FR2279521B3 - - Google Patents
Info
- Publication number
- FR2279521B3 FR2279521B3 FR7521276A FR7521276A FR2279521B3 FR 2279521 B3 FR2279521 B3 FR 2279521B3 FR 7521276 A FR7521276 A FR 7521276A FR 7521276 A FR7521276 A FR 7521276A FR 2279521 B3 FR2279521 B3 FR 2279521B3
- Authority
- FR
- France
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- 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
- G05B2219/36471—Recording speed different from playback speed
-
- 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
- G05B2219/36477—Timing record position according to pulses coding wheel
-
- 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
- G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
-
- 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
- G05B2219/37357—Force, pressure, weight or deflection
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2435156A DE2435156C2 (de) | 1974-07-22 | 1974-07-22 | Programmgesteuerter Manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2279521A1 FR2279521A1 (fr) | 1976-02-20 |
FR2279521B3 true FR2279521B3 (US08142518-20120327-C00011.png) | 1979-04-27 |
Family
ID=5921182
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7521276A Granted FR2279521A1 (fr) | 1974-07-22 | 1975-07-07 | Appareil automatique du type robot |
Country Status (9)
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1554944A (en) * | 1975-05-23 | 1979-10-31 | Kobe Steel Ltd | Teaching method for use in an industrial robot |
US4115684A (en) * | 1976-06-17 | 1978-09-19 | Unimation | Portable, programmable manipulator apparatus |
US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
US4068536A (en) * | 1976-12-23 | 1978-01-17 | Cincinnati Milacron Inc. | Manipulator |
DE2725557A1 (de) * | 1977-06-07 | 1978-12-21 | Volkswagenwerk Ag | Drehantrieb fuer einen bestandteil eines handhabungsgeraets |
US4224501A (en) * | 1978-02-27 | 1980-09-23 | Unimation, Inc. | Teaching arrangement for programmable manipulator |
FR2435329A1 (fr) * | 1978-07-10 | 1980-04-04 | Ass Ouvriers Instr Precision | Manipulateur, en particulier automate de peinture, susceptible d'apprentissage |
US4252360A (en) * | 1979-06-12 | 1981-02-24 | Gallaher Jr John K | Mechanical handling apparatus |
US4367532A (en) * | 1979-10-12 | 1983-01-04 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
JPS5685106A (en) * | 1979-12-14 | 1981-07-11 | Hitachi Ltd | Robot teaching method |
JPS605432B2 (ja) * | 1980-09-30 | 1985-02-12 | ファナック株式会社 | 工業用ロボット |
JPS6039518B2 (ja) * | 1980-09-30 | 1985-09-06 | ファナック株式会社 | 工業用ロボットの手首機構 |
DE3048067C2 (de) * | 1980-12-19 | 1984-08-09 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Getriebeanordnung für den Gelenkkopf eines Manipulators |
JPS597593A (ja) * | 1982-07-02 | 1984-01-14 | 三菱電機株式会社 | ロボツトの関節装置 |
DE3228945A1 (de) * | 1982-08-03 | 1984-02-16 | GdA Gesellschaft für digitale Automation mbH, 8000 München | Vorrichtung zum antrieb der beiden achsen des handgliedes eines industrieroboters |
US4579016A (en) * | 1983-03-01 | 1986-04-01 | Westinghouse Electric Corp. | Self-contained two-axis wrist module |
CA1229636A (en) * | 1983-04-14 | 1987-11-24 | Richard S. Antoszewski | Radial-theta manipulator apparatus |
US4642021A (en) * | 1983-06-27 | 1987-02-10 | Toyoda Koki Kabushiki Kaisha | Manipulation arm mechanism for an industrial robot |
DE3428748C2 (de) * | 1983-08-03 | 1987-02-19 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Getriebekopf für Manipulatoren |
ATE27561T1 (de) * | 1983-08-03 | 1987-06-15 | Kuka Schweissanlagen & Roboter | Getriebekopf fuer manipulatoren. |
SE455683B (sv) * | 1983-10-31 | 1988-08-01 | Asea Ab | Automatrobot, serskilt for svetsning |
JPS60141496A (ja) * | 1983-12-27 | 1985-07-26 | フアナツク株式会社 | 工業用ロボツトの手首機構 |
DE3480331D1 (en) * | 1984-08-03 | 1989-12-07 | Kuka Schweissanlagen & Roboter | Driven-tool holder head for manipulators |
DE3536747A1 (de) * | 1984-10-15 | 1986-04-24 | Tokico Ltd., Kawasaki, Kanagawa | Gelenkmechanismus |
DE3445055A1 (de) * | 1984-12-11 | 1986-06-12 | Reis GmbH & Co, 8753 Obernburg | Mehrachsiger, programmierbarer manipulator mit einem trainingsarm zum programmieren des manipulators |
US6477913B1 (en) | 1985-01-22 | 2002-11-12 | Fanuc Robotics North America, Inc. | Electric robot for use in a hazardous location |
JPS61144993U (US08142518-20120327-C00011.png) * | 1985-03-01 | 1986-09-06 | ||
US4659904A (en) * | 1985-07-01 | 1987-04-21 | High Steel Structures, Inc. | Shut-down control device for welding carriage and method |
DE3627745A1 (de) * | 1985-08-20 | 1987-03-05 | Tokico Ltd | Industriewiedergaberoboter |
US4703668A (en) * | 1985-09-25 | 1987-11-03 | Champion Spark Plug Company | Wrist mechanism for a robot arm |
FR2592607B1 (fr) * | 1986-01-06 | 1988-04-08 | Outiperret Sa | Dispositif manipulateur multiplicateur d'efforts tridimensionnel. |
GB8600920D0 (en) * | 1986-01-15 | 1986-02-19 | Witter R B | Robot teaching |
US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
US4744499A (en) * | 1986-09-08 | 1988-05-17 | Lecco, Inc. | System for automated manufacture of pressure vessels |
US4787270A (en) * | 1987-02-11 | 1988-11-29 | Cincinnati Milacron Inc. | Robotic manipulator |
DE3720180C1 (de) * | 1987-06-16 | 1988-06-30 | Erowa Ag | Wechselvorrichtung fuer eine Werkzeugmaschine |
JP2511072B2 (ja) * | 1987-10-23 | 1996-06-26 | 三菱重工業株式会社 | ロボットにおける教示デ―タの記録・再生方法 |
US4807486A (en) * | 1987-11-09 | 1989-02-28 | Gmf Robotics Corporation | Three-axes wrist mechanism |
JPH0224075A (ja) * | 1988-07-13 | 1990-01-26 | Mitsubishi Electric Corp | 産業用ロボット |
JPH02190288A (ja) * | 1989-01-20 | 1990-07-26 | Kobe Steel Ltd | 工業用ロボット等の手首機構 |
DE9001451U1 (de) * | 1990-02-08 | 1991-06-06 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Programmierhilfe für einen mehrachsigen Manipulator |
US6356807B1 (en) | 1999-08-13 | 2002-03-12 | Fanuc Robotics North America, Inc. | Method of determining contact positions, calibration parameters, and reference frames for robot assemblies |
EP1716984A1 (fr) * | 2005-04-25 | 2006-11-02 | Jean-Jacques Mougin | Dispositif d'entraînement d'un objet suivant des mouvements de rotation combinés |
DE102009015603B4 (de) * | 2009-04-02 | 2012-02-23 | Siemens Aktiengesellschaft | Landanschluss für Schiffe mit einem Gelenkkran |
CN102198658A (zh) * | 2010-03-25 | 2011-09-28 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
JP6572202B2 (ja) | 2013-03-15 | 2019-09-04 | ストライカー・コーポレイション | 外科用ロボットマニピュレータのエンドエフェクタ |
CN103758932B (zh) * | 2014-01-26 | 2016-05-25 | 浙江来福谐波传动股份有限公司 | 大减速比角向谐波减速装置 |
JP7009929B2 (ja) * | 2017-11-02 | 2022-01-26 | セイコーエプソン株式会社 | ロボット |
US11874683B1 (en) | 2021-11-04 | 2024-01-16 | United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration | Hand controller |
CN115307031B (zh) * | 2022-10-10 | 2022-12-16 | 西南石油大学 | 一种管外自适应检测机器人 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2933205A (en) * | 1958-03-14 | 1960-04-19 | Burroughs Corp | Mechanical manipulator |
US2942736A (en) * | 1959-06-18 | 1960-06-28 | United States Atomic Energy Commission | Crane positioning apparatus |
US3128887A (en) * | 1960-02-25 | 1964-04-14 | Mechanical manipulators for the displacement of | |
JPS5025234B1 (US08142518-20120327-C00011.png) * | 1970-02-20 | 1975-08-21 | ||
JPS4921672Y1 (US08142518-20120327-C00011.png) * | 1970-08-21 | 1974-06-10 | ||
JPS5425196B2 (US08142518-20120327-C00011.png) * | 1972-03-16 | 1979-08-25 | ||
DE2226407C3 (de) * | 1972-05-31 | 1978-10-12 | Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe | Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung |
US3878652A (en) * | 1973-06-25 | 1975-04-22 | Robotics Inc | Low cost programmable remote control machine tool manipulator having continuous path control |
-
1974
- 1974-07-22 DE DE2435156A patent/DE2435156C2/de not_active Expired
-
1975
- 1975-07-07 FR FR7521276A patent/FR2279521A1/fr active Granted
- 1975-07-07 CH CH881575A patent/CH590114A5/xx not_active IP Right Cessation
- 1975-07-11 SE SE7507989A patent/SE430960B/xx unknown
- 1975-07-16 IT IT25472/75A patent/IT1039296B/it active
- 1975-07-21 US US05/597,825 patent/US4030617A/en not_active Expired - Lifetime
- 1975-07-21 NO NO752584A patent/NO752584L/no unknown
- 1975-07-22 GB GB30578/75A patent/GB1511168A/en not_active Expired
- 1975-07-22 JP JP8892875A patent/JPS5623760B2/ja not_active Expired
Also Published As
Publication number | Publication date |
---|---|
SE430960B (sv) | 1983-12-27 |
SE7507989L (sv) | 1976-01-23 |
CH590114A5 (US08142518-20120327-C00011.png) | 1977-07-29 |
JPS5135955A (US08142518-20120327-C00011.png) | 1976-03-26 |
US4030617A (en) | 1977-06-21 |
GB1511168A (en) | 1978-05-17 |
DE2435156A1 (de) | 1976-02-12 |
JPS5623760B2 (US08142518-20120327-C00011.png) | 1981-06-02 |
IT1039296B (it) | 1979-12-10 |
NO752584L (US08142518-20120327-C00011.png) | 1976-01-23 |
FR2279521A1 (fr) | 1976-02-20 |
DE2435156C2 (de) | 1983-09-01 |