Abstract: A gripper assembly with an integrated heat shield. The integrated heat shield is in the form of a shell having one or more openings through which a gas may flow into and out of in order to create a cooling current flow. Two axially aligned and opposed cylinders, each having a main portion, are individually mounted to the shell and the shell substantially surrounds the main portion of each cylinder. Each cylinder has a piston and each piston has a piston rod. Each piston rod is coupled to a jaw and each jaw is supported by one or more guide rods slidably received in one or more sleeves mounted to the shell. The jaws are positioned substantially parallel to one another and operable to grasp and release objects of interest. Motion of the jaws is synchronized by a synchronization mechanism.

Abstract: A stabilizing fixture particularly suited for use with a robot end effector and holding relatively flexible components while they are cut, trimmed, or otherwise machined by the end effector. The fixture includes a chassis with wheels and a plurality of upwardly projecting posts that support an upper frame. The upper frame defines a platform for supporting, aligning, and stabilizing a flexible workpiece. The frame includes a two L-shaped brackets to support the workpiece and one or more vacuum-powered suction cups for tightly gripping and holding the workpiece against the brackets.

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 end effector for use with a robot and capable of removing cases from a stack of cases and emptying the selected case of substantially flat, folded articles. The end effector includes a main body designed to be coupled to the robot. A case gripper is mounted on the bottom of the main body. A flattened articles gripper is also coupled to the main body and includes a vacuum chamber with two blades. A dunnage gripper is mounted on one of the sides of the main body. In use, the case gripper picks a full case from a pallet of cases and moves that case to an unloading station. There, the end effector is rotated so that the blades of the flattened articles gripper can be inserted into the case. With the blades inserted, vacuum is supplied to the flattened articles gripper to hold the articles against the gripper. Then, the end effector with the articles is moved to a regripping station where the articles are temporarily placed and regripped.

Abstract: A paint supply system for a painting robot, the system includes a paint spraying device mounted on a tool holder at the outer end of a robot arm and having an adapter unit for mounting on the robot arm close to or in direct contact with the paint spraying device, first and second supply lines for supplying first and second painting fluids to the adapter, and a third supply line for supplying a cleansing fluid to the adapter. The adapter includes a first inlet duct connected to the first supply line, a second inlet duct connected to the second supply line, a third inlet duct connected to the third supply line, an outlet duct connected to the paint spraying device, first valve means for connecting the first inlet duct to the outlet duct, second valve means for connecting the second inlet duct to the outlet duct, and third valve means for connecting the third inlet duct to the outlet duct.

Abstract: The present invention provides a robotic dispensing apparatus comprising a gear pump operably coupled to a rotatable element positioned along the sixth axis of a multi-axis robot such that the gear pump is driven by the multi-axis robot. In one embodiment of the present invention, a sixth axis motor of the multi-axis robot drives the rotatable element and a dispense valve communicates with the gear pump for receiving and dispensing viscous material from the gear pump. Preferably, a flexible coupling interconnects the gear pump and the rotatable element and a manifold and piping system cooperate to deliver the viscous material pumped by the gear pump to the dispense valve.

Abstract: A method and system for multiple pass welding that includes a welding torch mounted on the arm of an industrial robot. The robot has a data processor with a memory and the coordinates of a first path are inputted to the data processor and are stored in the memory. The welding torch is then moved along the first path by the robot to make a first weld of a workpiece (or workpieces). A second weld of the workpiece is made by moving the welding torch along a second path which is offset from the first by a predetermined positional increment. The positional increment is established by positional coordinate increments which are inputted to the data processor by a robot user before or after the first weld has been made. The user may also input a weld torch angle increment to change the angle of the welding torch with respect to the first path. Subsequent welding passes are made by moving the welding torch along additional paths which are also offset from the first path.

Abstract: The present invention provides a rotary union interconnecting a material supply line and a dispense valve. Preferably, the rotary union comprises a rotatable member having a mounting end coupled to a rotating means and a dispense end including a conduit formed therein for dispensing a preselected material. According to the invention, a housing is rotatably supported about the rotatable member such that the rotatable member is rotatable relative to the housing. The housing includes an opening formed therein for communicating with the conduit and a material supply line. Even more preferably, the rotating means comprises a rotatable face plate operably coupled to a sixth axis motor of a multi-axis robot.

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.