Robotic apparatus for painting

A robotic painting system for painting a workpiece comprising:

• a base attached to a fixed surface;
• a hood/deck opener robot arm including a first link rotatably coupled at a first end to the base about a first axis of rotation, a second link rotatably coupled at a first end to a second end of the first link about a second axis of rotation which is parallel to the first axis of rotation, a third link arranged perpendicular to the second link and rotatably coupled at a first end to a second end of the second link about a third axis of rotation which is parallel to the second axis of rotation, a fourth link rotatably coupled at a first end to a second end of the third link about a fourth axis of rotation which is perpendicular to the third axis of rotation, and an opener tool rotatably coupled at a first end to a second end of the fourth link about a fifth axis of rotation which is parallel to the fourth axis of rotation;
• and
• a paint robot arm operating in cooperation with the opener robot arm.

A robotic painting system for painting a vehicle body having opening panels, comprising:

• a plurality of vertical columns positioned on opposite sides of a path of travel of the vehicle body through a painting booth;
• a first pair of six-axis or seven-axis paint robot arms attached to a first pair of the columns on opposite sides of the path for painting a first exterior coat on the vehicle body;
• two hood/deck opener robot arms each attached to one of four others of the columns, the four others of the columns being positioned two on each side of the path, where each of the hood/deck opener robot arms includes a first link rotatably coupled at a first end to the base about a first axis of rotation, a second link rotatably coupled at a first end to a second end of the first link about a second axis of rotation which is parallel to the first axis of rotation, a third link arranged perpendicular to the second link and rotatably coupled at a first end to a second end of the second link about a third axis of rotation which is parallel to the second axis of rotation, a fourth link rotatably coupled at a first end to a second end of the third link about a fourth axis of rotation which is perpendicular to the third axis of rotation, and an opener tool rotatably coupled at a first end to a second end of the fourth link about a fifth axis of rotation which is parallel to the fourth axis of rotation;
• four seven-axis paint robot arms each attached to one of the four others of the columns;
• a door opener robot arm mounted below each of the four seven-axis paint robot arms, where the four seven-axis paint robot arms are configured for painting an interior of the vehicle body after the opening panels have been opened by one of the hood/deck opener robot arms or the door opener robot arms;
• and
• a second pair of six-axis or seven-axis paint robot arms attached to a second pair of the columns on opposite sides of the path for painting a second exterior coat on the vehicle body, the second pair of the columns being at a distal end of the painting booth from the first pair.