Abstract: A robot comprising a base, an arm assembly and first and second spaced robot parts are mounted on the robot so that the first robot part pivots with respect to the second robot part about a pivotal axis and a ribbon of flexible cables are connected to and extend between the robot parts in a direction substantially normal to and towards the pivotal axis to provide a ribbon of cables which have an effective length between the robot parts which does not change during pivoting. The cables are clamped in spaced apart positions by a directing mechanism and a retainer mechanism so that the effective length does not change and the cables do not rub each other during pivoting. The directing mechanism comprises a weldment including a pair of interconnected holders which direct the cables from an axis parallel to the pivotal axis to the normal direction towards the pivotal axis.

Abstract: A robot including a balancing mechanism with a spring assembly which exerts a variable force to compensate for the gravitational moment transferred to the mechanism during relative rotation between an arm assembly of the robot and the rest of the robot about a pivotal axis. A spring of the spring assembly is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection that pivotally supports the arm assembly on the rest of the robot for movement about the pivotal axis. The spring assembly has a longitudinal axis which extends towards and is substantially perpendicular to the pivotal axis. The moment arm is connected to the arm assembly at an attachment point offset from the pivotal axis. A first sprocket wheel is mounted on a drive gear of the arm assembly to rotate therewith and a second sprocket wheel is pivotally mounted at the free end of the spring assembly.

Abstract: A robot, including an arm assembly and an energy-storing balancing mechanism which is connected to the arm assembly at a pair of attachment points so that the arm assembly is substantially balanced within a quadrant of arm assembly motion on both sides of a neutral position of the arm assembly relative to the rest of the robot. The balancing mechanism includes a spring assembly having a longitudinal axis which extends towards and is substantially perpendicular to a pivotal axis about which the arm assembly pivots from its neutral position. The spring assembly is preferably connected by a pair of internally slotted links for slidably and pivotally connecting the spring assembly at the attachment points. Each attachment point is only effective (i.e. experiences the pulling force of the spring assembly) during a single quadrant of arm assembly motion.

Abstract: 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 its 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 the disclosed embodiments a mirror mounted in the base of the robot reflects the laser beam from the source to the other mirrors.

Abstract: A method and system are provided for automatically determining the position and attitude of a three-dimensional body at a work station by utilizing three cameras each of which generates a non-overlapping plane of image data, including a single target point of the body without the use of structured light. The locations of the target points are determined and processed within a programmed computer together with calibration data relating to the expected position of the body in the work station to provide data relating to the position and attitude of the body with respect to the work station. The resultant data relating to the position and attitude of the body are subsequently transformed into a first set of offset data relating to the difference between the actual and expected positions of the body. The first set of offset data is then transformed into a second set of offset data in the coordinate system of a peripheral device such as a robot, programmable controller, numerically controlled machine, etc.

Abstract: 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.

Abstract: A spray paint system including a paint booth and paint robot apparatus movable within the paint booth and movably supported outside the paint booth is disclosed. The side walls of the paint booth have elongated openings formed adjacent the bottom of the paint booth to allow gooseneck-shaped saddle structures to extend therethrough. The saddle structures support paint robots on their respective elongated rail mechanisms. The side walls of the paint booth, together with the rail mechanisms defines stationary labyrinthian seals which isolate paint hoses, cables, bearings and ways from the booth environment. Each robot is mounted on its saddle structure by a hollow robot carriage. The robot carriage and saddle structures house the various cables, hoses and paint lines of their respective robot. Drive assemblies including racks mounted on their respective rail mechanisms drive the saddle structures along the elongated openings.

Abstract: An electronic circuit adapted to receive conditioned force signals from a three-axes load cell mounted on the arm of a robot and provide a stop signal for use by a controller of the robot. The circuit compares the sum of the absolute value of the forces with a variable reference signal. A force trip relay and a masking relay are connected in parallel to provide the stop signal when both the resulting sum is greater in value than the reference signal and the robot is in an operating condition in which high forces do not normally occur.