Abstract: A pulse-wave-modulated spray control valve for controlling the release of a liquid to a flowing air stream for the purpose of atomizing the liquid to form a spray. The assembly includes a solenoid which is adapted to control reciprocating movement of an armature assembly that includes a valve head movable between an extended position in sealing engagement with a valve seat and a retracted position that permits liquid to enter a flow passage for a gaseous propellant. The solenoid is operated in response to energizing pulses which are modulated to control the flow rate of the liquid through the valve.

Abstract: Apparatus for pivoting a robot or manipulator operating head about a yaw axis wherein the head is mounted on a wrist mechanism with a roll axis. The operating head is mounted on a head support member connected by a yaw pin to the forward end of the wrist mechanism for pivotal movement between a normal, forwardly extending position and a yawed position. A fluid cylinder with a forwardly extending piston rod is mounted on the wrist mechanism and is operatively connected by flexible means to the head support member. The flexible means includes a bell crank with one arm operatively connected to the piston rod, and a link connected between the other end of the bell crank and the head support member. When the piston rod extends and retracts, the operating head is pivoted about the yaw axis. The linkage isolates the fluid cylinder from the gravity forces resulting from the moment produced about the yaw axis by roll motion of the operating head about the roll axis when the head is in the normal position.

Abstract: Apparatus for moving a reciprocating fluid emission head automatically through successive operating cycles, into and from a space within which predetermined operations are to be performed. The apparatus includes a frame mounted at one side of the operating space, a crankshaft journaled in the frame and rotary drive means for turning the crankshaft. The crankshaft drives a parallelogram-type link arrangement that includes a main link with one end supported for guided movement in the frame, a carrier arm connected to one end of the main link, a control arm parallel to the main link and connected at one end to the carrier arm and at its other end to the crankshaft, and an intermediate link parallel to the carrier arm and connected between the main link and the control arm. The inner end of the main link is guided through a controlled path of travel whereby the spray head mounted at the outer end of the carrier arm is moved between a retracted position and an extended position located within the operating space.

Abstract: A rotary and linear actuating device is disclosed for imparting precision rotary and linear movement to an external member or assembly. In a preferred form of the invention a rotatable assembly is rotated about an axis within a housing by selectively varying the relative pressures of an actuating fluid in at least a pair of fluid pressure chambers defined by the housing, the rotatable assembly and at least a pair of vane members extending therebetween. An elongated shaft member is rotationally fixed relative to the rotatable assembly and is supported by at least a pair of linear bearing assemblies to allow linear movement of the elongated shaft member along said axis. The linear bearing assemblies remain a fixed axial distance from one another in order to adequately support heavy loads on the elongated shaft member and the external member or assembly attached thereto.

Abstract: An apparatus for moving an operating head automatically through programmed functions using a telescoping arm assembly. The operating head and arm assembly are mounted on a base and are normally capable of motions about or along several axes, including linear extension and retraction relative to the base. The telescoping arm assembly includes a main carriage mounted on the base, an intermediate carriage mounted on the main carriage, and a head carriage supporting the operating head and mounted on the intermediate carriage for telescoping movement relative to the main carriage. The operating head is connected to the head carriage by a wrist joint for pivotal movement about a wrist tip axis, and even for additional rotary movement about a wrist roll axis, the control of the respective movements being accomplished for example, by chain and sprocket mechanisms in order to control the wrist movements continuously, even during the telescoping extension and retraction movement of the carriages.

Abstract: Apparatus for moving a reciprocating fluid-emission head automatically through successive, variable-speed, variable-function operating cycles that include linear extension and retraction to and from a space within which predetermined operations are to be sequentially performed. The apparatus has an elongated fixed frame, an intermediate carriage on the frame and a head carriage on the intermediate carriage, the head carriage being adapted to support the fluid emission head. The carriages are moved simultaneously between a retracted position coextensive with the frame and an extended position by chain and sprocket drive, the maximum extension of the fluid emission head being about twice the length of the frame due to the double extension achieved by extending both carriages simultaneously. A plurality of fluids to be sprayed (including, e.g. liquid lubricant) are transmitted from a manifold block on the fixed frame to the reciprocating emission head by a plurality of inflexible, extensible fluid conduits.