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公开(公告)号：US4126321A
公开(公告)日：1978-11-21
申请号：US848178
申请日：1977-11-03
CPC分类号： B05B1/306 , B05B1/3046 , B05B5/03 , B05B7/1263 , F16J15/52
摘要： Disclosed is a static seal suitable for sealing a pull rod or the like to an opening through which the rod passes into a hydraulic conduit. This static seal can be used in a wide variety of apparatus including for example spray coating guns, both electrostatic and non-electrostatic, valve assemblies and the like. Novel static sealing arrangements at each end of a non-machined extruded bellows provide packingless bellows sealing between the rod and the opening. Such a sealing arrangement is compatible with the highly desirable materials of the fluorinated hydrocarbon group, commonly known by the trade name Teflon.
摘要翻译： 公开了一种适于将拉杆等密封到开口的静态密封件，杆通过该开口进入液压管道。 该静态密封件可用于各种装置中，包括例如静电和非静电的阀组件等的喷涂枪。 在未加工的挤压波纹管的每一端的新型静态密封装置提供了在杆和开口之间的无密封波纹管密封。 这种密封装置与通常以商品名Teflon所知的氟化烃基的高度期望的材料相容。
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2.发明授权Streamlined multi-axis robot wrist assembly with partially enclosed hydraulic and electrical lines to minimize the wrist envelope 失效流线型多轴机器人手腕组合件，具有部分封闭的液压和电气线路，以尽量减少手腕信封
公开(公告)号：US4459898A
公开(公告)日：1984-07-17
申请号：US328912
申请日：1981-12-09
申请人： Martin J. Harjar , Jeffrey S. Noss
发明人： Martin J. Harjar , Jeffrey S. Noss
CPC分类号： B25J19/0025 , B25J17/025 , B25J9/08 , B25J9/148 , F01B1/02
摘要： A multi-axis robot wrist assembly having three hydraulically operated rotary actuators which are mechanically connected in series such that the output of each actuator drivingly positions the body of the succeeding actuator located outboard thereof. The hydraulic connection to any wrist actuator, except the innermost actuator, includes a series-connection of (a) internal passage(s) through actuator(s) which are located inboard of the actuator in question and (b) external line(s) between the actuator in question and actuator(s) located inboard thereof. By connecting all but the innermost wrist actuator through hydraulic paths which are at least partially internal to actuators positioned inwardly thereof, the overall envelop of the wrist assembly is reduced.Also included for the purpose of minimizing the wrist envelop is an electrical cable arrangement for connecting the electrical outputs of position transducers associated with each wrist actuator to an electrical plug or other suitable connection located on the robot arm which mounts the wrist assembly. The electrical cable, includes semicircular folded sections between each pair of adjacent actuators and partially encircling the rotatable output member interconnecting them, to permit adjacent actuators to rotate with respect to each other without damaging the electrical cable spanning them, which remains neatly folded between the actuators.The mechanical interconnection between the rotary output member of one actuator and the body of the succeeding actuator is detachable, facilitating actuator replacement in the field without replacing the entire wrist assembly.
摘要翻译： 一种具有三个液压操作的旋转致动器的多轴机器人手腕组件，其机械地串联连接，使得每个致动器的输出驱动地定位位于其外侧的后续致动器的主体。 除了最内侧的致动器之外，与任何手腕致动器的液压连接包括（a）通过致动器的内部通道的串联连接，致动器位于所述致动器的内侧，（b）外部线路， 在所述致动器和位于其内的致动器之间。 通过将最内部的腕部致动器连接到至少部分地位于其内部的致动器的内部的液压路径，使得腕部组件的整个包络被减小。 还包括用于使手腕包围最小化的电缆装置，用于将与每个手腕致动器相关联的位置传感器的电输出连接到位于安装腕部组件的机器人手臂上的电插头或其他合适的连接。 电缆包括在每对相邻致动器之间的半圆形折叠部分，并且部分地围绕将互连它们的可旋转输出构件环绕，以允许相邻致动器相对于彼此旋转，而不损坏跨过它们的电缆，其保持整齐地折叠在致动器 。 一个致动器的旋转输出构件与后续致动器的本体之间的机械互连是可拆卸的，便于在现场执行器更换，而不需要更换整个手腕组件。
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3.发明授权Apparatus for locking the wrist links of a work robot in the same respective relative positions to facilitate calibration of the wrist link position transducers thereof 失效用于将作业机器人的腕关节锁定在相同的相应位置中的装置，以便于其腕关节位置换能器的校准
公开(公告)号：US4552502A
公开(公告)日：1985-11-12
申请号：US539919
申请日：1983-10-07
申请人： Martin J. Harjar
发明人： Martin J. Harjar
CPC分类号： B25J9/0081 , B25J17/025 , B25J18/002 , B25J9/1692 , G05B2219/39027
摘要： Apparatus is disclosed for locking the wrist links of a teaching robot and a work robot such that the wrist links of the work robot occupy the same relative positions with respect to each other as the wrist links of the teaching robot, thereby enabling the magnitude of the outputs of the corresponding wrist link position transducers of the work robot wrist and the teaching robot wrist to be equalized and the robot wrists calibrated.
摘要翻译： 公开了用于锁定教学机器人和作业机器人的腕关节的装置，使得作业机器人的手腕连杆作为教导机器人的手腕连杆彼此相对于彼此占据相同的相对位置，从而使得 工作机器人手腕和教学机器人手腕的相应腕关节位置传感器的输出被均衡，机器人手腕被校准。
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4.发明授权Apparatus for calibrating link position transducers of a teaching robot and a work robot 失效用于校准教学机器人和工作机器人的连杆位置传感器的装置
公开(公告)号：US4372721A
公开(公告)日：1983-02-08
申请号：US264224
申请日：1981-05-18
申请人： Martin J. Harjar , Jeffrey S. Noss
发明人： Martin J. Harjar , Jeffrey S. Noss
CPC分类号： B25J9/0081 , B25J9/1692
摘要： A calibration fixture is disclosed for calibrating the link position transducer output signals of a teaching robot and a work robot such that when the links thereof occupy the same identical spatial position and orientation, the magnitudes of the corresponding link position transducer outputs of the work and teaching robots will be the same.
摘要翻译： 公开了一种用于校准教学机器人和作业机器人的链接位置传感器输出信号的校准夹具，使得当其链接占据相同的相同空间位置和取向时，相应的链接位置传感器输出的工作和教学的量值 机器人将一样。
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公开(公告)号：US4079894A
公开(公告)日：1978-03-21
申请号：US705338
申请日：1976-07-14
CPC分类号： B05B5/03 , B05B1/3046 , B05B5/0533
摘要： An electrostatic spray coating gun for applying coating materials which have high to moderately high electrical voltage electrical system, improved hydraulic seals, and is adaptable to apply porcelain enamel coatings in slurry form. The gun has a flexible and resilient electrode in the form of an elongated coil spring. This form of electrode substantially eliminates the likelihood of scratching or puncturing the skin of an operator or repairman, and allows the electrode to return to its proper orientation after being bumped, while exhibiting proper paint charging characteristics for use in electrostatic spray coating. The electrode is positioned forward of a flat-fan spray nozzle and is displaced from the axis of the spray by means of an extension assembly which can be angularly displaced about the axis of the spray. The gun further incorporates improved packingless bellows sealing between an opening into the coating conduit in the barrel of the gun and a control rod for a needle valve in the conduit. Novel static seals allow the use of a bellows in the form of a non-machined extruded fluorinated hydrocarbon commonly known as TFE Teflon. The packingless seals, properly designed flow passages, the position of the charging electrode, and wear resistant to be used not only for the electrostatic spraying of the common electrically conductive coating materials, but also for abrasive coating materials, such as glazes, in slurry form.
摘要翻译： 一种静电喷涂枪，用于涂覆具有高至中等高电压电气系统的涂料，改进了液压密封，并且适用于以浆液形式施用瓷釉涂层。 枪具有柔性和弹性的电极，其形式为细长的螺旋弹簧。 这种形式的电极基本上消除了操作者或修理工的皮肤刮伤或刺穿的可能性，并且允许电极在被撞击之后恢复到正确的取向，同时具有用于静电喷涂的合适的涂料充电特性。 电极位于平面风扇喷嘴的前方，并通过延伸组件从喷雾轴线移位，该延伸组件可围绕喷雾轴线成角位移。 枪还包括改进的无包装波纹管密封在枪的枪管内的涂层导管的开口和导管中的针阀的控制杆之间。 新的静态密封件允许使用通常称为TFE特氟隆的未加工的挤出氟化烃形式的波纹管。 无包装密封件，适当设计的流动通道，充电电极的位置和耐磨性不仅用于普通导电涂料的静电喷涂，而且用于浆料形式的磨料涂料如釉料 。
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公开(公告)号：US4348040A
公开(公告)日：1982-09-07
申请号：US215262
申请日：1980-12-11
申请人： Martin J. Harjar
发明人： Martin J. Harjar
CPC分类号： B05B15/00 , F16L19/0231 , Y10S285/921
摘要： A two-piece pipe fitting is disclosed for establishing a sealed connection between a pipe or fluid conduit and a connector body in the form of an electrostatic spray gun. The fitting comprises a flanged tube element and a threaded sleeve nut surrounding the tube element. The sleeve nut, when threaded into a threaded section of a bore in the connector body, forces the flange of the tube element into the bore so as to establish a sealed connection between the bore and the flanged end of the tube element.
摘要翻译： 公开了一种用于在静电喷枪形式的管道或流体管道和连接器主体之间建立密封连接的两件式管件。 配件包括法兰管元件和围绕管元件的螺纹套筒螺母。 套筒螺母当拧入连接器主体中的孔的螺纹部分时，迫使管元件的凸缘进入孔中，以便在孔与管元件的凸缘端之间建立密封连接。
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公开(公告)号：US4294411A
公开(公告)日：1981-10-13
申请号：US55020
申请日：1979-07-05
CPC分类号： B05B12/002 , B05B1/3046 , B05B5/03 , B05B7/067
摘要： An improved electrostatic spray gun, particularly of the hand-held type, is disclosed including an electrically insulative barrel and nozzle assembly, an electrically insulative air valve module mounted to the rear of the barrel assembly and externally thereof, and an electrically conductive metal handle assembly enclosing the rear end of the barrel and the air valve module. A charging electrode protrudes from the discharge orifice of the nozzle assembly. The flow of air through the barrel and nozzle assembly is controlled by a trigger which actuates the air valve. Actuation of the air valve in turn controls a needle and seat valve assembly close to the discharge orifice of the nozzle assembly to control the flow of coating material through the gun. A resistor is disposed inside the needle valve immediately upstream of the charging electrode. The elements of the electrostatic spray gun of this invention cooperate to provide a simple, lightweight, balanced gun having a high degree of reliability and repairability and clean and safe operation.
摘要翻译： 公开了一种改进的静电喷枪，特别是手持型静电喷枪，其包括电绝缘筒和喷嘴组件，安装在枪管组件的后部并在其外部的电绝缘空气阀模块，以及导电金属把手组件 封闭桶的后端和空气阀模块。 充电电极从喷嘴组件的排出孔突出。 通过枪管和喷嘴组件的空气流通过致动空气阀的触发器来控制。 空气阀的致动依次控制针头和座阀组件靠近喷嘴组件的排放孔，以控制通过喷枪的涂层材料的流动。 在紧邻充电电极上游的针阀内设置有电阻器。 本发明的静电喷枪的元件配合提供具有高度可靠性和可修复性以及清洁和安全操作的简单，重量轻的平衡枪。
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公开(公告)号：US4194696A
公开(公告)日：1980-03-25
申请号：US848042
申请日：1977-11-03
申请人： Martin J. Harjar
发明人： Martin J. Harjar
CPC分类号： B05B5/0533 , B05B1/3046 , B05B5/03
摘要： An electrostatic spray coating gun has an improved high voltage charging system which includes a flexible and resilient electrode in the form of an elongated coil spring. This form of electrode substantially eliminates the likelihood of scratching or puncturing the skin of an operator or repairman, and allows the electrode to return to its proper orientation after being bumped, while exhibiting good paint charging characteristics for use in electrostatic spray coating.
摘要翻译： 静电喷涂枪具有改进的高压充电系统，其包括呈细长螺旋弹簧形式的柔性和弹性电极。 这种形式的电极基本上消除了操作者或修理工的皮肤刮伤或刺穿的可能性，并且允许电极在被撞击之后恢复正确的取向，同时具有用于静电喷涂的良好的涂料充电特性。
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