Abstract: An operating unit for a programmable industrial robot. The operating unit includes a body and a display screen mounted on the body. The display screen is operable to present graphical information items, is capable of producing a display screen output, and an operator may make selections of the items presented on the display screen. A joystick ball is mounted on the body for controlling the robot during a programming phase during which the robot is taught to follow an operating path. The joystick ball has a joystick mounting means and is capable of producing a joystick ball output. A pointing device is removably mounted to the joystick mounting means and is capable of being used to make selections on the display screen. The display screen and the joystick ball are both capable of being coupled in data transmission relation to a processing unit wherein the screen output, the joystick ball output, or both the screen output and joystick output may be processed.

Abstract: An integrated powder collection system for paint spray booths is provided for paint spray booths having a floor through which overspray and air are exhausted. The powder collection system includes at least two sloped surfaces disposed beneath the floor for defining at least one longitudinal slot therebetween. At least one longitudinal air slide is disposed beneath the at least one slot, and a pulsed vacuum source is connected to a filter cassette which is disposed beneath the floor and laterally to a side of a space defined vertically below the at least one longitudinal slot.

Abstract: A harness assembly including a first spiral conduit wound in a helical shape and a conduit guide. The harness assembly is designed for use with an industrial robot which has a arm and a wrist, where the arm is capable of having an end effector mounted on or connected to it. The first end of the spiral conduit is capable of being coupled to a first signal transmission point positioned on the robot arm, and the second end of the first spiral conduit is capable of being coupled to the end effector when the end effector is mounted on the robot wrist. The conduit guide is mounted on the wrist and includes a core and a first disk. In operation, the spiral conduit is capable of being arranged so that a portion of it is positioned on the first disk and wrapped around a portion of the core.

Abstract: In accordance with the teachings of the present invention, a robot bumper device coupled to a mobile robot for immobilizing the robot when a predetermined external force is sensed and a robotic bumper system for controlling at least one mobile robot located within an assembly area is provided. The robot bumper device includes at least one constant force spring member having a first portion attached to an outer surface of a mobile robot for providing constant absorption of an external force resulting from a collision between the bumper device and an unsuspecting object. A pressure sensitive electronic switch is mounted to a first surface of a substantially planar plastic member that extends across a predetermined length of the mobile robot.

Abstract: A robot control system that includes a controller that is capable of controlling the current supplied to a current-controlled tool mounted on the robot. The controller is capable of accepting operator inputs and the robot is coupled in data communication to the controller. A tool which is controlled in at least one manner by electric current is mounted on the arm of the robot. The controller is coupled in data communication to a current source and is programmed to control the current supplied to the tool. The controller is also capable of receiving inputs from an operator and is capable of ramping the current supplied to the tool from an initial current level to an operator selected current level over an operator defined and inputted selected time. The controller can also ramp the current supplied to the tool from the selected current level to a third current level over a second operator selected and inputted time period.

Abstract: A paint spray booth utilizes an exhaust system extending longitudinally along the path of the articles to be painted having an adjustment mechanism for varying the width of the exhaust inlets extending longitudinally for substantially the entire length of the air exhaust element and a downwardly slanting bottom surface of the exhaust elements for yielding powder overspray of uniform density to a filter media. Adjusting the width of the longitudinally extending exhaust inlet spreads an adjustable pressure drop over the slot opening. Adjusting the velocity of air flow through the exhaust elements substantially avoids powder paint build-up at the exhaust inlet. The slanted configuration of the exhaust elements, in conjunction with the adjustment mechanism, improves uniformity of filter life by providing a substantially even distribution of powder overspray to a filter media.

Abstract: A compliant end effector particularly suited for use with a robotic arm for accurately cutting and trimming the edges of a hot molded sheet of flexible plastic. The compliant end effector includes a mount secured to the robotic arm, an adjustment assembly pivotally attached to the mount, a guide that engages the plastic sheet near the area to be cut and trimmed, a tool for cutting and trimming the flexible sheet, and a pneumatic cylinder that biases the guide into engagement with the flexible sheet and presses the sheet against a rigid surface. The pneumatic cylinder moves the guide and tool through a range of positions as the robotic arm moves along a single path of travel down the length of the flexible sheet. The guide remains in contact with the flexible sheet despite warping or other imperfections in the stabilizing surface. The tool is fixed a predetermined distance from the guide to ensure that the plastic sheet is cut and trimmed within specific tolerances.

Abstract: A method and apparatus for reliably placing the spring retainer and keys on a valve stem, to lock the valve spring in place. The apparatus includes a linear actuator, having an extended position and a retracted position, and a connector for connecting the linear actuator to a carrying member, such as a robotic arm. A gripper is attached to the linear actuator, adapted to grip the spring retainer. The keys reside in a retainer-key kit, held therein by gravity, and are presented to the gripper in a predetermined position by a positioning device. As the linear actuator is extended from its retracted position to its extended position, the gripper engages the retainer-key kit. The retainer-key kit is then withdrawn from the positioning device by retracting the linear actuator. The gripper and retainer-key kit are then transported to the cylinder head so that the retainer-key kit is substantially positioned for application to the valve stem.

Abstract: An end effector for use with an industrial robot and capable of holding a stack of substantially flat, folded articles. The end effector includes a body which defines a vacuum chamber. The vacuum chamber has a port which may be coupled to a vacuum source and an opening or vacuum face which is positioned in spaced relation relative to the port. Sealing material is mounted on a portion of the peripheral edge of the vacuum face, and a first blade is mounted on the peripheral edge of the vacuum face adjacent to the strip of sealing material. A second blade is mounted on a third portion of the peripheral edge of the vacuum face in axial opposition to the first blade so that the two blades face one another. A second strip of sealing material is mounted on a fourth portion of the peripheral edge of the vacuum face. The first and second blades and sealing material ensure a proper vacuum seal between the end effector and the articles of interest.

Abstract: A guide member for guiding a wire from a nozzle of a gas metal-arc welding device. The guide member includes a ceramic body portion having a generally centrally located opening for receiving and guiding an electrode wire therethrough. A plurality of gas diffusion openings are provided in the ceramic body portion radially outward from the centrally located opening. The guide member allows an extended wire stick out and a narrower tapered nozzle while protecting the nozzle and contact tip from spatter and heat and thereby enhances welding performance.

Abstract: A plenum for a paint spray booth including at least one improved plenum module having a pair of side walls and a pair of end walls each comprised of a truss adapted to cooperate with a plurality of stilts thereby independently supporting the plenum above the paint application zone of a paint spray booth. The improved plenum module permits the spacing between plenum stilts to be increased to at least sixty feet thereby decreasing construction costs, increasing the uniformity of airflow from the plenum and decreasing the potential for air leaks from and into the plenum. The improved plenum modules are adapted to be coupled in series and in parallel to provide plenum modules of varying lengths and widths.

Abstract: A paint spray booth with capability to separately exhaust clean powder paint overspray by a clean overspray upper exhaust system at floor level, and the additional exhaust air and paint overspray passing through a grated floor and conveyor system is exhausted by a lower exhaust system. The upper and lower exhaust systems each include a pair of channels having a first and a second sloping surface with a slot disposed at a lower portion thereof. The slot opens into an exhaust duct which extends longitudinally along the paint spray booth. The upper exhaust channels are disposed beneath a surface of a body to be painted, while the lower exhaust channels are disposed beneath a grated floor and the upper exhaust channels.

Abstract: An air distribution apparatus in a paint spray booth plenum for increasing the uniformity of down draft velocities from the plenum to the spray booth paint application zone. The increased uniformity of down draft velocities correspondingly increases paint transfer efficiency and minimizes paint overspray buildup in the paint application zone. The improved air distribution apparatus includes airflow regulating elements and flow directing members which cooperate to distribute airflow substantially evenly across the plenum floor and into the paint application area. In the preferred embodiment, a plurality of perforated plates and guide vanes are used to control the rate and direction of airflow in the plenum. The invention also provides for the adjustment of the rate and direction of flow through the use of slidable plates and adjustable guide vanes.

Abstract: A powder hopper with an internal air assist is provided with at least one vertically extending tube having a plurality of air outlet ports which are utilized in agitating the powder within a powder chamber. According to a first embodiment, the vertically extending tubes are rotated about a central axis. According to a second embodiment, the vertically extending tube is divided up into a plurality of zones which are sequentially provided with pulses of compressed air, thereby providing an equivalent air agitation rotating action without the requirement of rotating the vertically extending tube.