초록 ▼

One aspect of the present invention comprises an apparatus for storing an end effector nestably adjacent a pipe to which it is attached and for moving the end effector into a working position laterally-displaced from said pipe is disclosed. Such apparatus desirably is part of the robotic welding app

One aspect of the present invention comprises an apparatus for storing an end effector nestably adjacent a pipe to which it is attached and for moving the end effector into a working position laterally-displaced from said pipe is disclosed. Such apparatus desirably is part of the robotic welding apparatus wherein the end effector is a welding head. This apparatus comprises a pair of pipe segments in rotating end-abuttable relationship, each segment bearing a ring gear about its circumference; a pair of helical lotus petals having an in inner surface which conforms to the outer surface of the pipe segment to which each lotus petal is hingedly attached at its distal end, each lotus petal being attached hingedly at their respective distal ends to a lotus petal hinge attachment stage; drive means drivably connected to each of said ring gears for separately driving each pipe segment; and an end effector carried by said lotus petal hinge attachment stage. Each lotus petal and said lotus petal hinge attachment stage, and thus said end effector, are nestably stored adjacent their respective pipe segments. The end effector is movable to a working position laterally-displaced from said pipe by said drive means driving said pipe segments in opposite directions. The end effector is movable horizontally (Y axis motion) by driving said pipe segments differentially in the same direction.

대표청구항 ▼

An apparatus for storing an end effector nestably adjacent a pipe to which it is attached and for moving said end effector into a working position laterally-displaced (X axis) from said pipe, which comprises: (a) a pair of pipe segments in rotating end-abuttable relationship, each segment bearing a

An apparatus for storing an end effector nestably adjacent a pipe to which it is attached and for moving said end effector into a working position laterally-displaced (X axis) from said pipe, which comprises: (a) a pair of pipe segments in rotating end-abuttable relationship, each segment bearing a ring gear about its circumference; (b) a pair of helical lotus petals having an inner surface which conforms to the outer surface of a pipe segment to which each lotus petal is hingedly attached at a distal end, each lotus petal being attached hingedly at their respective proximal ends to a lotus petal hinge attachment stage and carrying engaged gear segments on each lotus petal proximal end which stabilize the lotus petals with respect to each other; (c) drive means drivedly connected to each of said ring gears for separately driving each pipe segment; and (d) an end effector carried by said lotus petal hinge attachment stage, each lotus petal and said lotus petal hinge attachment stage, and thus said end effector, being nestably stored adjacent their respective pipe segments, said end effector being moveable to a working position laterally-displaced (X axis) from said pipe by said drive means rotating said pipe segments in opposite directions and being moveable horizontally (Y axis) by said drive means differentially rotating said pipe segments in the same direction.