Patent ID: 11904338
Assignee: nan
Field: Chemical engineering (Chemistry)
Classification: CPC B | IPC B

Claim 10:
11. A robotic system for applying a fluid on a work-piece, comprising:
a support structure defining a cuboid-shaped frame having a stationary frame structure defining pairs of horizontal tracks, and a movable carriage assembly having a pair of vertical members and at least one horizontal cross member disposed across and mounting to each of the vertical members, wherein each vertical member is configured to move along each pair of horizontal tracks and the at least one cross member is configured to move vertically with respect to the vertical members,
a spray nozzle having an articulated mount for being mounted to, and moving along, the carriage assembly, the articulated mount facilitating motion of the spray nozzle in multiple degrees of freedom;
a plurality of position sensors configured to sense a position of the spray nozzle and the carriage assembly, each position sensor providing a position signal indicative thereof;
a plurality of pneumatic drive devices configured to effect displacement of the carriage assembly relative to the stationary frame structure and the spray nozzle;
a controller, responsive to the position signals, for controlling the pneumatic drive devices to displace the spray nozzle and dispense the fluid on the work-piece;
wherein the at least one cross member forms a base of an inverted U-shaped frame structure having a pair of parallel leg members, the parallel leg members pivotally mounting to the vertical members of the movable carriage assembly about a horizontal axis, and
a pivoting V-shaped mount for mounting the spray nozzle to the at least one horizontal cross member, each end of the V-shaped mount defining a rolling element for engaging a track in the inverted U-shaped frame structure such that the spray nozzle may be displaced in a horizontal direction along the at least one cross member and in a vertical direction along each leg member of the inverted U-shaped frame structure.