CA1181837A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- CA1181837A CA1181837A CA000415857A CA415857A CA1181837A CA 1181837 A CA1181837 A CA 1181837A CA 000415857 A CA000415857 A CA 000415857A CA 415857 A CA415857 A CA 415857A CA 1181837 A CA1181837 A CA 1181837A
- Authority
- CA
- Canada
- Prior art keywords
- work piece
- manipulator
- conveying
- industrial robot
- top end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36503—Adapt program to real coordinates, software orientation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37462—Resistor, potentiometers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37572—Camera, tv, vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45013—Spraying, coating, painting
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45135—Welding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP56186690A JPS5887603A (ja) | 1981-11-20 | 1981-11-20 | 産業用ロボツト |
JP186690/1981 | 1981-11-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
CA1181837A true CA1181837A (en) | 1985-01-29 |
Family
ID=16192926
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA000415857A Expired CA1181837A (en) | 1981-11-20 | 1982-11-18 | Industrial robot |
Country Status (4)
Country | Link |
---|---|
JP (1) | JPS5887603A (de) |
CA (1) | CA1181837A (de) |
DE (1) | DE3243341A1 (de) |
GB (1) | GB2110427B (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007003668A1 (es) * | 2005-07-04 | 2007-01-11 | Index Servicios De Ingenieria, S.L. | Sistema automático de aplicación de un fluido solidificable |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4380696A (en) * | 1980-11-12 | 1983-04-19 | Unimation, Inc. | Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing |
CA1204192A (en) * | 1982-04-30 | 1986-05-06 | Norman H. Vogt | Method and apparatus for processing similar workpieces of varying shape, points of contour and dimension |
JPS5992054A (ja) * | 1982-11-19 | 1984-05-28 | Tokico Ltd | センサユニツト |
JPS6042584U (ja) * | 1983-08-29 | 1985-03-26 | フアナツク株式会社 | 産業ロボツト用視覚センサ |
JPS60118907A (ja) * | 1983-12-01 | 1985-06-26 | Tokico Ltd | 工業用ロボツト |
EP0151417A1 (de) * | 1984-01-19 | 1985-08-14 | Hitachi, Ltd. | Verfahren zur Korrektur von Koordinatensystemen eines mit einem Sichtgerät ausgerüsteten Roboters und Apparatur dafür |
JPS60169905A (ja) * | 1984-02-15 | 1985-09-03 | Hitachi Constr Mach Co Ltd | テイ−チングプレイバツク装置 |
FR2564016B1 (fr) * | 1984-05-11 | 1989-02-17 | Commissariat Energie Atomique | Procede de recalage de la trajectoire d'un organe et dispositif pour la mise en oeuvre de ce procede |
DE3526958A1 (de) * | 1985-07-27 | 1985-12-19 | Daimler-Benz Ag, 7000 Stuttgart | Im teach-in-verfahren programmierbarer lackierroboter |
IL77654A (en) * | 1986-01-20 | 1991-03-10 | Dov Rosenthal | Electric positioning apparatus |
DE3613096A1 (de) * | 1986-04-18 | 1987-10-29 | Messer Griesheim Gmbh | Verfahren zum bearbeiten von werkstuecken |
DE3627560C3 (de) * | 1986-08-14 | 1994-12-22 | Audi Ag | Programmgesteuerte und sensorgeführte Fertigungs- und/oder Montageeinheit, insbesondere Industrieroboter |
GB8626499D0 (en) * | 1986-11-06 | 1986-12-10 | Busm Co Ltd | Treating workpieces |
JPH0790482B2 (ja) * | 1987-04-08 | 1995-10-04 | 株式会社日立製作所 | 加工線始端の開先位置検出方法 |
JPH0815877B2 (ja) * | 1987-12-10 | 1996-02-21 | 日産自動車株式会社 | 自動車車体の組立方法 |
US5015821A (en) * | 1988-02-15 | 1991-05-14 | Amada Company, Limited | Computer controlled welding robot |
JPH02160487A (ja) * | 1988-12-12 | 1990-06-20 | Fanuc Ltd | ロボット手動送り補正方式 |
GB2226372B (en) * | 1988-12-15 | 1992-11-11 | Luk Lamellen & Kupplungsbau | Assembly process for the clutch and clutch disc in motor vehicles and tool for carrying out the process |
FR2641223B1 (fr) * | 1989-01-05 | 1994-06-17 | Peugeot | Ligne de fabrication industrielle automatisee |
JPH02250782A (ja) * | 1989-03-20 | 1990-10-08 | Fanuc Ltd | 産業用ロボットの手動介入方式 |
DE4100806C2 (de) * | 1990-07-27 | 1994-08-11 | Kloeckner Ferromatik Desma | Verfahren und Vorrichtung zum Bestimmen von Koordinatenwerten zur Steuerung eines Roboters, insbesondere für die Schuhfertigung |
JPH0511825A (ja) * | 1991-07-03 | 1993-01-22 | Matsushita Electric Ind Co Ltd | ロボツトの軌跡補正装置 |
JPH06344315A (ja) * | 1993-06-04 | 1994-12-20 | Inax Corp | 圧力鋳込成形法 |
DE19615069A1 (de) * | 1996-04-17 | 1997-10-23 | Hannover Laser Zentrum | Verfahren und Vorrichtung zum Nachführen von Werkzeugen mittels Kantenverfolgung |
US5807449A (en) * | 1997-01-08 | 1998-09-15 | Hooker; Jeffrey A. | Workpiece treating apparatus and method of treating same |
US6259519B1 (en) | 1999-08-31 | 2001-07-10 | Intelligent Machine Concepts, L.L.C. | Method of determining the planar inclination of a surface |
DE10006852C5 (de) * | 2000-02-16 | 2004-08-26 | Anders, Michael, Dr.-Ing. | Verfahren und Vorrichtung zum Fügen von Werkstückteilen mittels eines Energiestrahls, insbesondere Laserstrahls |
DE10048749A1 (de) | 2000-09-29 | 2002-04-11 | Josef Schucker | Anordnung zum Aufbringen von Klebstoff auf ein Werkstück |
DE10323536A1 (de) * | 2003-05-24 | 2004-12-09 | Liman Gmbh & Co. Kg | Vorrichtung zum Aufbringen eines Kunststoffstranges auf eine Unterlage |
JP3905073B2 (ja) | 2003-10-31 | 2007-04-18 | ファナック株式会社 | アーク溶接ロボット |
DE10361018C9 (de) | 2003-12-23 | 2021-03-04 | QUISS Qualitäts-Inspektionssysteme und Service GmbH | Verfahren zum Erkennen einer auf einem Substrat aufzubringenden Struktur mit mehreren Kameras sowie eine Vorrichtung hierfür |
DE102005039094B4 (de) * | 2005-08-08 | 2009-03-19 | Carl Zeiss Industrielle Messtechnik Gmbh | Verfahren und Vorrichtung zum Führen eines Maschinenteils entlang einer definierten Bewegungsbahn über einer Werkstücksoberfläche |
CN102794771A (zh) * | 2011-05-24 | 2012-11-28 | 鸿富锦精密工业(深圳)有限公司 | 机械手臂校正系统及方法 |
DE102012105275A1 (de) * | 2012-06-18 | 2013-12-19 | Endress + Hauser Gmbh + Co. Kg | Verfahren und Vorrichtung zur Überprüfung einer räumlichen Ausrichtung und einer Positionierung mindestens eines Funktionselements einer Fertigungseinrichtung |
GB201413991D0 (en) * | 2014-08-07 | 2014-09-24 | Ubisense Ltd | Tool tracking |
CN105818134B (zh) * | 2016-05-12 | 2017-11-14 | 南京理工大学 | 一种带有自动按压按钮功能的智能机械手臂 |
JP6914067B2 (ja) * | 2017-03-21 | 2021-08-04 | 株式会社神戸製鋼所 | 動作プログラム補正方法および溶接ロボットシステム |
CN107297399B (zh) * | 2017-08-08 | 2018-10-16 | 南京埃斯顿机器人工程有限公司 | 一种机器人自动寻找折弯位置的方法 |
GB201800534D0 (en) | 2018-01-12 | 2018-02-28 | Ubisense Ltd | Tool tracking |
FR3093021B1 (fr) | 2019-02-22 | 2023-10-20 | Hms2030 | Robot terrestre à haute mobilité & à haute performance, grâce à ses bras actifs à compliance contrôlée |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5516792B2 (de) * | 1973-02-09 | 1980-05-07 | ||
JPS6016673B2 (ja) * | 1978-12-25 | 1985-04-26 | 川崎重工業株式会社 | サ−ボ系における被検体認識装置 |
GB2045463B (en) * | 1979-04-03 | 1983-04-20 | Hall Automation Ltd | Arrangement for controlling an operation performed on a workpiece |
JPS5633175A (en) * | 1979-08-22 | 1981-04-03 | Daihen Corp | Welding robot |
US4468695A (en) * | 1980-11-20 | 1984-08-28 | Tokico Ltd. | Robot |
-
1981
- 1981-11-20 JP JP56186690A patent/JPS5887603A/ja active Pending
-
1982
- 1982-11-18 CA CA000415857A patent/CA1181837A/en not_active Expired
- 1982-11-19 GB GB08233052A patent/GB2110427B/en not_active Expired
- 1982-11-19 DE DE19823243341 patent/DE3243341A1/de active Granted
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007003668A1 (es) * | 2005-07-04 | 2007-01-11 | Index Servicios De Ingenieria, S.L. | Sistema automático de aplicación de un fluido solidificable |
ES2264892A1 (es) * | 2005-07-04 | 2007-01-16 | Index Servicios De Ingenieria, S.L. | Sistema automatico de aplicacion de un fluido solidificable. |
Also Published As
Publication number | Publication date |
---|---|
DE3243341A1 (de) | 1983-06-01 |
JPS5887603A (ja) | 1983-05-25 |
GB2110427B (en) | 1985-08-21 |
GB2110427A (en) | 1983-06-15 |
DE3243341C2 (de) | 1989-04-20 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
MKEC | Expiry (correction) | ||
MKEX | Expiry |