Spray end effector
First Claim
1. A spray end effector for spray painting internal cavities of complex shapes comprising:
- a first elongated arm having an inboard end with attachment means for coupling to a robot and also having an outboard end;
a second elongated arm having an inboard end fixedly coupled to the outboard end of the first arm and also having an outboard end;
a third elongated arm having an inboard end pivotally coupled to the outboard end of the second arm and also having an outboard end with a rod for supporting a spray gun rotationally coupled with respect thereto;
a first air motor having a shaft rotatable about its axis located within the second arm for rotating a jack screw and longitudinally driving a threaded housing to effect the pivotal movement of the third arm with respect to the second arm;
a second air motor having a shaft rotatable about its axis located within the third arm for rotating a speed reducer to effect the rotational movement of the rod with respect to the third arm; and
means to effect the proper rotational positioning of the rod and spray gun with respect to the third arm and workpiece.
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Accused Products
Abstract
A spray end effector for spray painting internal cavities of complex shapes comprising a first elongated arm having an inboard end with attachment means for coupling to a robot and also having an outboard end; a second elongated arm having an inboard end fixedly coupled to the outboard end of the first arm and also having an outboard end; a third elongated arm having an inboard end pivotally coupled to the outboard end of the second arm and also having an outboard end with a rod for supporting a spray gun rotationally coupled with respect thereto; a first air motor having a shaft rotatable about its axis located within the second arm for rotating a jack screw and longitudinally driving a threaded housing to effect the pivotal movement of the third arm with respect to the second arm; a second air motor having a shaft rotatable about its axis located within the third arm for rotating a speed reducer to effect the rotational movement of the rod with respect to the third arm; and means to effect the proper rotational positioning of the rod and spray gun with respect to the third arm and workpiece.
56 Citations
9 Claims
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1. A spray end effector for spray painting internal cavities of complex shapes comprising:
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a first elongated arm having an inboard end with attachment means for coupling to a robot and also having an outboard end; a second elongated arm having an inboard end fixedly coupled to the outboard end of the first arm and also having an outboard end; a third elongated arm having an inboard end pivotally coupled to the outboard end of the second arm and also having an outboard end with a rod for supporting a spray gun rotationally coupled with respect thereto; a first air motor having a shaft rotatable about its axis located within the second arm for rotating a jack screw and longitudinally driving a threaded housing to effect the pivotal movement of the third arm with respect to the second arm; a second air motor having a shaft rotatable about its axis located within the third arm for rotating a speed reducer to effect the rotational movement of the rod with respect to the third arm; and means to effect the proper rotational positioning of the rod and spray gun with respect to the third arm and workpiece.
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2. A spray end effector comprising:
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a first elongated portion having an inboard end coupleable to a robot arm and also having an outboard end; a second elongated portion having an inboard end fixedly coupled to the outboard end of the first portion and also having an outboard end; a third elongated portion having an inboard end pivotally coupled to the outboard end of the second portion and also having an outboard end with an attachment device; first drive means located within the second portion for effecting the pivotal movement of the third portion with respect to the second portion; and second drive means located within the third portion for effecting the rotational movement of the attachment device with respect to the third portion; said second drive means including a rotatable air motor and a harmonic drive coupled to the attachment device for reducing the rotational speed of the attachment device with respect to the air motor. - View Dependent Claims (3, 4, 5)
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6. For use in a spray end effector, or the like, apparatus for converting rotational motion of a drive member to rotational motion of a driven member comprising:
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an air motor having a rotatable output shaft constituting a drive member; a drive having an input end coupled to the output shaft for rotation therewith at a first speed and an output end rotatable at a second speed, less than the first speed; a rotatable element constituting the driven member coupled to the output end of the drive; and positioning means to effect the proper rotational positioning of the driven member; said positioning means including a locating head rotatable with the driven member with a plurality of dimples formed therein and an axially shiftable pin positionable in one of the dimples to ensure proper positioning of the driven member with respect to the drive. - View Dependent Claims (7, 8, 9)
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Specification