FR2357942A1 - Procede d'apprentissage pour robot et appareil en faisant application - Google Patents

Procede d'apprentissage pour robot et appareil en faisant application

Info

Publication number
FR2357942A1
FR2357942A1 FR7621024A FR7621024A FR2357942A1 FR 2357942 A1 FR2357942 A1 FR 2357942A1 FR 7621024 A FR7621024 A FR 7621024A FR 7621024 A FR7621024 A FR 7621024A FR 2357942 A1 FR2357942 A1 FR 2357942A1
Authority
FR
France
Prior art keywords
operator
spray gun
automatic painting
inertial system
painting mechanism
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
FR7621024A
Other languages
English (en)
Other versions
FR2357942B1 (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.)
Renault SAS
Original Assignee
Renault SAS
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 Renault SAS filed Critical Renault SAS
Priority to FR7621024A priority Critical patent/FR2357942A1/fr
Priority to DE19772731041 priority patent/DE2731041C3/de
Publication of FR2357942A1 publication Critical patent/FR2357942A1/fr
Application granted granted Critical
Publication of FR2357942B1 publication Critical patent/FR2357942B1/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
    • 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
    • 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
    • G05B2219/37134—Gyroscope
    • 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
    • G05B2219/37324—Derive position, speed from acceleration
    • 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
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Spray Control Apparatus (AREA)

Abstract

a. Robotique. b. Un pistolet à peinture 4 est muni d'un système inertiel 3 équipé pour émettre des signaux d'une maniere continue qui sont enregistrés sur bande au fur et à mesure de leur émission et qui peuvent être ensuite exploités par ordinateur pour déterminer les consignes de vitesse et de position, à communiquer à chacun des axes d'un robot pour permettre à celui-ci de manipuler à son tour un pistolet à peinture en lui faisant décrire une trajectoire continue prédéterminée. c. Utilisé en peinture, pulvérisation, encollage.
FR7621024A 1976-07-09 1976-07-09 Procede d'apprentissage pour robot et appareil en faisant application Granted FR2357942A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR7621024A FR2357942A1 (fr) 1976-07-09 1976-07-09 Procede d'apprentissage pour robot et appareil en faisant application
DE19772731041 DE2731041C3 (de) 1976-07-09 1977-07-08 Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7621024A FR2357942A1 (fr) 1976-07-09 1976-07-09 Procede d'apprentissage pour robot et appareil en faisant application

Publications (2)

Publication Number Publication Date
FR2357942A1 true FR2357942A1 (fr) 1978-02-03
FR2357942B1 FR2357942B1 (fr) 1983-01-21

Family

ID=9175480

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7621024A Granted FR2357942A1 (fr) 1976-07-09 1976-07-09 Procede d'apprentissage pour robot et appareil en faisant application

Country Status (1)

Country Link
FR (1) FR2357942A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0037704A1 (fr) * 1980-04-04 1981-10-14 Nordson Corporation Système pour évaluer la capacité d'un robot de travail à reproduire une série de mouvements programmés
WO1982001427A1 (fr) * 1980-10-18 1982-04-29 Ludwig Pietzsch Telecommande de systemes de manipulation mecaniques et systemes de manipulation mecaniques pourvus d'une telle telecommande
EP0051387A1 (fr) * 1980-10-27 1982-05-12 Nordson Corporation Méthode et appareil pour analyser la possibilité de réaliser une séquence programmée de mouvements au moyen d'un robot
EP0128763A2 (fr) * 1983-06-08 1984-12-19 Inoue-Japax Research Incorporated Système de positionnement pour robot
EP0145991A2 (fr) * 1983-11-25 1985-06-26 Asea Ab Dispositif de commande du débit d'un fluide pour un robot industriel
FR2644241A1 (fr) * 1989-03-10 1990-09-14 Aerospatiale Systeme pour la mesure de la position d'un mobile le long d'un axe rectiligne et son application aux robots
EP0440588A1 (fr) * 1990-02-02 1991-08-07 FIAT AUTO S.p.A. Système pour surveiller les paramètres de déplacement de robots industriels et semblables
FR2680886A1 (fr) * 1991-08-30 1993-03-05 Realisa Electroniques Et Procede de determination de la situation de l'organe terminal d'un robot et agencement pour la mise en óoeuvre du procede.
CN115145316A (zh) * 2022-07-22 2022-10-04 易麦斯智能科技(无锡)有限公司 基于向量与角度确定喷枪姿态方法
CN116560264A (zh) * 2023-04-21 2023-08-08 羽航科技发展(北京)有限公司 一种飞机喷漆作业控制区在线监测及通风联动控制方法

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0037704A1 (fr) * 1980-04-04 1981-10-14 Nordson Corporation Système pour évaluer la capacité d'un robot de travail à reproduire une série de mouvements programmés
WO1982001427A1 (fr) * 1980-10-18 1982-04-29 Ludwig Pietzsch Telecommande de systemes de manipulation mecaniques et systemes de manipulation mecaniques pourvus d'une telle telecommande
EP0051387A1 (fr) * 1980-10-27 1982-05-12 Nordson Corporation Méthode et appareil pour analyser la possibilité de réaliser une séquence programmée de mouvements au moyen d'un robot
EP0128763A2 (fr) * 1983-06-08 1984-12-19 Inoue-Japax Research Incorporated Système de positionnement pour robot
EP0128763A3 (fr) * 1983-06-08 1986-09-10 Inoue-Japax Research Incorporated Système de positionnement pour robot
EP0145991A2 (fr) * 1983-11-25 1985-06-26 Asea Ab Dispositif de commande du débit d'un fluide pour un robot industriel
EP0145991A3 (fr) * 1983-11-25 1987-08-19 Asea Ab Dispositif de commande du débit d'un fluide pour un robot industriel
EP0389327A2 (fr) * 1989-03-10 1990-09-26 AEROSPATIALE Société Nationale Industrielle Système pour la mesure de la position d'un mobile le long d'un axe rectiligne et son application aux robots
FR2644241A1 (fr) * 1989-03-10 1990-09-14 Aerospatiale Systeme pour la mesure de la position d'un mobile le long d'un axe rectiligne et son application aux robots
EP0389327A3 (en) * 1989-03-10 1990-12-12 Aerospatiale Societe Nationale Industrielle System for measuring the position of a mobile arrangement along a traight line and its application to robots
EP0440588A1 (fr) * 1990-02-02 1991-08-07 FIAT AUTO S.p.A. Système pour surveiller les paramètres de déplacement de robots industriels et semblables
FR2680886A1 (fr) * 1991-08-30 1993-03-05 Realisa Electroniques Et Procede de determination de la situation de l'organe terminal d'un robot et agencement pour la mise en óoeuvre du procede.
CN115145316A (zh) * 2022-07-22 2022-10-04 易麦斯智能科技(无锡)有限公司 基于向量与角度确定喷枪姿态方法
CN115145316B (zh) * 2022-07-22 2023-09-08 易麦斯智能科技(无锡)有限公司 基于向量与角度确定喷枪姿态方法
CN116560264A (zh) * 2023-04-21 2023-08-08 羽航科技发展(北京)有限公司 一种飞机喷漆作业控制区在线监测及通风联动控制方法
CN116560264B (zh) * 2023-04-21 2024-01-26 羽航科技发展(北京)有限公司 一种飞机喷漆作业控制区在线监测及通风联动控制方法

Also Published As

Publication number Publication date
FR2357942B1 (fr) 1983-01-21

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