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1. 发明授权

US4283764A Manually programmable robot with power-assisted motion during programming 失效
标题翻译：手动编程机器人在编程过程中具有动力辅助运动
公开(公告)号：US4283764A
公开(公告)日：1981-08-11
申请号：US84359
申请日：1979-10-12
申请人： Gerald W. Crum , Brian M. Rooney
发明人： Gerald W. Crum , Brian M. Rooney
IPC分类号： B25J9/16 , B05B13/04 , B25J9/00 , B25J9/18 , B25J13/08 , G05B19/427 , G05B19/42 , G06F15/46
CPC分类号： B25J9/0081 , B05B13/0431 , B25J13/081 , G05B19/427 , G05B2219/36429 , G05B2219/37388 , G05B2219/39178 , G05B2219/39194
摘要： A robot is disclosed having a plurality of movable links interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist. During programming, the force transducer output signals are applied to the actuators of their respectively associated massive links to move the massive links in power-assisted fashion, while the lightweight links of the wrist move in unpowered fashion in response to the manual force applied thereto during programming. The power-assisted motion provided to the massive links by their respectively associated actuators, coupled with the unpowered motion of the lightweight links constituting the wrist, collectively produce motion of the robot output element in the direction to which the manual force is applied thereto during manual programming.
摘要翻译：公开了一种机器人，其具有串联地端对端互连的多个可动链节。与每个相关联的是致动器和位置传感器。一些连杆是相对巨大的，并且当机器人被手动编程时不能容易地移动，而其他链接（即构成手腕的那些）相对轻便，在手动编程期间没有电力援助就允许其移动。与机械手的输出元件串联连接的力传感器与位于手腕与安装有机器人的固定基座之间的大块连接体之一相连。当手动编程力施加到机器人输出时，换能器通过手腕感应在施加到海量链节的编程期间的力。力传感器为与通过手腕传递到其的手动编程力的分量相关联的每个海量链节提供输出信号。在编程期间，力传感器输出信号被施加到它们分别相关联的巨大链节的致动器，以动力辅助方式移动大量连杆，同时手腕的轻量级链节响应于施加到其上的手动力而以无动力的方式移动编程。通过它们分别相关联的致动器提供的大量链路的动力辅助运动以及构成腕部的轻型链节的无动力运动在手动期间一起产生机械手输出元件在其上施加手动力的方向上的运动编程。

2. 发明授权

US4367532A Manually programmable robot with power-assisted motion during programming 失效
公开(公告)号：US4367532A
公开(公告)日：1983-01-04
申请号：US219703
申请日：1980-12-24
申请人： Gerald W. Crum , Brian M. Rooney
发明人： Gerald W. Crum , Brian M. Rooney
IPC分类号： B05B13/04 , B25J9/00 , B25J9/18 , B25J13/08 , G05B19/427 , G05B19/42 , G06F15/46
CPC分类号： G05B19/427 , B05B13/0431 , B25J13/081 , B25J9/0081 , G05B2219/36429 , G05B2219/37388 , G05B2219/39178 , G05B2219/39194
摘要： A robot is disclosed having a plurality of movable links or members interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links or members, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist. These force transducer output signals are all compensated for inertial forces applied to the massive links due to acceleration of the wrist mass, while only those force transducer output signals associated with massive links moving in a vertical plane are compensated for gravitational forces applied thereto resulting from the effects of wrist mass. During programming, the inertial and/or gravitational force compensated force transducer output signals are applied to the actuators of their respectively associated massive links to move the massive links in power-assisted fashion, while the lightweight links of the wrist move in unpowered fashion in response to the manual force applied thereto during programming. The power-assisted motion provided to the massive links by their respectively associated actuators, coupled with the unpowered motion of the lightweight links constituting the wrist, collectively produce motion of the robot output element in the direction to which the manual force is applied thereto during manual programming.The transducer outputs can also be compensated for nonuniform acceleration of the wrist by modifying the force transducer output in accordance with the third derivative with respect to time of the displacement of the wrist. This enhances the "feel" of the robot during manual programming.

3. 发明授权

US06227769B1 Densifier for powder coating welded cans 失效
标题翻译：用于粉末涂料的密封剂焊接罐
公开(公告)号：US06227769B1
公开(公告)日：2001-05-08
申请号：US09401396
申请日：1999-09-22
申请人： Timothy Edward Wilson , Masafumi Matsunaga , Wataru Kakuta , Raymond J. Merk , Ronald E. Niemiec , Laurence B. Saidman , Gerald W. Crum , William L. Palmer
发明人： Timothy Edward Wilson , Masafumi Matsunaga , Wataru Kakuta , Raymond J. Merk , Ronald E. Niemiec , Laurence B. Saidman , Gerald W. Crum , William L. Palmer
IPC分类号： B65G5118
CPC分类号： B05B7/144 , B05B5/032 , B05B5/047 , B05B5/12 , B05B5/1683 , B05B13/0618 , B05B14/10 , B05B15/80 , Y02P70/36 , Y10S118/03
摘要： Methods and apparatus are disclosed for spraying powder into the interior of welded hollow can bodies from a spray gun mounted to the welding arm of a can forming machine. The spray gun can either apply a stripe of highly charged powder on the welded seam areas of hollow can bodies, or can simultaneously apply a coating of powder having a first thickness on the longitudinally welded seam areas and a second thickness less than the first thickness on the remainder of the interior surface. Air is vented off from the powder flow being transported through the welding arm so that the powder to air ratio is increased. Air is introduced at the downstream end of the welding arm to provide a suction force to help draw the powder flow through the welding arm and to increase the velocity of the powder flow for better tribo charging of the powder in the gun and to improve spray pattern stability. A flow of cleaning air through the powder spray gun prevents powder from collecting on the front surface of an offset nozzle secured to the spray gun. The gun assembly is affectively grounded to prevent arcing, and has an exterior shape which has been geometrically configured to improve powder coating of the can. A collector hood surrounds an input conveyor on which cans are transported while being spray coated and an output conveyor which removes the cans at a higher speed than at which they traveled on the input conveyor. The collector hood has two operating conditions for collecting oversprayed powder from between the cans during the spraying operation or directly from the gun when the cans are not being sent down the line.
摘要翻译：公开的方法和装置用于从安装到罐形成机的焊接臂的喷枪将粉末喷涂到焊接的中空罐体的内部。喷枪可以在中空罐体的焊接区域上施加一条高度带电的粉末，或者可以在纵向焊接区域上同时施加具有第一厚度的粉末涂层，并且在第一厚度上小于第一厚度的第二厚度内表面的其余部分。从通过焊接臂输送的粉末流中排出空气，使得粉末与空气的比率增加。在焊接臂的下游端引入空气以提供吸力，以帮助将粉末流动通过焊接臂，并且增加粉末流的速度，以更好地摩擦带电的枪中的粉末并改善喷雾模式稳定性。通过粉末喷枪的清洁空气流阻止粉末收集在固定到喷枪上的偏移喷嘴的前表面上。喷枪组件被有效地接地以防止电弧，并且具有几何构造以改善罐的粉末涂层的外形。收集器罩围绕输入输送机，其上喷涂有罐头，并且输出输送机以比它们在输入输送机上行进的速度更高的速度移除罐头。收集器罩具有两个操作条件，用于在喷洒操作期间从罐之间收集过度喷射的粉末，或者当罐没有被下送到管线时直接从喷枪收集。

4. 发明授权

US5718767A Distributed control system for powder coating system 失效
公开(公告)号：US5718767A
公开(公告)日：1998-02-17
申请号：US320882
申请日：1994-10-05
申请人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
发明人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
IPC分类号： B05C19/04 , B05C19/06 , G05B19/414 , G05B19/418 , B05C11/00
CPC分类号： G05B19/41885 , B05B12/006 , B05B12/04 , B05B12/122 , B05B13/0264 , G05B19/4148 , G05B19/41815 , B05B5/08 , G05B2219/31139 , G05B2219/31228 , G05B2219/32145 , G05B2219/33105 , G05B2219/33107 , G05B2219/33113 , G05B2219/33126 , G05B2219/33142 , G05B2219/33273 , G05B2219/34304 , G05B2219/34492 , G05B2219/35266 , G05B2219/36509 , G05B2219/45013 , Y02P90/04 , Y02P90/08 , Y02P90/10 , Y02P90/18 , Y02P90/26
摘要： A powder coating control system comprising a plurality of gun controls associated with a like plurality of powder spray guns. Each of the gun controls stores a plurality of presets spray parameters. Each of the gun controls responds to part identification signals and part position signals to select in real time one of the stored presets of spray parameters and trigger its respective powder spray gun ON and OFF to apply a powder coating to the moving part in accordance with the selected set of spray parameters. The control system further permits a gun purge cycle to be programmed either before or after the powder coating process is executed. The control system automatically initializes and brings each of the gun controls to an operable state on-line with the system control.

5. 发明授权

US5402940A Tribo-electric powder spray gun 失效
标题翻译：摩托车电动喷枪
公开(公告)号：US5402940A
公开(公告)日：1995-04-04
申请号：US262970
申请日：1994-06-21
申请人： Curtis B. Haller , Alan J. Knobbe , Gerald W. Crum
发明人： Curtis B. Haller , Alan J. Knobbe , Gerald W. Crum
IPC分类号： B05B5/043 , B05B5/03 , B05B5/047
CPC分类号： B05B5/047
摘要： A tribo-electric powder spray gun includes a diffuser for mixing powder with a conveying gas, a charging portion downstream of the diffuser, and a sprayhead at the outlet of the charging portion for dispensing the charged powder. The charging portion has an inner core removably positioned within a hollow outer cylinder with an annular gap formed between the outer cylinder and inner core providing a charging flowpath for the powder. The inner core and the outer cylinder have undulating or wavy charging surfaces made of an electrically insulating material, so that the annular gap provides a tortuous path for the powder, enhancing powder contact and the charge imparted to the powder. Grounding is provided by surface conduction of the electrically insulating contact material through a ground ring located outside the powder path at the inlet to the charging portion of gun where the greatest amount of charging occurs. By locating the ground ring outside the powder path, the ground ring is kept clean and the amount of charging surface is maximized. The inner core and the outer cylinder are longitudinally symmetrical to facilitate re-assembly.
摘要翻译：摩擦电粉末喷枪包括用于将粉末与输送气体混合的扩散器，扩散器下游的充电部分和用于分配带电粉末的充电部分出口处的喷头。充电部分具有可拆卸地定位在中空外筒内的内芯，其中形成在外筒和内芯之间的环形间隙，为粉末提供充电流路。内芯和外筒具有由电绝缘材料制成的波状或波浪充电表面，使得环形间隙为粉末提供曲折的路径，增强粉末接触和赋予粉末的电荷。通过电绝缘触点材料的表面传导，通过位于发射最大充电量的枪的充电部分的入口处的粉末路径外部的接地环来提供接地。通过将接地环定位在粉末路径外面，接地环保持清洁，充电面的数量最大化。内芯和外筒是纵向对称的，以便于重新组装。

6. 发明授权

US06766763B2 Distributed control system for powder coating system 失效
标题翻译：粉末涂料系统分散控制系统
公开(公告)号：US06766763B2
公开(公告)日：2004-07-27
申请号：US10386294
申请日：2003-03-11
申请人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
发明人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
IPC分类号： B05C1110
CPC分类号： G05B19/41885 , B05B5/08 , B05B12/006 , B05B12/04 , B05B12/122 , B05B13/0264 , G05B19/4148 , G05B19/41815 , G05B2219/31139 , G05B2219/31228 , G05B2219/32145 , G05B2219/33105 , G05B2219/33107 , G05B2219/33113 , G05B2219/33126 , G05B2219/33142 , G05B2219/33273 , G05B2219/34304 , G05B2219/34492 , G05B2219/35266 , G05B2219/36509 , G05B2219/45013 , Y02P90/04 , Y02P90/08 , Y02P90/10 , Y02P90/18 , Y02P90/26
摘要： A powder coating control system comprising a plurality of gun controls associated with a like plurality of powder spray guns. Each of the gun controls stores a plurality of presets spray parameters. Each of the gun controls responds to part identification signals and part position signals to select in real time one of the stored presets of spray parameters and trigger its respective powder spray gun ON and OFF to apply a powder coating to the moving part in accordance with the selected set of spray parameters. The control system further permits a gun purge cycle to be programmed either before or after the powder coating process is executed. The control system automatically initializes and brings each of the gun controls to an operable state on-line with the system control.
摘要翻译：一种粉末涂料控制系统，包括与多个粉末喷枪相关联的多个喷枪控制。每个喷枪控制器存储多个预设喷雾参数。每个喷枪控制器响应部件识别信号和部件位置信号，以实时选择所存储的喷雾参数预设之一，并触发其相应的粉末喷枪ON和OFF，以根据选择一组喷雾参数。控制系统还允许在执行粉末涂覆过程之前或之后对喷枪清洗循环进行编程。控制系统自动初始化并使每个喷枪控制器与系统控制器在线连接起来。

7. 发明授权

US06547884B1 Distributed control system for powder coating system 失效
公开(公告)号：US06547884B1
公开(公告)日：2003-04-15
申请号：US09667032
申请日：2000-09-21
申请人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
发明人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
IPC分类号： B05C1110
CPC分类号： G05B19/41885 , B05B5/08 , B05B12/006 , B05B12/04 , B05B12/122 , B05B13/0264 , G05B19/4148 , G05B19/41815 , G05B2219/31139 , G05B2219/31228 , G05B2219/32145 , G05B2219/33105 , G05B2219/33107 , G05B2219/33113 , G05B2219/33126 , G05B2219/33142 , G05B2219/33273 , G05B2219/34304 , G05B2219/34492 , G05B2219/35266 , G05B2219/36509 , G05B2219/45013 , Y02P90/04 , Y02P90/08 , Y02P90/10 , Y02P90/18 , Y02P90/26
摘要： A powder coating control system comprising a plurality of gun controls associated with a like plurality of powder spray guns. Each of the gun controls stores a plurality of presets spray parameters. Each of the gun controls responds to part identification signals and part position signals to select in real time one of the stored presets of spray parameters and trigger its respective powder spray gun ON and OFF to apply a powder coating to the moving part in accordance with the selected set of spray parameters. The control system further permits a gun purge cycle to be programmed either before or after the powder coating process is executed. The control system automatically initializes and brings each of the gun controls to an operable state on-line with the system control.

8. 发明授权

US6017394A Distributed control system for powder coating system 失效
公开(公告)号：US6017394A
公开(公告)日：2000-01-25
申请号：US198358
申请日：1998-11-24
申请人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
发明人： Gerald W. Crum , Eddie W. Dixson, Jr. , Charles L. Gatian, III , Jeanne Marie Leidy , William Mark Rucki , Joseph G. Schroeder , Cynthia Skelton-Becker
IPC分类号： B05C19/04 , B05C19/06 , G05B19/414 , G05B19/418 , B05C11/00 , B67D5/08
CPC分类号： G05B19/41885 , B05B12/006 , B05B12/04 , B05B12/122 , B05B13/0264 , G05B19/4148 , G05B19/41815 , B05B5/08 , G05B2219/31139 , G05B2219/31228 , G05B2219/32145 , G05B2219/33105 , G05B2219/33107 , G05B2219/33113 , G05B2219/33126 , G05B2219/33142 , G05B2219/33273 , G05B2219/34304 , G05B2219/34492 , G05B2219/35266 , G05B2219/36509 , G05B2219/45013 , Y02P90/04 , Y02P90/08 , Y02P90/10 , Y02P90/18 , Y02P90/26
摘要： A powder coating control system comprising a plurality of gun controls associated with a like plurality of powder spray guns. Each of the gun controls stores a plurality of presets spray parameters. Each of the gun controls responds to part identification signals and part position signals to select in real time one of the stored presets of spray parameters and trigger its respective powder spray gun ON and OFF to apply a powder coating to the moving part in accordance with the selected set of spray parameters. The control system further permits a gun purge cycle to be programmed either before or after the powder coating process is executed. The control system automatically initializes and brings each of the gun controls to an operable state on-line with the system control.

9. 发明授权

US5018909A Powder feed hopper 失效
标题翻译：粉料进料斗
公开(公告)号：US5018909A
公开(公告)日：1991-05-28
申请号：US508968
申请日：1990-04-13
申请人： Gerald W. Crum , Richard D. Burke , Robert J. Holland , Allen Newman , David L. Moses , William S. Miller , Thomas E. Hollstein , Jeffrey R. Shutic
发明人： Gerald W. Crum , Richard D. Burke , Robert J. Holland , Allen Newman , David L. Moses , William S. Miller , Thomas E. Hollstein , Jeffrey R. Shutic
IPC分类号： B05B5/08 , B05B7/14 , B05B7/24 , B65G53/26
CPC分类号： B05B7/144 , B05B15/003 , B05B7/1472 , B65G53/26
摘要： A powder feed hopper includes a housing which mounts a porous plate adapted to support particulate powder material and receive an upwardly directed flow of fluidizing air to form an air-entrained fluidized bed in the housing above the porous plate. In order to improve fluidization, a baffle plate is mounted beneath the porous plate in the path of the pressurized air discharged from one or more air nozzles to create a circulating flow of air-entrained particulate powder material within the fluidized bed in which the flow moves upwardly along the wall of the housing and then inwardly and downwardly toward the center of the porous plate. Additionally, stirrer blades are located immediately above the porous plate to create turbulence and reduce the formation of concentrated channels of air atop the porous plate.

10. 发明授权

US4830279A Flat spray nozzle for a spray gun 失效
标题翻译：用于喷枪的扁平喷嘴
公开(公告)号：US4830279A
公开(公告)日：1989-05-16
申请号：US99075
申请日：1987-09-21
申请人： Gerald W. Crum , John C. Traylor
发明人： Gerald W. Crum , John C. Traylor
IPC分类号： B05B5/025 , B05B1/04 , B05B1/14 , B05B5/03
CPC分类号： B05B5/032 , B05B1/04 , B05B1/14
摘要： A flat spray nozzle for a powder spray gun comprises a nozzle body formed with an axial powder flow passageway, a pair of spaced powder discharge slots intersecting the powder flow passageway and a bore located between the powder discharge slots. The bore in the nozzle body receives an electrode which extends forwardly of the spray nozzle, between the powder discharge slots for electrostatically charging particulate powder material emitted from the powder discharge slots without disrupting the spray pattern of particulate powder material.
摘要翻译：用于粉末喷枪的扁平喷嘴包括形成有轴向粉末流动通道，与粉末流动通道相交的一对隔开的粉末排放槽和位于粉末排放槽之间的孔的喷嘴体。喷嘴主体中的孔容纳在喷雾器前方延伸的电极，在粉末排放槽之间，用于静电地从粉末排出槽排出颗粒状粉末材料，而不会破坏颗粒状粉末材料的喷射图案。

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