Abstract: A method and apparatus for insulating a spray liquid source from the high tension voltage of an electrostatic spray gun (13) when using an electrically conductive spray liquid. A spray liquid supply line (12) couples the spray liquid source to the spray gun and comprises an insulating device (14) in the form of a closed vessel (16; 26; 36) containing an electrically non-conductive liquid which is not mixable with the spray liquid and which has a density different from that of the spray liquid. A sprinkler nozzle (21; 31; 41) is arranged to disintegrate the spray liquid into separated drops which are transported through the insulating liquid (17; 27; 35) in the closed vessel at least by the influence of the difference in gravity acting on the two liquids. The separated spray liquid drops form a discontinuation of the electrical lead through which the high tension voltage propagates upstream through the supply line.

Abstract: A device for insulating the spray liquid source from the high tension voltage of an electrostatic spray system when using an electrically conductive spray liquid. The device comprises a spray gun (13), a supply line (12) which connects the spray gun (13) to a spray liquid reservoir (10) and which includes a vessel (16) containing a barrier forming liquid (17) of low electrical conductivity and a density other than that of the spray liquid. The vessel (16), which is substantially non-conductive is connected at its inlet end (24) to ground potential and at its outlet end (19) to the same high potential as the spray gun (13). An electrode means (22; 25) is provided in the vessel (16) to expose the spray liquid passing through the vessel (16) to at least one intermediate potential for controlling the tension gradient in the barrier forming liquid by limiting and controlling the charging of the spray liquid.

Abstract: A controller for a manipulator or robot having a plurality of power-driven, signal-controlled links interconnected to permit relative motion therebetween to define plural degrees of freedom. The links of the manipulator are controlled to perform movements corresponding to stored sequences of command positions. The controller stores, for each link, a sequence of command positions and is operable to add a further command position or a further sequence of command positions to the original sequence of command positions. In a non-synchronous mode of operation (where the movements of the robot are not sychronized with movement of the workpiece) or in a synchronous mode, a further command position is added to the end of the original sequence by producing a number of additional command positions and storing the additional command positions after the original sequence. The last of the additional command positions is substantially equal to the further command position.

Abstract: A control system for a work robot having a number of articulated links including a controller for driving the links under closed loop servo control in response to a sequence of recorded link position commands read from a robot program memory. The sequence of link position commands is produced in a training session by an operator manually manipulating a robot simulator, or training arm, through a series of work-performing motions which are to be duplicated by the work robot. The sequence of link position commands produced by manual manipulation of the training arm during the training session is stored in the robot program memory. When the work robot is subsequently driven under closed loop servo control in response to the program stored in the robot memory, the controller also executes auxiliary functions, such as movement of a work piece operated upon by the work robot, in response to auxiliary function commands which are also stored in the robot program memory.

Abstract: A method and apparatus for real time editing, or modifying, of a stored program of prerecorded ON and OFF commands for a bistable workpiece-treating device mounted for movement by a robot. The editing occurs while both the ON/OFF program and a program of prerecorded robot motion commands which drive the robot are being processed by the robot controller, with the ON/OFF commands, as edited, being output to the bistable device for execution along with the robot commands, as well as stored in the memory as substitute commands for subsequent re-execution.