Nordson Corporation

Martin J Harjar

Donald R Hastings

Jeffrey S Noss

Bruce J Banning

Apparatus is disclosed for locking the wrist links of a teaching robot and a work robot such that the wrist links of the work robot occupy the same relative positions with respect to each other as the wrist links of the teaching robot, thereby enabling the magnitude of the outputs of the corresponding wrist link position transducers of the work robot wrist and the teaching robot wrist to be equalized and the robot wrists calibrated.

Apparatus for locking the wrist links of a work robot in the same

A multi-axis robot wrist assembly having three hydraulically operated rotary actuators which are mechanically connected in series such that the output of each actuator drivingly positions the body of the succeeding actuator located outboard thereof. The hydraulic connection to any wrist actuator, except the innermost actuator, includes a series-connection of (a) internal passage(s) through actuator(s) which are located inboard of the actuator in question and (b) external line(s) between the actuator in question and actuator(s) located inboard thereof. By connecting all but the innermost wrist actuator through hydraulic paths which are at least partially internal to actuators positioned inwardly thereof, the overall envelop of the wrist assembly is reduced. Also included for the purpose of minimizing the wrist envelop is an electrical cable arrangement for connecting the electrical outputs of position transducers associated with each wrist actuator to an electrical plug or other suitable connection located on the robot arm which mounts the wrist assembly. The electrical cable, includes semicircular folded sections between each pair of adjacent actuators and partially encircling the rotatable output member interconnecting them, to permit adjacent actuators to rotate with respect to each other without damaging the electrical cable spanning them, which remains neatly folded between the actuators. The mechanical interconnection between the rotary output member of one actuator and the body of the succeeding actuator is detachable, facilitating actuator replacement in the field without replacing the entire wrist assembly.

Streamlined multi-axis robot wrist assembly with partially enclosed

A calibration fixture is disclosed for calibrating the link position transducer output signals of a teaching robot and a work robot such that when the links thereof occupy the same identical spatial position and orientation, the magnitudes of the corresponding link position transducer outputs of the work and teaching robots will be the same.

Apparatus for calibrating link position transducers of a teaching robot

A two-piece pipe fitting is disclosed for establishing a sealed connection between a pipe or fluid conduit and a connector body in the form of an electrostatic spray gun. The fitting comprises a flanged tube element and a threaded sleeve nut surrounding the tube element. The sleeve nut, when threaded into a threaded section of a bore in the connector body, forces the flange of the tube element into the bore so as to establish a sealed connection between the bore and the flanged end of the tube element.

Flanged pipe fitting

An improved electrostatic spray gun, particularly of the hand-held type, is disclosed including an electrically insulative barrel and nozzle assembly, an electrically insulative air valve module mounted to the rear of the barrel assembly and externally thereof, and an electrically conductive metal handle assembly enclosing the rear end of the barrel and the air valve module. A charging electrode protrudes from the discharge orifice of the nozzle assembly. The flow of air through the barrel and nozzle assembly is controlled by a trigger which actuates the air valve. Actuation of the air valve in turn controls a needle and seat valve assembly close to the discharge orifice of the nozzle assembly to control the flow of coating material through the gun. A resistor is disposed inside the needle valve immediately upstream of the charging electrode. The elements of the electrostatic spray gun of this invention cooperate to provide a simple, lightweight, balanced gun having a high degree of reliability and repairability and clean and safe operation.

Electrostatic spray gun

An electrostatic spray coating gun has an improved high voltage charging system which includes a flexible and resilient electrode in the form of an elongated coil spring. This form of electrode substantially eliminates the likelihood of scratching or puncturing the skin of an operator or repairman, and allows the electrode to return to its proper orientation after being bumped, while exhibiting good paint charging characteristics for use in electrostatic spray coating.

Electrostatic spray coating gun

Disclosed is a static seal suitable for sealing a pull rod or the like to an opening through which the rod passes into a hydraulic conduit. This static seal can be used in a wide variety of apparatus including for example spray coating guns, both electrostatic and non-electrostatic, valve assemblies and the like. Novel static sealing arrangements at each end of a non-machined extruded bellows provide packingless bellows sealing between the rod and the opening. Such a sealing arrangement is compatible with the highly desirable materials of the fluorinated hydrocarbon group, commonly known by the trade name Teflon.

Packingless bellows seal

An electrostatic spray coating gun for applying coating materials which have high to moderately high electrical voltage electrical system, improved hydraulic seals, and is adaptable to apply porcelain enamel coatings in slurry form. The gun has a flexible and resilient electrode in the form of an elongated coil spring. This form of electrode substantially eliminates the likelihood of scratching or puncturing the skin of an operator or repairman, and allows the electrode to return to its proper orientation after being bumped, while exhibiting proper paint charging characteristics for use in electrostatic spray coating. The electrode is positioned forward of a flat-fan spray nozzle and is displaced from the axis of the spray by means of an extension assembly which can be angularly displaced about the axis of the spray. The gun further incorporates improved packingless bellows sealing between an opening into the coating conduit in the barrel of the gun and a control rod for a needle valve in the conduit. Novel static seals allow the use of a bellows in the form of a non-machined extruded fluorinated hydrocarbon commonly known as TFE Teflon. The packingless seals, properly designed flow passages, the position of the charging electrode, and wear resistant to be used not only for the electrostatic spraying of the common electrically conductive coating materials, but also for abrasive coating materials, such as glazes, in slurry form.

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Vermilion, OH, United States of America

Martin J Harjar