FR2424796A1 - Procede de programmation d'un dispositif de manipulation - Google Patents
Procede de programmation d'un dispositif de manipulationInfo
- Publication number
- FR2424796A1 FR2424796A1 FR7913738A FR7913738A FR2424796A1 FR 2424796 A1 FR2424796 A1 FR 2424796A1 FR 7913738 A FR7913738 A FR 7913738A FR 7913738 A FR7913738 A FR 7913738A FR 2424796 A1 FR2424796 A1 FR 2424796A1
- Authority
- FR
- France
- Prior art keywords
- programming
- handling device
- industrial robots
- recording
- motors
- 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
Links
Classifications
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
PROCEDE DE PROGRAMMATION D'UN DISPOSITIF DE MANIPULATION NOTAMMENT POUR ROBOTS INDUSTRIELS EQUIPE DE PLUSIEURS MOTEURS PAS A PAS POUR COMMANDER LE FONCTIONNEMENT D'UNE PINCE 21. IL COMPREND LES PHASES SUIVANTES: UTILISATION D'UN SECOND DISPOSITIF DE MANIPULATION IDENTIQUE AU PREMIER MAIS OU LES MOTEURS 63, 65, 67 SONT REMPLACES PAR DES GENERATEURS D'IMPULSIONS INCREMENTIELS, MISE EN OEUVRE MANUELLE DU SECOND DISPOSITIF ET ENREGISTREMENT SIMULTANE DES IMPULSIONS ENGENDREES, UTILISATION DE L'ENREGISTREMENT POUR METTRE EN OEUVRE REPETITIVEMENT LE PREMIER DISPOSITIF ET REPRODUIRE LES OPERATIONS PRECEDEMMENT COMMANDEES MANUELLEMENT. L'INVENTION S'APPLIQUE A LA PROGRAMMATION DE ROBOTS INDUSTRIELS POUR MANIPULER AVEC PRECISION DES PIECES DE FAIBLES DIMENSIONS.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH1616477A CH617559GA3 (fr) | 1977-12-29 | 1977-12-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2424796A1 true FR2424796A1 (fr) | 1979-11-30 |
FR2424796B1 FR2424796B1 (fr) | 1984-03-30 |
Family
ID=4414964
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7837115A Granted FR2424795A1 (fr) | 1977-12-29 | 1978-12-26 | Dispositif de manutention, notamment pour robots industriels |
FR7913738A Granted FR2424796A1 (fr) | 1977-12-29 | 1979-05-28 | Procede de programmation d'un dispositif de manipulation |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7837115A Granted FR2424795A1 (fr) | 1977-12-29 | 1978-12-26 | Dispositif de manutention, notamment pour robots industriels |
Country Status (7)
Country | Link |
---|---|
US (1) | US4329110A (fr) |
JP (1) | JPS54132963A (fr) |
CH (1) | CH617559GA3 (fr) |
DE (1) | DE2855132C3 (fr) |
FR (2) | FR2424795A1 (fr) |
GB (1) | GB2011572B (fr) |
IT (1) | IT1203213B (fr) |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH637869A5 (de) * | 1979-06-19 | 1983-08-31 | Microbo Ag | Handhabungseinrichtung, insbesondere fuer industrieroboter. |
US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
FR2509886A1 (fr) * | 1981-07-16 | 1983-01-21 | Kessis Jean Jacques | Mecanisme cartesien |
US4527446A (en) * | 1982-03-26 | 1985-07-09 | U.S. Automation Company | Cam-actuated robotic manipulator system |
JPS5971742U (ja) * | 1982-11-08 | 1984-05-16 | ぺんてる株式会社 | 熱転写式プリンタのリボン送り装置 |
US4551058A (en) * | 1983-07-20 | 1985-11-05 | Robotics, Inc. | Low cost articulating/articulating and rotating wrist mechanism for automatic machine tool and automatic machine tool employing the same |
DE3326962A1 (de) * | 1983-07-27 | 1985-02-07 | Josef 4790 Paderborn Göllner jun. | Industrieroboter mit zweigliedrigem gelenkarm |
JPS6051500A (ja) * | 1983-08-29 | 1985-03-22 | Hitachi Ltd | ロボットの動作制御装置 |
AU3583084A (en) * | 1983-12-10 | 1985-06-13 | Aida Engineering Ltd. | Playback grinding robot |
DE3404553C2 (de) * | 1984-02-09 | 1986-04-17 | Carl Hurth Maschinen- und Zahnradfabrik GmbH & Co, 8000 München | Handhabungseinrichtung, insbesondere zum Be- und Entladen von Werkzeugmaschinen |
EP0160305B1 (fr) * | 1984-05-02 | 1989-10-25 | Kabushiki Kaisha Tokuda Seisakusho | Dispositif de support |
JPS6143062U (ja) * | 1984-08-22 | 1986-03-20 | 富士通株式会社 | 熱転写フイルムカセツト |
JPH0357497Y2 (fr) * | 1984-10-31 | 1991-12-27 | ||
DE3501771A1 (de) * | 1985-01-21 | 1986-07-24 | Robert Bosch Gmbh, 7000 Stuttgart | Beuteluebergabevorrichtung |
JPS61244475A (ja) * | 1985-04-22 | 1986-10-30 | 株式会社東芝 | 産業用ロボツト |
JPS6241560U (fr) * | 1985-08-30 | 1987-03-12 | ||
CH668379A5 (de) * | 1986-08-07 | 1988-12-30 | Ernst Ochsner | Haltevorrichtung fuer einen allflaechig zu behandelnden gegenstand. |
US4756655A (en) * | 1986-12-15 | 1988-07-12 | Jameson John W | Mechanical manipulator |
US4762016A (en) * | 1987-03-27 | 1988-08-09 | The Regents Of The University Of California | Robotic manipulator having three degrees of freedom |
KR970004947B1 (ko) * | 1987-09-10 | 1997-04-10 | 도오교오 에레구토론 가부시끼가이샤 | 핸들링장치 |
US4796357A (en) * | 1988-02-16 | 1989-01-10 | International Business Machines Corporation | Method and apparatus for positioning electrical components |
US5117992A (en) * | 1991-01-28 | 1992-06-02 | Virginia International Terminals, Inc. | System for learning control commands to robotically move a load, especially suitable for use in cranes to reduce load sway |
WO1996036847A1 (fr) * | 1995-05-16 | 1996-11-21 | Brown & Sharpe Manufacturing Company | Machine de mesure de coordonnees possedant un bras articule |
US5616917A (en) * | 1995-05-16 | 1997-04-01 | Brown & Sharpe Manufacturing Company | Device for measuring an angle between pivotally-connected members |
SE511804C2 (sv) * | 1996-03-14 | 1999-11-29 | Abb Ab | Anordning för relativ förflyttning av två element |
SE508890C2 (sv) * | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
US6336374B1 (en) | 1997-01-14 | 2002-01-08 | Asea Brown Boveri A.B. | Device for relative displacement of two elements |
SE512931C2 (sv) * | 1998-04-29 | 2000-06-05 | Abb Ab | Anordning för relativ förflyttning av två element |
SE513328C2 (sv) | 1998-11-11 | 2000-08-28 | Abb Ab | Manipulator och förfarande vid framställning av en manipulator |
IT1309275B1 (it) * | 1999-05-31 | 2002-01-16 | Cosmopack S R L | Testa di presa per l' afferramento, la traslazione ed il rilascio dioggetti di varia forma |
TW200932457A (en) * | 2008-01-18 | 2009-08-01 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
CN104096998A (zh) * | 2014-06-27 | 2014-10-15 | 广西大学 | 一种多自由度并联机构式点焊机器人 |
CN107414365B (zh) * | 2017-07-13 | 2019-03-15 | 柳州福能机器人开发有限公司 | 滑轮式焊接用机器人机械臂 |
CN111152194B (zh) * | 2020-01-15 | 2021-03-30 | 北京交通大学 | 一种单自由度无限翻转机构 |
CN112174048B (zh) * | 2020-10-22 | 2021-10-22 | 华北水利水电大学 | 基于双四连杆机构的双层叉车 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3247978A (en) * | 1962-12-12 | 1966-04-26 | Programmed & Remote Syst Corp | Manipulator hand |
US3259254A (en) * | 1964-04-16 | 1966-07-05 | James M Mitchell | Motion device |
US3630389A (en) * | 1970-09-30 | 1971-12-28 | Gen Electric | Material-handling apparatus |
US3703968A (en) * | 1971-09-20 | 1972-11-28 | Us Navy | Linear linkage manipulator arm |
US3792782A (en) * | 1971-12-10 | 1974-02-19 | Programmed & Remote Syst Corp | Grapple assembly |
JPS4961577A (fr) * | 1972-09-25 | 1974-06-14 | ||
JPS5842118B2 (ja) * | 1973-07-27 | 1983-09-17 | オオジセイキコウギヨウ カブシキガイシヤ | カクダイサレタハンイデヘイコウウンドウスルユアツクレ−ンソウチ |
US3934702A (en) * | 1973-09-13 | 1976-01-27 | Chicago Display Company | Article transfer apparatus |
DE2452345C3 (de) * | 1974-11-05 | 1979-11-08 | Volkswagenwerk Ag, 3180 Wolfsburg | Handhabungsautomat |
-
1977
- 1977-12-29 CH CH1616477A patent/CH617559GA3/xx unknown
-
1978
- 1978-12-20 GB GB7849303A patent/GB2011572B/en not_active Expired
- 1978-12-20 DE DE2855132A patent/DE2855132C3/de not_active Expired
- 1978-12-26 FR FR7837115A patent/FR2424795A1/fr active Granted
- 1978-12-28 IT IT69965/78A patent/IT1203213B/it active
- 1978-12-29 JP JP16460978A patent/JPS54132963A/ja active Granted
-
1979
- 1979-05-28 FR FR7913738A patent/FR2424796A1/fr active Granted
-
1980
- 1980-08-12 US US06/177,497 patent/US4329110A/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
Also Published As
Publication number | Publication date |
---|---|
IT7869965A0 (it) | 1978-12-28 |
DE2855132B2 (de) | 1981-02-05 |
GB2011572B (en) | 1982-06-30 |
CH617559GA3 (fr) | 1980-06-13 |
DE2855132A1 (de) | 1979-07-05 |
IT1203213B (it) | 1989-02-15 |
CH617559B (fr) | |
GB2011572A (en) | 1979-07-11 |
JPS5621557B2 (fr) | 1981-05-20 |
FR2424796B1 (fr) | 1984-03-30 |
US4329110A (en) | 1982-05-11 |
FR2424795A1 (fr) | 1979-11-30 |
JPS54132963A (en) | 1979-10-16 |
FR2424795B1 (fr) | 1984-01-20 |
DE2855132C3 (de) | 1981-10-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
TP | Transmission of property | ||
ST | Notification of lapse |