Abstract: An exemplary robot is disclosed with at least one turnable member wherein a free end of the member is moveable along a programmable path. A force or pressure or contact effect detector is included on an interaction point on the free end of the free member so that signals corresponding to the force or pressure or contact effect are producible. Control of the robot movement is performed according to the programmable path and according to predicted demands in the case of detection. In case of detection, the control will be carried out such that the robot movement is temporarily stopped, slowed down or not stopped and a temporary change of the programmable movement path can be determined in consideration of the produced signals. A homing method for controlling the robot is also disclosed.

Abstract: An exemplary robot is disclosed with at least one turnable member wherein a free end of the member is moveable along a programmable path. A force or pressure or contact effect detector is included on an interaction point on the free end of the free member so that signals corresponding to the force or pressure or contact effect are producible. Control of the robot movement is performed according to the programmable path and according to predicted demands in the case of detection. In case of detection, the control will be carried out such that the robot movement is temporarily stopped, slowed down or not stopped and a temporary change of the programmable movement path can be determined in consideration of the produced signals. A homing method for controlling the robot is also disclosed.

Abstract: The invention relates to an ultrasonic standing-wave atomizer arrangement for producing a paint spray mist for painting a workpiece, with a sonotrode, with a component arranged lying opposite the sonotrode, a standing ultrasonic field being formed in the intermediate space between the sonotrode and the component in the case of operation, and with at least one paint feeding device, which introduces the paint into the intermediate space for the atomizing process at at least one paint discharge point. An air supply device, interacts with at least one air distribution device. The air distribution device has a number of clearances, which serve for blowing out air, the clearances being arranged in such a way that between the at least one paint discharge point and the sonotrode, and also between the at least one paint discharge point and the component, there is formed at least one region with a blocking air flow, by which air flow wetting of the sonotrode or of the component with paint is substantially avoided.

Abstract: The invention relates to an ultrasonic standing-wave atomizer arrangement for producing a paint spray mist for painting a workpiece, with a sonotrode, with a component arranged lying opposite the sonotrode, a standing ultrasonic field being formed in the intermediate space between the at least one sonotrode and the component in the case of operation. At least one nozzle-shaped paint feeding device is arranged perpendicularly in relation to the center axis of the sonotrode and introduces the paint into the intermediate space for the atomizing process at at least one paint discharge point, the component arranged lying opposite the sonotrode being a coaxially aligned reflector, and the end face of the latter, facing the sonotrode, having a step-shaped recessed formation and the depth of said recessed formation corresponding to a multiple of half the wavelength ? of the sonic vibrations in air that are produced in the sonotrode.