（44）的编程保持位置。 然后，过程机器人（26）在车辆内执行生产操作（即涂漆，起动，密​​封等）。 然后，过程机械手（26）将工具延伸部（28）插入门的窗口（76），并且在不接触车辆（23）的处理表面的情况下关闭门（38）。

公开(公告)号：US5238029A

公开(公告)日：1993-08-24

申请号：US771436

申请日：1991-10-04

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: G01B7/00 ,  B05B5/16 ,  B05B12/14 ,  G01B21/00 ,  G01D5/06

CPC classification number: G01D5/06 ,  B05B12/14 ,  B05B5/1625 ,  B05B5/1675 ,  B05B13/0431 ,  B05B13/0452 ,  Y10T137/87981

Abstract: A method and system for transfer of fluids, such as paint, using a fluid canister carried by a transfer device, such as a robot, instead of having paint lines connected to a delivery device, such as a spray gun, carried by the robot. A novel mechanism for initially docking and then filling the canister from a fluid outlet of a pressurized source of fluid without straining the robot is provided. Also, a novel mechanism for cleaning the canister between canister fillings is provided so that paint colors can be changed without loss of productive robot time. In one embodiment, the canister is integrated with the robot. Also, a novel, non-contact sensor is provided for providing a signal to allow the metering of the paint entering or/and discharged from the canister.

Abstract translation: 使用由诸如机器人之类的转移装置承载的流体罐而不是具有连接到由机器人携带的输送装置（例如喷枪）的油漆线的流体，例如油漆的转移的方法和系统。 提供了一种用于初始对接并随后从加压流体源的流体出口填充罐而不使机器人变紧的新型机构。 此外，提供了一种用于在罐填充物之间清洁罐的新型机构，使得可以改变涂料颜色而不损失生产性机器人时间。 在一个实施例中，罐与机器人集成。 而且，提供了一种新颖的非接触传感器，用于提供信号以允许油漆进入或排出的油漆的计量。

公开(公告)号：US5221047A

公开(公告)日：1993-06-22

申请号：US744361

申请日：1991-08-13

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: B08B9/04

CPC classification number: B08B9/055 ,  B05B12/1481 ,  B08B9/0551

Abstract: Method and system are provided for cleaning a paint supply line and changing paint colors by inserting and propelling a termination piston or slug having an outer diameter which forms a sliding fit within the supply line to wipe paint off the interior walls of the supply line. Preferably, the supply line is elastic and the termination piston squeegees the paint off the interior walls. In order to more fully clean the supply line prior to changing paint colors, a predetermined amount of cleaning fluid such as a solvent is injected into the supply line behind the termination piston from a common passage of a manifold. A leading piston or slug is then inserted immediately ahead of a new paint color in the supply line. The pistons may be disposable or may be reused by recirculating them by means of shuttle assemblies and a return line. The manifold is fitted with various valves to selectively supply pressurized air, solvent and two or more paint colors to the supply line. The shuttle assemblies are also fitted with valves to shuttle the pistons between the supply and return lines. A process controller controls the timing of the valves of the manifold and the shuttle assemblies. The method and system can also be used to retrofit existing color changers in an economical yet environmentally sound fashion.

Abstract translation: 提供了方法和系统，用于通过插入和推进具有在供应管线内形成滑动配合的外径的端接活塞或块塞来从供应管线的内壁擦拭油漆，来清洁油漆供应管线和改变油漆颜色。 优选地，供应管线是弹性的，并且终止活塞将涂料从内壁上刮除。 为了在改变涂料颜色之前更充分地清洁供应管线，将预定量的清洁流体如溶剂从歧管的共同通道注入到端接活塞后面的供应管线中。 然后将一个领先的活塞或塞子插入供应管线中的新油漆颜色之前。 活塞可以是一次性的，或者可以通过穿梭组件和返回管线再循环来重复使用。 歧管配有各种阀门，以选择性地向供应管线供应加压空气，溶剂和两种或更多涂料颜色。 梭子组件还配有阀门，以便在供应和返回管线之间穿梭活塞。 过程控制器控制歧管和梭组件的阀的定时。 该方法和系统也可用于以经济且无害环境的方式改造现有的换色器。

公开(公告)号：US4638143A

公开(公告)日：1987-01-20

申请号：US694031

申请日：1985-01-23

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: B23K26/08 ,  B23K26/10 ,  B25J5/02 ,  B25J9/04 ,  B25J19/00 ,  B23K26/00

CPC classification number: B23K26/0884 ,  B25J19/0037 ,  B25J5/02 ,  B25J9/047

Abstract: A robot-laser system having at least one mirror under active program control for reflecting a laser beam from a fixed laser beam source to a desired location. Preferably, first and second mirrors are mounted on an outer arm of the robot to move therewith and rotate relative thereto. A third mirror reflects the laser beam to the first and second mirrors. A programmable servo system automatically moves each of the mirrors relative to and in synchronization with movement of the moving parts of the robot. Each of the mirror is mounted for rotation about a pair of intersecting axes so that the laser beam strikes the point of intersection. In one of the disclosed embodiments a fourth mirror reflects the laser beam from the source to the other mirrors.

Abstract translation: 一种机器人 - 激光系统，其具有在主动程序控制下的至少一个反射镜，用于将来自固定激光束源的激光束反射到期望的位置。 优选地，第一和第二反射镜安装在机器人的外臂上以随之移动并相对于其旋转。 第三反射镜将激光束反射到第一和第二反射镜。 可编程伺服系统相对于机器人的运动部件的运动相对于自动移动每个镜子自动地移动。 每个反射镜被安装成围绕一对相交轴线旋转，使得激光束撞击交点。 在所公开的实施例中的一个中，第四镜将来自源的激光束反射到其他反射镜。

公开(公告)号：US06378190B2

公开(公告)日：2002-04-30

申请号：US09734534

申请日：2000-12-11

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: B23Q1700

CPC classification number: B23P19/105 ,  A61B2034/304 ,  B25J17/0216 ,  Y10T29/49776 ,  Y10T29/4978 ,  Y10T29/49895 ,  Y10T29/53022 ,  Y10T29/53039 ,  Y10T29/53061 ,  Y10T29/53065 ,  Y10T29/53091 ,  Y10T29/53709 ,  Y10T74/20299 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335 ,  Y10T74/20341

Abstract: An apparatus and a method for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. According to the apparatus and the method a control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Two or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.

Abstract translation: 一种用于在组装操作期间对象的顺应定位的装置和方法，其中所述装置包括基板，用于安装诸如夹子或与所述基板间隔开的工具的物体的定位板和连接在所述基板之间的多个线性致动器 基座通过万向接头提供六个自由度的定位板。 根据该装置和方法，控制器连接到致动器，用于选择性地将定位板移动到相对于基板的预定位置，用于将待组装的部件与安装在定位板上的物体接触。 致动器中的两个或更多个可以机械联接以便以小于六个自由度移动定位板。 该控制响应于在组件期间通过物体施加到定位板的力，用于致动线性致动器以改变施加的力。

公开(公告)号：US6126373A

公开(公告)日：2000-10-03

申请号：US994103

申请日：1997-12-19

Applicant: Albert G. Yee ,  Hadi A. Akeel ,  Michael A. McNeill

Inventor： Albert G. Yee ,  Hadi A. Akeel ,  Michael A. McNeill

IPC: B25J13/02 ,  G06F3/00 ,  G06F3/01 ,  B25J3/00

CPC classification number: G06F3/014 ,  B25J13/02

Abstract: Methods and apparatus for controlling a remote device using a command glove system are disclosed. An apparatus for controlling a device is arranged to be at least partially supported on and operated by a human appendage. The apparatus is further arranged to transmit signals to and receive signals from the device, and includes a positioning assembly mounted on the human appendage. The positioning assembly is arranged to respond to motions of the human appendage, and also transmits position signals that are used to control the device. The apparatus includes a braking assembly which is arranged to resist motion of the positioning assembly, and responds to resistance signals received from the device. The apparatus also includes a sense effecting assembly which transforms haptic signals received from the device into sensations felt by the human appendage.

Abstract translation: 公开了使用命令手套系统来控制远程设备的方法和装置。 一种用于控制装置的装置被布置成至少部分地支撑在人类附属物上并由其操作。 该装置还被布置成向装置发送信号并从装置接收信号，并且包括安装在人的附属物上的定位组件。 定位组件被布置为响应人的附属物的运动，并且还发送用于控制装置的位置信号。 该装置包括制动组件，该制动组件被布置成抵抗定位组件的运动，并响应从该装置接收的电阻信号。 该装置还包括感测效果组件，其将从装置接收到的触觉信号转换成由人类附属物感觉到的感觉。

公开(公告)号：US5796229A

公开(公告)日：1998-08-18

申请号：US758877

申请日：1996-12-02

Applicant: Hadi A. Akeel

Inventor： Hadi A. Akeel

IPC: B23Q15/013 ,  B23Q11/00 ,  B23Q17/09 ,  B23Q17/22 ,  B24B49/16 ,  B24B55/00 ,  B25J13/00 ,  B25J19/06 ,  G05B9/02

CPC classification number: B23Q17/0966 ,  B23Q17/0976 ,  B23Q17/2233 ,  B24B49/16 ,  B24B55/00 ,  B25J11/0065 ,  B25J19/063

Abstract: An overload release apparatus for a robot supports a cutting tool such as an abrasive grinding wheel. A force sensor detects an amount of force applied to the cutting tool by a workpiece while a force release mechanism reduces the force applied to the cutting tool. The force release mechanism includes an electromagnet secured within a housing, a follower disposed within the housing which is allowed to move both linearly and angularly, and an elastic element interposed between an upper wall of the housing and the follower. During normal operation, the follower maintains contact with and is supported by a shoulder formed on an inner circumferential wall of the housing by an attractive force of an electromagnet. When a cutting tool, such as an abrasive cutting wheel, engages with an irregularity on a workpiece, an axial force and a moment are applied to the follower causing the follower to move both linearly and angularly inside the housing. The follower and the housing maintain contact through engagement between a toroidal shaped circular protrusion, formed on the follower, and a cylindrical surface disposed about a hole in the housing. Vibrations transmitted from the cutting tool to the follower are received by an elastic vibration damping medium which is interposed between the follower and the housing to thereby absorb high frequency vibrations.

Abstract translation: 用于机器人的过载释放装置支撑诸如研磨砂轮的切割工具。 力传感器检测由工件施加到切削工具的力的量，而力释放机构减小施加到切削工具的力。 力释放机构包括固定在壳体内的电磁体，设置在壳体内的随动件，其被允许线性地和有角度地移动，以及插入在壳体的上壁和从动件之间的弹性元件。 在正常操作期间，跟随器通过电磁体的吸引力与形成在壳体的内周壁上的肩部保持接触并由其支撑。 当诸如研磨切割轮的切割工具与工件上的凹凸接合时，轴向力和力矩被施加到从动件，使得从动件在壳体内线性地和有角度地移动。 从动件和壳体通过形成在从动件上的环形圆形突起与围绕壳体中的孔布置的圆柱形表面之间的接合保持接触。 从切割工具传递到从动件的振动由插入在从动件和壳体之间的弹性减震介质接收，从而吸收高频振动。