公开(公告)号：US5421218A

公开(公告)日：1995-06-06

申请号：US613115

申请日：1990-11-13

申请人： Hadi A. Akeel ,  Antoni J. Malarz

发明人： Hadi A. Akeel ,  Antoni J. Malarz

IPC分类号： B05B13/04 ,  B25J19/00

CPC分类号： B25J19/0079 ,  B05B13/0431 ,  B25J19/0029 ,  Y10T74/20311

摘要： 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

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

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

CPC分类号： B23K26/0884 ,  B25J17/0258 ,  B25J19/0037 ,  B25J9/041

摘要： 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.

摘要翻译： 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

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

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

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

摘要： 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.

摘要翻译： 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

申请人： Hadi A. Akeel ,  Richard A. McCann ,  James S. Hager

发明人： Hadi A. Akeel ,  Richard A. McCann ,  James S. Hager

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

CPC分类号： B05B13/0292 ,  B25J15/0608 ,  B25J9/0084 ,  B62D65/14

摘要： 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.

摘要翻译： 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

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

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

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

摘要： 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.

摘要翻译： 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

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

IPC分类号： B08B9/04

CPC分类号： B08B9/055 ,  B05B12/1481 ,  B08B9/0551

摘要： 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.

摘要翻译： 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

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

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

CPC分类号： B23K26/0884 ,  B25J19/0037 ,  B25J5/02 ,  B25J9/047

摘要： 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.

摘要翻译： 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：US06399940B1

公开(公告)日：2002-06-04

申请号：US09309398

申请日：1999-05-10

申请人： Yifeng Cui ,  Hadi A. Akeel ,  Michael A. McNeill

发明人： Yifeng Cui ,  Hadi A. Akeel ,  Michael A. McNeill

IPC分类号： G01D534

CPC分类号： G01D5/3473 ,  G01D5/34715

摘要： The present invention recognizes that the limiting structures to size reduction for an optical encoder were the laser diode/photo diode package and the photodetector with amplifier package(s). The invention includes removing the discrete components from the laser diode cover package and mounting the much smaller discrete components on a base framework. The photodetector with amplifier package of the invention have an altered photodetector/amplifier geometry including shortening the leads between them. This resulted in significant size reduction of the encoder, a reduction in required gain and resulting increase in bandwidth. The entire base framework is temperature cooled by disposing two thermo-electric coolers between the base framework and an adjacent heat sink. Such positioning of the two coolers between the base framework and it's adjacent heat sink stabilizes both the laser diode's and the photo detector's outputs. In addition this novel design stabilizes the entire footprint/base of the encoder from thermal effects, whatever their origin.

摘要翻译： 本发明认识到光学编码器的尺寸减小的限制结构是激光二极管/光电二极管封装和具有放大器封装的光电检测器。 本发明包括从激光二极管封装封装中去除分立组件，并将更小的分立组件安装在基架上。 具有本发明的放大器封装的光电检测器具有改变的光电检测器/放大器几何形状，包括缩短它们之间的引线。 这导致编码器的显着尺寸减小，所需增益的减少和带宽的增加。 整个基座框架通过在基座框架和相邻的散热器之间设置两个热电冷却器进行温度冷却。 两个冷却器在基座框架及其相邻散热器之间的这种定位稳定了激光二极管和光电检测器的输出。 此外，这种新颖的设计使编码器的整个占地面积/基数均不受热效应的影响，无论其起源如何。

公开(公告)号：US6016385A

公开(公告)日：2000-01-18

申请号：US905016

申请日：1997-08-11

申请人： Albert G. Yee ,  Hadi A. Akeel

发明人： Albert G. Yee ,  Hadi A. Akeel

IPC分类号： B25J3/04 ,  B25J9/16 ,  B25J13/02 ,  B25J13/04 ,  B25J13/08 ,  B25J15/00 ,  G05B19/427 ,  G06F3/00 ,  G06F3/01 ,  G05B15/00

CPC分类号： G06F3/012 ,  B25J13/02 ,  B25J13/04 ,  B25J13/08 ,  B25J13/084 ,  B25J15/0009 ,  B25J3/04 ,  B25J9/1689 ,  G05B19/427 ,  G06F3/011 ,  G05B2219/35448 ,  G05B2219/40131 ,  G05B2219/40133 ,  G05B2219/40134 ,  G05B2219/40136 ,  G05B2219/40146

摘要： A robot system including a robot, an operator control center and having a communication system connecting the robot and control center wherein an operator in the control center responds with natural movements to stimulus signals from the robot environment by issuing commands that control the robot. In one embodiment, the operator occupies a command chair with an exoskeletal arm that is secured to the "shoulder" (backrest) of the chair. The operator slides his hand into a glove of the invention attached to the end of the exoskeletal arm. He views the robot environment through a video screen and exerts control in response to views presented on the screen. The communication system sends signals to the operator glove in response to conditions at the robot site prompting the operator to take appropriate action.

摘要翻译： 一种机器人系统，包括机器人，操作员控制中心，并且具有连接机器人和控制中心的通信系统，其中控制中心中的操作者通过发出控制机器人的命令，自然地对来自机器人环境的刺激信号进行响应。 在一个实施例中，操作员占用具有固定到椅子的“肩部”（靠背）的外骨骼臂的命令椅。 操作者将他的手滑入附着在外骨骼末端的本发明的手套中。 他通过视频屏幕查看机器人环境，并响应屏幕上提供的视图进行控制。 通信系统响应于机器人站点处的条件向操作者手套发送信号，提示操作者采取适当的动作。

公开(公告)号：US5289947A

公开(公告)日：1994-03-01

申请号：US23885

申请日：1993-02-26

申请人： Hadi A. Akeel ,  Alexander H. Joyce

发明人： Hadi A. Akeel ,  Alexander H. Joyce

IPC分类号： B05B15/02 ,  B05D1/02 ,  B08B9/02

CPC分类号： B05B12/1481

摘要： A system is provided for the productive utilization of paint in a paint supply line, changing paint colors and cleaning paint lines 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. A manifold is fitted with various valves to selectively supply pressurized air, solvent and two or more paint colors to the supply line. A process controller controls the timing of the valves of the manifold. The system can also be used to retrofit existing color changers in an economical yet environmentally sound fashion

摘要翻译： 提供了一种系统，用于在油漆供应管线中生产利用油漆，改变油漆颜色并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终止活塞或料块来擦拭油漆 供应线的内墙。 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。 歧管配有各种阀门以选择性地向供应管线供应加压空气，溶剂和两种或更多种涂料颜色。 过程控制器控制歧管的阀的定时。 该系统也可用于以经济而环保的方式改造现有的换色器