FR2435329A1 - Manipulateur, en particulier automate de peinture, susceptible d'apprentissage - Google Patents

Manipulateur, en particulier automate de peinture, susceptible d'apprentissage

Info

Publication number
FR2435329A1
FR2435329A1 FR7820513A FR7820513A FR2435329A1 FR 2435329 A1 FR2435329 A1 FR 2435329A1 FR 7820513 A FR7820513 A FR 7820513A FR 7820513 A FR7820513 A FR 7820513A FR 2435329 A1 FR2435329 A1 FR 2435329A1
Authority
FR
France
Prior art keywords
jack
memorises
manual
robot arm
movements
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
FR7820513A
Other languages
English (en)
Other versions
FR2435329B1 (fr
Inventor
Maurice Lande
Roger David
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.)
Association des Ouvriers en Instruments de Precision
Original Assignee
Association des Ouvriers en Instruments de Precision
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 Association des Ouvriers en Instruments de Precision filed Critical Association des Ouvriers en Instruments de Precision
Priority to FR7820513A priority Critical patent/FR2435329A1/fr
Publication of FR2435329A1 publication Critical patent/FR2435329A1/fr
Application granted granted Critical
Publication of FR2435329B1 publication Critical patent/FR2435329B1/fr
Granted legal-status Critical Current

Links

Classifications

    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic 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
    • B25J9/0081—Programme-controlled manipulators with master teach-in 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
    • G05B19/42—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
    • G05B2219/36429—Power assisted positioning
    • 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
    • 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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Abstract

L'invention concerne un manipulateur succeptible d'apprentissage. Ce manipulateur comprend un bras 3-4 à plusieurs degrés de liberté, portant un outil 9, et muni d'une poignée de commande manuelle 12; des capteurs produisent des signaux caractéristiques, les uns des efforts manuels appliqués à la poignée 12, les autres, de la position du bras 3-4; un automatisme 22 en déduit des signaux de commande pour des moteurs hydrauliques 5, 6, qui, en phase d'apprentisage, assistent les efforts manuels de l'opérateur sur la poignée 12, et en phase automatique, commandée par les signaux de lecture d'une mémoire 21, commandent les déplacements du bras 3-4. L'invention est applicable par exemple à un automate de peinture.
FR7820513A 1978-07-10 1978-07-10 Manipulateur, en particulier automate de peinture, susceptible d'apprentissage Granted FR2435329A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7820513A FR2435329A1 (fr) 1978-07-10 1978-07-10 Manipulateur, en particulier automate de peinture, susceptible d'apprentissage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7820513A FR2435329A1 (fr) 1978-07-10 1978-07-10 Manipulateur, en particulier automate de peinture, susceptible d'apprentissage

Publications (2)

Publication Number Publication Date
FR2435329A1 true FR2435329A1 (fr) 1980-04-04
FR2435329B1 FR2435329B1 (fr) 1981-12-11

Family

ID=9210540

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7820513A Granted FR2435329A1 (fr) 1978-07-10 1978-07-10 Manipulateur, en particulier automate de peinture, susceptible d'apprentissage

Country Status (1)

Country Link
FR (1) FR2435329A1 (fr)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0019596A1 (fr) * 1979-05-11 1980-11-26 BASFER S.p.A. Robot avec dispositif de programmation léger et exempt d'inertie
EP0023864A1 (fr) * 1979-08-02 1981-02-11 Association Des Ouvriers En Instruments De Precision Dispositif de commande manuelle, notamment poignée pour commander les déplacements d'un organe motorisé
FR2467061A1 (fr) * 1979-10-12 1981-04-17 Nordson Corp Robot programmable a la main et executant des deplacements assistes pendant la programmation
EP0037911A2 (fr) * 1980-04-12 1981-10-21 Ransburg-Gema AG Dispositif de revêtement automatique d'objets
EP0038654A1 (fr) * 1980-04-17 1981-10-28 Hall Automation Limited Système de positionnement pour lignes de production
FR2483300A1 (fr) * 1980-05-28 1981-12-04 Expl Mat Indls Const Manipulateur industriel perfectionne
EP0121486A2 (fr) * 1983-04-01 1984-10-10 Permanent Label Corporation Appareil et procédé de décoration d'objets
FR2592607A1 (fr) * 1986-01-06 1987-07-10 Outiperret Sa Dispositif manipulateur multiplicateur d'efforts tridimensionnel.
EP0361162A2 (fr) * 1988-09-29 1990-04-04 Robert Bosch Gmbh Servomécanisme réglable pour manipulateur
FR2693397A1 (fr) * 1992-07-09 1994-01-14 Cogema Dispositif de retour d'information sensorielle représentative de l'effort exercé sur un télémanipulateur par son utilisateur.
US20090157092A1 (en) * 2007-12-18 2009-06-18 Blumenkranz Stephen J Ribbed force sensor
WO2017178469A1 (fr) * 2016-04-12 2017-10-19 Universal Robots A/S Programmation d'un robot par démonstration
US9855102B2 (en) 2007-12-18 2018-01-02 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
IT201600097482A1 (it) * 2016-09-28 2018-03-28 Gaiotto Automation S P A Metodo per il trattamento superficiale di un manufatto
IT201700025766A1 (it) * 2017-03-08 2018-09-08 Epistolio S R L Robot di verniciatura

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1299784A (fr) * 1960-07-15 1962-07-27 American Mach & Foundry Machine pour effectuer des opérations répétitives
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
FR2279521A1 (fr) * 1974-07-22 1976-02-20 Keller & Knappich Augsburg Appareil automatique du type robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1299784A (fr) * 1960-07-15 1962-07-27 American Mach & Foundry Machine pour effectuer des opérations répétitives
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
FR2279521A1 (fr) * 1974-07-22 1976-02-20 Keller & Knappich Augsburg Appareil automatique du type robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
NV111/76 *

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0019596A1 (fr) * 1979-05-11 1980-11-26 BASFER S.p.A. Robot avec dispositif de programmation léger et exempt d'inertie
EP0023864A1 (fr) * 1979-08-02 1981-02-11 Association Des Ouvriers En Instruments De Precision Dispositif de commande manuelle, notamment poignée pour commander les déplacements d'un organe motorisé
FR2467061A1 (fr) * 1979-10-12 1981-04-17 Nordson Corp Robot programmable a la main et executant des deplacements assistes pendant la programmation
EP0037911A2 (fr) * 1980-04-12 1981-10-21 Ransburg-Gema AG Dispositif de revêtement automatique d'objets
EP0037911A3 (en) * 1980-04-12 1981-12-23 Ransburg-Gema Ag Apparatus for the automatic coating of articles
EP0038654A1 (fr) * 1980-04-17 1981-10-28 Hall Automation Limited Système de positionnement pour lignes de production
FR2483300A1 (fr) * 1980-05-28 1981-12-04 Expl Mat Indls Const Manipulateur industriel perfectionne
EP0121486A2 (fr) * 1983-04-01 1984-10-10 Permanent Label Corporation Appareil et procédé de décoration d'objets
EP0121486A3 (en) * 1983-04-01 1986-06-25 Permanent Label Corporation Apparatus and method for decorating articles
FR2592607A1 (fr) * 1986-01-06 1987-07-10 Outiperret Sa Dispositif manipulateur multiplicateur d'efforts tridimensionnel.
EP0361162A2 (fr) * 1988-09-29 1990-04-04 Robert Bosch Gmbh Servomécanisme réglable pour manipulateur
EP0361162A3 (fr) * 1988-09-29 1992-08-26 Robert Bosch Gmbh Servomécanisme réglable pour manipulateur
FR2693397A1 (fr) * 1992-07-09 1994-01-14 Cogema Dispositif de retour d'information sensorielle représentative de l'effort exercé sur un télémanipulateur par son utilisateur.
US10620066B2 (en) 2005-03-30 2020-04-14 Intuitive Surgical Operations, Inc. Ribbed force sensor
US9952107B2 (en) 2007-12-18 2018-04-24 Intuitive Surgical Operations, Inc Ribbed force sensor
US8621939B2 (en) 2007-12-18 2014-01-07 Intuitive Surgical Operations, Inc. Ribbed force sensor
US9855102B2 (en) 2007-12-18 2018-01-02 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US20090157092A1 (en) * 2007-12-18 2009-06-18 Blumenkranz Stephen J Ribbed force sensor
US10390896B2 (en) 2007-12-18 2019-08-27 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US8496647B2 (en) * 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US11571264B2 (en) 2007-12-18 2023-02-07 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US11650111B2 (en) 2007-12-18 2023-05-16 Intuitive Surgical Operations, Inc. Ribbed force sensor
WO2017178469A1 (fr) * 2016-04-12 2017-10-19 Universal Robots A/S Programmation d'un robot par démonstration
US11474510B2 (en) 2016-04-12 2022-10-18 Universal Robots A/S Programming a robot by demonstration
IT201600097482A1 (it) * 2016-09-28 2018-03-28 Gaiotto Automation S P A Metodo per il trattamento superficiale di un manufatto
US11241794B2 (en) 2016-09-28 2022-02-08 Gaiotto Automation S.P.A. Method for the surface treatment of an article
IT201700025766A1 (it) * 2017-03-08 2018-09-08 Epistolio S R L Robot di verniciatura

Also Published As

Publication number Publication date
FR2435329B1 (fr) 1981-12-11

Similar Documents

Publication Publication Date Title
FR2435329A1 (fr) Manipulateur, en particulier automate de peinture, susceptible d'apprentissage
GB2010957A (en) Method and Apparatus for Operating a Servo-Actuated Closing Device
SE8301697D0 (sv) Forfarande och anordning for programmering av en robot, foretredesvis en fergsprutningsrobot
ATE28003T1 (de) Verfahren zum wiederanfahren eines werkzeuges an eine werkstueckkontur.
US5829347A (en) Electropressing apparatus
GB1532927A (en) Method and apparatus for generating position or path control programmes using force feedback
EP0252311B1 (fr) Procédé et dispositif pour mesurer des épaisseurs de couches de revêtement des carrosseries de véhicules
WO1997039812A3 (fr) Procede et dispositif d'attenuation des mouvements oscillatoires dans les machines mises en oeuvre par l'homme
JPS57168306A (en) Controlling method of industrial robot
GB958671A (en) Clinching apparatus
JPS6445586A (en) Robot controller
JPS5449758A (en) Teaching method for controlling robots
NL178945B (nl) Werkwijze voor het door druk verdichten van een buisvormig werkstuk.
JPS648779B2 (fr)
DE102015200319A1 (de) Einmessverfahren aus Kombination von Vorpositionierung und Handführen
JPS5520411A (en) Measuring method of stroke and depression force of push- button switch
FR2323564A1 (fr) Direction assistee pour vehicules
JP2510258Y2 (ja) 材料試験機
JP2935278B2 (ja) 異常対処支援装置
JPH0434164B2 (fr)
JPS60195616A (ja) 産業用ロボツト
JPH0417730B2 (fr)
SU442870A1 (ru) Устройство дл правки цилиндрических изделий
JPS5766834A (en) Gripper for automatic tool replacer
JPS56113445A (en) Forming method for tire

Legal Events

Date Code Title Description
ST Notification of lapse
TP Transmission of property
AR Application made for restoration
BR Restoration of rights
ST Notification of lapse