Westinghouse Electric Corporation

Daniel P Soroka

Roger L Swensrud

Mark S Stoutamire

Joseph J Zelezniak

William H Kasner

Luciano C Scala

Wei-Fang A Su

Vincent A Toth

Richard S Antoszewski

Donald L Wolfe

Mark D White

Steve A Wutzke

Michael J Janosik

James R Ziegler

A system which utilizes a source of ultraviolet radiation to mark a surface or to cure selectively a photosensitive paint applied to a surface. The source of UV light is either a laser or a broadband source and the light is controlled by an aperture and/or a stencil apparatus. The photosensitive paint is applied by a controlled technique as a protective or a decorative coating.

Technique for the application and cure of photosensitive paints

A two-axis optical wrist which can be used in combination with an industrial manipulator having associated therewith a laser beam delivery system. The two-axis optical wrist for laser application provides two additional degrees of freedom which in combination with a three-axis industrial manipulator provides the five degrees of freedom necessary for industrial material processing laser systems to position a laser beam anywhere within the work envelope of an industrial manipulator.

Two-axis optic wrist for laser applications

The invention provides a modular robotic wrist system for use with an industrial manipulator or the like. The individual modular units comprise a mounting bracket, an A axis module which is attachable to the mounting bracket and provides rotational movement about a first axis, a B axis module which is mountable either directly to the mounting bracket or to the A axis module to provide either rotational movement about a second axis or additional rotational movement about the second axis in conjunction with the rotational movement provided by the A axis module about a first axis and tool-mounting flanges which can be used in conjunction with the B axis module to provide rotational movement of an end effector either on the second axis or radially spaced about the second axis. Each of the modular units has a rotating member which is driven by a high-speed, low-torque DC motor coupled to a harmonic drive unit. The individual modules can be provided with position feedback mechanisms which provide both speed and locational information.

Robotic wrist

A robot laser work cell combines a plurality of systems which include an orthogonal axis manipulator system, a laser beam delivery system, a safety enclosure system, a coolant chiller for the laser beam delivery system, an air filtration and drying system in communication with the laser beam delivery system, an exhaust system for removing toxic fumes from the area proximate the output of the laser beam delivery system and a variety of precision table and other fixturing means which can be used in combination to function as the work cell of this invention. In an alternative embodiment, a laser package is mounted by a modular wrist onto the Z-axis of the orthogonal axis manipulator and the laser beam delivery system.

Robot laser system

A welding wire feeding apparatus with orbital mounting assembly for use in combination with an industrial manipulator of the type including a 'Z' axis assembly from which there is dependingly supported an extended welding axis post for rotational movement about the 'Z' axis. The improved welding wire feeding apparatus mounting assembly is rotatably mounted on the bottom of the 'Z' axis or wrist assembly of the robot and is in communication with the extended axis post by a rubber-lined yoke so that the rotational movement of the orbital welding wire feeding apparatus is simultaneous with that of the extended welding post. As a result of a support bearing and the attachment through a rubber-lined yoke, no mass or stiffness coupling occurs between the wire feeding apparatus and the extended axis post so that the natural frequencies of the extended axis post remain unchanged.

Welding wire feeding apparatus with orbital mounting assembly

A two-axis wrist module includes a roll part 14 rotatable about a first axis A--A driven by shaft 38 coupled through harmonic drive unit 42 functioning as a speed reducer and shaft 44, and a bend part 16 carried by the roll part for rotation about the axis B--B and driven by shaft 68 and shaft 72 coupled to the bend part by the second harmonic drive unit functioning as a speed reducer, the entire wrist module being self-contained in that the motor means for obtaining the two-axis movement is provided in the power enclosure 10 of the wrist module and independent of any powering transmitted mechanically to the wrist module.

Self-contained two-axis wrist module

A gantry type orthogonal axes manipulator system including a rack and pinion mechanical drive for the X and Y axis assemblies and a ball screw mechanical drive for the Z axis assembly employs closed loop DC servo electrical drives controlled by the conventional numerical control techniques. A rotary index feature permits horizontal rotation of the Y axis assembly, which supports the Z axis assembly, at the end of travel of the X axis assembly to service work zones on either side of the X axis assembly.

General purpose orthogonal axes manipulator system

A broaching machine for simultaneously broaching a multiplicity of holes in a tube support sheet.

Growing community of inventors

Imperial, PA, United States of America

Daniel P Soroka