FR2354859A1 - Manipulateur programmable portable - Google Patents

Manipulateur programmable portable

Info

Publication number
FR2354859A1
FR2354859A1 FR7718547A FR7718547A FR2354859A1 FR 2354859 A1 FR2354859 A1 FR 2354859A1 FR 7718547 A FR7718547 A FR 7718547A FR 7718547 A FR7718547 A FR 7718547A FR 2354859 A1 FR2354859 A1 FR 2354859A1
Authority
FR
France
Prior art keywords
manipulator
arm
guide wheel
portable programmable
control signals
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.)
Granted
Application number
FR7718547A
Other languages
English (en)
Other versions
FR2354859B1 (fr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Unimation Inc
Original Assignee
Unimation Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Unimation Inc filed Critical Unimation Inc
Publication of FR2354859A1 publication Critical patent/FR2354859A1/fr
Application granted granted Critical
Publication of FR2354859B1 publication Critical patent/FR2354859B1/fr
Granted legal-status Critical Current

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
    • 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/048—Pendulum type
    • 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
    • G05B2219/36471—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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41326—Step motor
    • 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
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50353—Tool, probe inclination, orientation to surface, posture, attitude

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)

Abstract

a. Manipulateur programmable portable. b. Manipulateur caractérisé en ce qu'il comprend en combinaison un bras de manipulateur, des moyens pour déplacer ce bras de manipulateur dans plusieurs axes, des moyens de codage associes à chacun de ces axes, une roue de guidage placée sur ce bras, un générateur d'impulsions associé à la roue de guidage et conçu pour produire une impulsion de commande correspondant à chaque pas d'avancement prédéterminé de la rotation de la roue de guidage, des moyens commandés par les impulsions de commande pour emmagasiner les signaux de commande successifs, et des moyens commandés par ces signaux de commande emmagasinés pour que les moyens d'entraînement fassent avancer le bras sur la trajectoire voulue c. L'invention s'applique dans le domaine de la soudure automatique pour construction navale par exemple.
FR7718547A 1976-06-17 1977-06-16 Manipulateur programmable portable Granted FR2354859A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/696,903 US4115684A (en) 1976-06-17 1976-06-17 Portable, programmable manipulator apparatus

Publications (2)

Publication Number Publication Date
FR2354859A1 true FR2354859A1 (fr) 1978-01-13
FR2354859B1 FR2354859B1 (fr) 1984-01-27

Family

ID=24799002

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7718547A Granted FR2354859A1 (fr) 1976-06-17 1977-06-16 Manipulateur programmable portable

Country Status (8)

Country Link
US (1) US4115684A (fr)
JP (3) JPS52155767A (fr)
CA (1) CA1071317A (fr)
DE (1) DE2727262A1 (fr)
FR (1) FR2354859A1 (fr)
GB (1) GB1585560A (fr)
IT (1) IT1078918B (fr)
SE (1) SE445527B (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0193772A2 (fr) * 1985-03-06 1986-09-10 Hermann Spicher GmbH Dispositif pour le déchargement automatique d'articles d'un conteneur
EP0193771A2 (fr) * 1985-03-06 1986-09-10 Hermann Spicher GmbH Dispositif pour le déchargement automatique d'articles d'un conteneur
EP0402229B1 (fr) * 1989-06-08 1993-12-15 Commissariat A L'energie Atomique Systeme de préhension à piece commandée par un moteur asservi

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4224501A (en) * 1978-02-27 1980-09-23 Unimation, Inc. Teaching arrangement for programmable manipulator
DE2854683C3 (de) * 1978-12-18 1981-06-25 Blohm + Voss Ag, 2000 Hamburg Vorrichtung zum Herstellen von zylindrischen Rotationskörpern
US4258425A (en) * 1979-03-08 1981-03-24 A. O. Smith Corporation Self-programmed mechanical working apparatus
US4288020A (en) * 1979-07-02 1981-09-08 The Babcock & Wilcox Company Tracking type welding apparatus
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
FR2475445A1 (fr) * 1980-02-13 1981-08-14 Commissariat Energie Atomique Procede automatique et autoadaptatif de soudage par fusion et dispositif pour la mise en oeuvre de ce procede
US4359621A (en) * 1980-07-14 1982-11-16 Westinghouse Electric Corp. Method for continuously welding a plurality of tubes disposed in multiple rows to a tube sheet
JPS5896312A (ja) * 1981-12-02 1983-06-08 Tokyo Kouon Denpa Kk 信号調整方法
JPS5896311A (ja) * 1981-12-02 1983-06-08 Tokyo Kouon Denpa Kk 信号調整方法
JPS58132439A (ja) * 1982-02-02 1983-08-06 Yamazaki Mazak Corp 数値制御工作機械における加工プログラムの修正制御方法
KR900003637B1 (ko) * 1982-11-26 1990-05-28 가부시기가이샤 히다찌 세이사꾸쇼 로보트의 동작제어장치
US4613866A (en) * 1983-05-13 1986-09-23 Mcdonnell Douglas Corporation Three dimensional digitizer with electromagnetic coupling
US4578554A (en) * 1984-04-30 1986-03-25 Teledyne, Inc. Laser welding apparatus
SE453973B (sv) * 1984-05-18 1988-03-21 Asea Ab Anordning for drivning av en translationsrorelse vid en industrirobot med tva kardanskt anordnade svengningsaxlar
SE453974B (sv) * 1984-05-18 1988-03-21 Asea Ab Industrirobot med tva kardanskt anordnande svengningsaxlar
US4659904A (en) * 1985-07-01 1987-04-21 High Steel Structures, Inc. Shut-down control device for welding carriage and method
DE3600339A1 (de) * 1986-01-08 1987-07-09 Siemens Ag Ansteuerung eines einstellbaren, zum beispiel programmierbaren greifers
AT405379B (de) * 1996-04-25 1999-07-26 Joanneum Research Forschungsge Verfahren zum ausbessern von oberflächendefekten
GB9609379D0 (en) * 1996-05-03 1996-07-10 Willett Int Ltd Mechanism and method
JP3292715B2 (ja) * 1999-10-12 2002-06-17 エスエムシー株式会社 緩衝機能付き電動ハンド
EP1195227A3 (fr) * 2000-10-03 2002-07-17 Karsten Kristiansen Procédé et dispositif pour le meulage des bords de produits plats empilés verticalement
US20090005907A1 (en) * 2007-03-07 2009-01-01 Orbital Robotics Ltd. Manipulator unit
US8847100B2 (en) * 2008-01-08 2014-09-30 Fanuc America Corporation Weld cap and tip inspection method and apparatus
US9513231B2 (en) * 2013-01-25 2016-12-06 The Boeing Company Tracking enabled multi-axis tool for limited access inspection
US9772344B1 (en) * 2013-02-20 2017-09-26 The United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration Pulse generator
CN110421234A (zh) * 2018-05-01 2019-11-08 北京航天美利达自动焊设备科技有限公司 空间曲线焊缝跟踪器

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2101097A7 (fr) * 1970-08-14 1972-03-31 Gacon Camoz Pierre
FR2279521A1 (fr) * 1974-07-22 1976-02-20 Keller & Knappich Augsburg Appareil automatique du type robot
FR2311630A1 (fr) * 1975-05-23 1976-12-17 Kobe Steel Ltd Procede et appareil d'apprentissage pour robot industriel

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3555239A (en) * 1966-11-16 1971-01-12 William J Kerth Welding machine with digital pulse control
US3497959A (en) * 1967-06-09 1970-03-03 Coert Engelsman Apparatus for making measurements and counting items on maps,drawings,and the like
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
US3689892A (en) * 1970-03-18 1972-09-05 Electroglas Inc Electronic control apparatus having learn and automatic operate modes
US3757187A (en) * 1971-03-25 1973-09-04 Ishikawajima Harima Heavy Ind Record repetitve playback type universal position control system
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
US3843915A (en) * 1973-02-02 1974-10-22 Ncr Co Servo-motor control system including a two phase digital shaft position detector
JPS5024686A (fr) * 1973-07-09 1975-03-15
FR2278450A1 (fr) * 1974-02-22 1976-02-13 Shin Meiwa Ind Co Ltd Appareil automatique a souder

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2101097A7 (fr) * 1970-08-14 1972-03-31 Gacon Camoz Pierre
FR2279521A1 (fr) * 1974-07-22 1976-02-20 Keller & Knappich Augsburg Appareil automatique du type robot
FR2311630A1 (fr) * 1975-05-23 1976-12-17 Kobe Steel Ltd Procede et appareil d'apprentissage pour robot industriel

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0193772A2 (fr) * 1985-03-06 1986-09-10 Hermann Spicher GmbH Dispositif pour le déchargement automatique d'articles d'un conteneur
EP0193771A2 (fr) * 1985-03-06 1986-09-10 Hermann Spicher GmbH Dispositif pour le déchargement automatique d'articles d'un conteneur
EP0193771A3 (fr) * 1985-03-06 1987-05-06 Hermann Spicher GmbH Dispositif pour le déchargement automatique d'articles d'un conteneur
EP0193772B1 (fr) * 1985-03-06 1990-04-18 Hermann Spicher GmbH Dispositif pour le déchargement automatique d'articles d'un conteneur
EP0402229B1 (fr) * 1989-06-08 1993-12-15 Commissariat A L'energie Atomique Systeme de préhension à piece commandée par un moteur asservi

Also Published As

Publication number Publication date
US4115684A (en) 1978-09-19
JPS60110015A (ja) 1985-06-15
DE2727262A1 (de) 1977-12-29
JPS52155767A (en) 1977-12-24
SE7706974L (sv) 1977-12-18
SE445527B (sv) 1986-06-30
FR2354859B1 (fr) 1984-01-27
GB1585560A (en) 1981-03-04
CA1071317A (fr) 1980-02-05
JPS60110014A (ja) 1985-06-15
IT1078918B (it) 1985-05-08

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Legal Events

Date Code Title Description
ST Notification of lapse