公开(公告)号：US4484120A

公开(公告)日：1984-11-20

申请号：US484645

申请日：1983-04-13

Applicant: Michael B. Olex ,  Rolf T. Spongh

Inventor： Michael B. Olex ,  Rolf T. Spongh

IPC: B25J9/16 ,  B25J9/18 ,  G05B19/42

CPC classification number: B25J9/1671

Abstract: A control system for a work robot having a number of articulated links including a controller for driving the links under closed loop servo control in response to a sequence of recorded link position commands read from a robot program memory. The sequence of link position commands is produced in a training session by an operator manually manipulating a robot simulator, or training arm, through a series of work-performing motions which are to be duplicated by the work robot. The sequence of link position commands produced by manual manipulation of the training arm during the training session is stored in the robot program memory. When the work robot is subsequently driven under closed loop servo control in response to the program stored in the robot memory, the controller also executes auxiliary functions, such as movement of a work piece operated upon by the work robot, in response to auxiliary function commands which are also stored in the robot program memory. In order to properly store the auxiliary function commands in the robot program memory, the auxiliary function commands are loaded in an auxiliary function memory prior to a training session so that they can be read out in a desired sequence.

Abstract translation: 一种用于工作机器人的控制系统，具有多个关节连杆，包括响应于从机器人程序存储器读取的记录的链接位置命令的顺序，在闭环伺服控制下驱动链接的控制器。 链接位置命令的顺序由操作者手动操纵机器人模拟器或训练臂的训练会话中产生，通过一系列待工作机器人复制的工作执行动作。 在训练期间通过手动操纵训练臂产生的链接位置命令的顺序存储在机器人程序存储器中。 当工作机器人随后响应于存储在机器人存储器中的程序在闭环伺服控制下被驱动时，控制器还执行辅助功能，例如响应于辅助功能命令的工作机器人操作的工件的移动 它们也存储在机器人程序存储器中。 为了将辅助功能命令正确存储在机器人程序存储器中，辅助功能命令在训练会话之前被加载到辅助功能存储器中，使得它们可以按期望的顺序读出。

公开(公告)号：US4881688A

公开(公告)日：1989-11-21

申请号：US265226

申请日：1988-10-31

Applicant: Bo A. Hankvist ,  Peter N. Kling ,  Rolf T. Spongh

Inventor： Bo A. Hankvist ,  Peter N. Kling ,  Rolf T. Spongh

IPC: B05B5/00 ,  B05B5/16

CPC classification number: B05B5/165 ,  B05B5/1616

Abstract: A device for insulating the spray liquid source from the high tension voltage of an electrostatic spray system when using an electrically conductive spray liquid. The device comprises a spray gun (13), a supply line (12) which connects the spray gun (13) to a spray liquid reservoir (10) and which includes a vessel (16) containing a barrier forming liquid (17) of low electrical conductivity and a density other than that of the spray liquid. The vessel (16), which is substantially non-conductive is connected at its inlet end (24) to ground potential and at its outlet end (19) to the same high potential as the spray gun (13). An electrode means (22; 25) is provided in the vessel (16) to expose the spray liquid passing through the vessel (16) to at least one intermediate potential for controlling the tension gradient in the barrier forming liquid by limiting and controlling the charging of the spray liquid.

公开(公告)号：US4884745A

公开(公告)日：1989-12-05

申请号：US025018

申请日：1987-03-12

Applicant: Rolf T. Spongh

Inventor： Rolf T. Spongh

IPC: B05B5/00 ,  B05B5/16 ,  B05D1/04

CPC classification number: B05D1/04 ,  B05B5/1616 ,  B05B5/165

Abstract: A method and apparatus for insulating a spray liquid source from the high tension voltage of an electrostatic spray gun (13) when using an electrically conductive spray liquid. A spray liquid supply line (12) couples the spray liquid source to the spray gun and comprises an insulating device (14) in the form of a closed vessel (16; 26; 36) containing an electrically non-conductive liquid which is not mixable with the spray liquid and which has a density different from that of the spray liquid. A sprinkler nozzle (21; 31; 41) is arranged to disintegrate the spray liquid into separated drops which are transported through the insulating liquid (17; 27; 35) in the closed vessel at least by the influence of the difference in gravity acting on the two liquids. The separated spray liquid drops form a discontinuation of the electrical lead through which the high tension voltage propagates upstream through the supply line. Thereby, the parts of the supply line upstream of the insulating device, which may include a spray liquid feed pump (11) and a spray liquid receptacle (10), are electrically insulated from the high tension voltage. The closed vessel (26; 36) of the insulating device may comprise passages (27, 28; 37, 38) and a pump (30;40) to forcibly circulate the insulating liquid within the passage in the closed vessel such that a movement is superimposed upon the gravity influenced spray liquid transportation movement to increase the spray liquid flow capacity through the insulating device.

Abstract translation: 一种用于在使用导电喷射液体时将喷射液体源与静电喷枪（13）的高压电压绝缘的方法和装置。 喷射液体供应管线（12）将喷射液体源连接到喷枪，并且包括密封容器（16; 26; 36）形式的绝缘装置（14），其包含不可混合的非导电液体 与喷射液体的密度不同于喷射液体的密度。 喷洒喷嘴（21; 31; 41）被布置成将喷射液体分解成分离的液滴，其通过至少在重力作用的重力差的影响下被输送通过密封容器中的绝缘液体（17; 27; 35） 两种液体。 分离的喷射液体滴下电导体的中断，高电压电压通过该引线在上游通过电源线传播。 因此，可以包括喷射液体供给泵（11）和喷射液体容器（10）的绝缘装置上游的供应管线的部分与高压力电绝缘。 绝缘装置的密闭容器（26; 36）可以包括通道（27,28; 37,38）和泵（30; 40），以将封闭容器内的通道内的绝缘液体强制循环，使得运动是 叠加在重力影响下的喷液运输运动，以增加通过绝缘装置的喷液流量。

公开(公告)号：US4486843A

公开(公告)日：1984-12-04

申请号：US354314

申请日：1982-03-03

Applicant: Rolf T. Spongh ,  Jeffrey S. Noss

Inventor： Rolf T. Spongh ,  Jeffrey S. Noss

IPC: G05B19/18 ,  B25J9/16 ,  B25J9/18 ,  G05B19/418 ,  G06F15/46 ,  G05B19/42

CPC classification number: B25J9/1661 ,  G05B19/4182 ,  Y02P90/083

Abstract: A controller for a manipulator or robot having a plurality of power-driven, signal-controlled links interconnected to permit relative motion therebetween to define plural degrees of freedom. The links of the manipulator are controlled to perform movements corresponding to stored sequences of command positions. The controller stores, for each link, a sequence of command positions and is operable to add a further command position or a further sequence of command positions to the original sequence of command positions. In a non-synchronous mode of operation (where the movements of the robot are not sychronized with movement of the workpiece) or in a synchronous mode, a further command position is added to the end of the original sequence by producing a number of additional command positions and storing the additional command positions after the original sequence. The last of the additional command positions is substantially equal to the further command position. The position change per command of the additional commands is maintained generally constant. In like manner, in the nonsynchronous mode, the initial position of a further sequence of command positions can be added to the end of an original sequence. In a synchronous mode of operation a first and a second sequence of command positions can be connected. To do this, a portion of each original command sequence is replaced by a substitute sequence of command positions, preserving the correlation between the command position processing rate and the conveyor rate.

Abstract translation: 一种用于操纵器或机器人的控制器，其具有互连以允许它们之间的相对运动的多个功率驱动的信号控制链路，以限定多个自由度。 操纵器的连杆被控制以执行对应于存储的命令位置序列的移动。 控制器为每个链路存储一系列命令位置，并且可操作以向命令位置的原始序列添加另外的命令位置或另外的命令位置序列。 在非同步操作模式（其中机器人的移动与工件的移动不同步）或在同步模式中，通过产生多个附加命令将另外的命令位置添加到原始序列的末尾 并在原始序列之后存储附加命令位置。 最后的附加命令位置基本上等于另外的命令位置。 附加命令的每个命令的位置变化通常保持恒定。 以类似的方式，在非同步模式中，可以将另一序列命令位置的初始位置添加到原始序列的末尾。 在同步操作模式中，可以连接第一和第二命令位置序列。 为此，每个原始命令序列的一部分被替换的命令位置序列替换，保持命令位置处理速率和传送速率之间的相关性。

公开(公告)号：US4481591A

公开(公告)日：1984-11-06

申请号：US354313

申请日：1982-03-03

Applicant: Rolf T. Spongh

Inventor： Rolf T. Spongh

IPC: B25J9/16 ,  B25J9/18 ,  G05B19/42 ,  G05B19/427 ,  G06F15/46

CPC classification number: G05B19/427 ,  G05B2219/36056

Abstract: A method and apparatus for real time editing, or modifying, of a stored program of prerecorded ON and OFF commands for a bistable workpiece-treating device mounted for movement by a robot. The editing occurs while both the ON/OFF program and a program of prerecorded robot motion commands which drive the robot are being processed by the robot controller, with the ON/OFF commands, as edited, being output to the bistable device for execution along with the robot commands, as well as stored in the memory as substitute commands for subsequent re-execution.

Abstract translation: 一种用于实时编辑或修改安装为机器人移动的双稳态工件处理装置的预先记录的ON和OFF命令的存储程序的方法和装置。 编辑时，ON / OFF程序和驱动机器人的预先记录的机器人运动命令程序正在由机器人控制器进行处理，ON / OFF命令（如编辑）被输出到双稳态装置，以便与 机器人命令，以及存储在存储器中作为后续重新执行的替代命令。