Abstract: A multi-line electronic media barrier or safety system for preventing liquid contamination of air lines, including a capacitance proximity sensor for detecting a foreign undesirable medium such as paint in an air line. When foreign media is detected, a main air valve is closed which in turn closes valves connected in the air lines, thereby blocking passage of air or liquid and protecting pneumatic control apparatus. The media barrier is especially designed for use with automated or robotic paint spray devices utilized in industry.

Abstract: The present invention relates to an indicator for monitoring the position of a piston rod of a linear actuator utilized in robotic mechanisms. The indicator includes a precision toothed chain which is pulled by an extending piston rod and drawn in by a coil spring to maintain tension in the chain and a non-slipping relation with a sprocket wheel driven by the chain. A shaft encoder mounted on a shaft of the sprocket wheel delivers digitized quantities representative of the degree of rotation of the shaft and sprocket wheel and of the linear position of an actuating, linearly-movable end of the piston rod.

Abstract: An electric robot having a base unit which is rotatable about a vertical first axis is provided with a horizontal second axis to which is pivotally mounted a vertical arm. At the other end of the vertical arm, a horizontal arm is mounted which has at the end thereof a wrist for carrying a tool such as a spray gun. Motors for operation of the wrist are placed coaxially with the second axis and are placed inside the shafts for the horizontal and vertical arms. The counterbalancing mechanisms have an axis of motion which is parallel to the second axis, pulleys being used to change the direction of the tensioning cables from tangential to the second axis to parallel to the second axis.

Abstract: A universal coupler for flexibly joining together two members along an axis, wherein one member has a projecting neck having an enlarged curved polyhedron head, wherein each of the faces of the polyhedron have a radius of curvature measured in a plane parallel to the axis, and wherein the second member has a threaded end and an internal polyhedron receptor opening, the polyhedron opening being complementary to the head, and wherein the threaded end incorporates a plurality of slots running parallel to the axis, and a threaded locknut for fitting over the threaded end and for capturing the polyhedron head within the polyhedron receptor opening.

Abstract: A self-contained work center for automatic spray finishing of parts, having an elevated platform with a turntable mounted thereon which is rotatable about a vertical axis, a robot manipulator fixedly mounted relative to the vertical axis, wherein the turntable ends are rotatable through a circular path, at least part of which includes a partially protected booth for collecting paint residue and overspray. The robot manipulator has a movable arm and spray applicator capable of movement over a limited range so as to provide a predetermined envelope of possible work areas for spray finishing, and a portion of the turntable end path and at least a portion of the spray booth are included with this envelope. The apparatus includes an access position to the turntable for mounting and removing parts associated with the spray finishing operation. A service enclosure is located beneath the elevated platform for housing electrical and hydraulic components for cooperatively operating the robot manipulator and turntable.

Abstract: Apparatus for attachment to an automated robot or other similar type of automatic machinery, for controlling paint spraying nozzles to provide additional degrees of freedom of spray direction and film coating, including a rack and pinion gearing housing attachable to the robot, one or more air cylinders mechanically linked to the rack and pinion gearing, a shaft rotatably coupled to the pinion gear and fixedly attached to one or more spray nozzles. Air activation of the air cylinders causes the pinion gearing mechanism to pivotally rotate about the shaft axis, rotatably positioning the spray nozzles in various preselected angular positions.

Abstract: A device for robot manipulators having a multiply articulated manipulator arm (7, 8, 10) rotatably mounted in a swivelling socket (1), wherein all the servo-cylinders (46) are placed in the base (1) and wherein a mechanical power transmission mechanism is disposed between the tool holder (11) and each of the parts of the manipulator arm (7, 8, 10) respectively and the associated servo-cylinder (46). The linear movement of the individual servo-cylinders (46) is converted into a substantially proportional rotary movement over the whole working range of the servo-cylinder (46). Said power transmission mechanisms are so designed that when one or more of them is in action and the portions of the manipulator arm (7, 8, 10) are moved in relation to one another, the other power transmission mechanisms are not influenced as a result of these movements.