FR2436655A1 - Dispositif de programmation, pour un appareil de manipulation - Google Patents

Dispositif de programmation, pour un appareil de manipulation

Info

Publication number
FR2436655A1
FR2436655A1 FR7923186A FR7923186A FR2436655A1 FR 2436655 A1 FR2436655 A1 FR 2436655A1 FR 7923186 A FR7923186 A FR 7923186A FR 7923186 A FR7923186 A FR 7923186A FR 2436655 A1 FR2436655 A1 FR 2436655A1
Authority
FR
France
Prior art keywords
internal part
bush
operating handle
mobile
mobile element
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
FR7923186A
Other languages
English (en)
Other versions
FR2436655B1 (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.)
HA Schlatter AG
Original Assignee
HA Schlatter AG
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 HA Schlatter AG filed Critical HA Schlatter AG
Publication of FR2436655A1 publication Critical patent/FR2436655A1/fr
Application granted granted Critical
Publication of FR2436655B1 publication Critical patent/FR2436655B1/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
    • 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
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Abstract

L'INVENTION CONCERNE L'INDUSTRIE MECANIQUE. DISPOSITIF DE PROGRAMMATION POUR UN APPAREIL DE MANIPULATION COMPORTANT UNE POIGNEE DE MANOEUVRE 23, ASSOCIEE A DES CAPTEURS DE MESURE POUR CONVERTIR EN SIGNAUX ELECTRIQUES LES COMPOSANTES DES EFFORTS IMPRIMES A LA POIGNEE. ON ENREGISTRE LE PROGRAMME DE MANOEUVRE AINSI DETERMINE, EN VUE DE COMMANDER AUTOMATIQUEMENT LES MOTEURS DE L'APPAREIL DE MANIPULATION. LA POIGNEE DE MANOEUVRE 23 COMPORTE UNE PARTIE INTERNE 13, FIXEE RIGIDEMENT A UN ELEMENT MOBILE DE L'APPAREIL DE MANIPULATION, ET ENTOUREE PAR UNE DOUILLE EXTERNE 14, MOBILE PAR RAPPORT A LA PARTIE INTERNE 13 SUIVANT LES AXES DE MOUVEMENT DE L'ELEMENT MOBILE DE L'APPAREIL DE MANIPULATION. DES CAPTEURS DE MESURE 5 A 10 SONT DISPOSES ENTRE LA DOUILLE 14 ET LA PARTIE INTERNE 13, POUR MESURER LES EFFORTS EN JEU LORSQUE LA DOUILLE SE DEPLACE PAR RAPPORT A LA PARTIE INTERNE. APPLICATION AUX DISPOSITIFS DE PROGRAMMATION DE MANIPULATEURS AUTOMATIQUES, NOTAMMENT POUR DES MACHINES DE SOUDAGE DE CARROSSERIES D'AUTOMOBILES.
FR7923186A 1978-09-22 1979-09-18 Dispositif de programmation, pour un appareil de manipulation Granted FR2436655A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2841284A DE2841284C2 (de) 1978-09-22 1978-09-22 Vorrichtung zum Programmieren eines Handhabungsgeräts
DE7828226U DE7828226U1 (fr) 1978-09-22 1978-09-22

Publications (2)

Publication Number Publication Date
FR2436655A1 true FR2436655A1 (fr) 1980-04-18
FR2436655B1 FR2436655B1 (fr) 1984-07-20

Family

ID=25775802

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7923186A Granted FR2436655A1 (fr) 1978-09-22 1979-09-18 Dispositif de programmation, pour un appareil de manipulation

Country Status (10)

Country Link
US (1) USRE31581E (fr)
JP (1) JPS5547521A (fr)
AT (1) AT365503B (fr)
CA (1) CA1139404A (fr)
CH (1) CH639310A5 (fr)
DE (2) DE7828226U1 (fr)
FR (1) FR2436655A1 (fr)
GB (1) GB2036376B (fr)
NL (1) NL189595C (fr)
SE (1) SE443530B (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2467061A1 (fr) * 1979-10-12 1981-04-17 Nordson Corp Robot programmable a la main et executant des deplacements assistes pendant la programmation

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5878205A (ja) * 1981-11-02 1983-05-11 Kobe Steel Ltd 工業用ロボツトのテイ−チング方法
DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
JPS5914484A (ja) * 1982-07-09 1984-01-25 株式会社日立製作所 ロボツトの直接テイ−チ装置
DE3372942D1 (en) * 1982-09-25 1987-09-17 Fujitsu Ltd A multi-articulated robot
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0117334A3 (fr) * 1982-11-09 1986-01-15 EMI Limited Dispositif sensible à plusieurs composantes de force
JPS59108691A (ja) * 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
JPS59124589A (ja) * 1982-12-28 1984-07-18 株式会社東芝 産業用ロボツト
JP2650889B2 (ja) * 1983-04-28 1997-09-10 株式会社日立製作所 関節形ロボットの教示方法
DE8434357U1 (de) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg Greiferhand bei einem manipulator
GB2174216B (en) * 1985-03-19 1988-10-26 Mitutoyo Mfg Co Ltd Method of operating a coordinate measuring instrument
DE3526958A1 (de) * 1985-07-27 1985-12-19 Daimler-Benz Ag, 7000 Stuttgart Im teach-in-verfahren programmierbarer lackierroboter
JP2728392B2 (ja) * 1986-06-11 1998-03-18 株式会社日立製作所 ハンドル制御装置
US4982611A (en) * 1988-05-24 1991-01-08 Wisconsin Alumni Research Foundation Multiple-degree-of-freedom sensor tip for a robotic gripper
US5010773A (en) * 1990-01-24 1991-04-30 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
DE9001451U1 (fr) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De
DE69223854T2 (de) * 1991-06-14 1998-05-20 Honeywell Inc Proportionalmodus - Handsteuerung mit Kraftrückkopplung
CA2522097C (fr) 2003-04-28 2012-09-25 Stephen James Crampton Bras de machine de mesure de coordonnees a exosquelette
KR101289370B1 (ko) 2008-09-30 2013-07-29 도쿠리츠교세이호징 붓시쯔 자이료 겐큐키코 금속재의 용접 장치 및 금속재의 용접 방법
CN104647357A (zh) * 2015-01-09 2015-05-27 广西大学 一种四自由度步进电机驱动关节型机械手
CA2974996C (fr) 2015-02-02 2023-02-28 The University Of Western Ontario Navigation par forces de flexion
DE102015214170A1 (de) * 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
DE102015117213B4 (de) 2015-10-08 2020-10-29 Kastanienbaum GmbH Roboterarm
JP7420543B2 (ja) * 2019-12-13 2024-01-23 川崎重工業株式会社 遠隔操縦装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US344766A (en) * 1886-06-29 Grate
FR1038409A (fr) * 1951-06-14 1953-09-28 M Le Secretaire D Etat Aux For Poignée dynamométrique pour manche à balai de pilotage des aérodynes
US3434342A (en) * 1965-12-06 1969-03-25 Lear Siegler Inc Force sensing apparatus
US3493906A (en) * 1969-02-19 1970-02-03 Lear Siegler Inc Control wheel force sensor
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
FR2137641A1 (fr) * 1971-05-10 1972-12-29 Sperry Rand Corp
US3835702A (en) * 1973-09-13 1974-09-17 Us Air Force Multi-axis bio-mechanical force measuring device
FR2281560A1 (fr) * 1974-08-07 1976-03-05 Bendix Corp Detecteur de charge a plusieurs dimensions
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3951271A (en) * 1974-05-03 1976-04-20 Mette Klaus Hermann Robot control device
FR2311630A1 (fr) * 1975-05-23 1976-12-17 Kobe Steel Ltd Procede et appareil d'apprentissage pour robot industriel
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
DE2731041C3 (de) * 1976-07-09 1981-04-02 Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator
CA1080828A (fr) * 1976-07-26 1980-07-01 Bendix Corporation (The) Methode et appareil generateur de programmes de controle de position ou de trajet utilisant la reaction due aux forces exterieures
CA1121888A (fr) * 1977-04-30 1982-04-13 Junichi Ikeda Robot industriel
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US344766A (en) * 1886-06-29 Grate
FR1038409A (fr) * 1951-06-14 1953-09-28 M Le Secretaire D Etat Aux For Poignée dynamométrique pour manche à balai de pilotage des aérodynes
US3434342A (en) * 1965-12-06 1969-03-25 Lear Siegler Inc Force sensing apparatus
US3493906A (en) * 1969-02-19 1970-02-03 Lear Siegler Inc Control wheel force sensor
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
FR2137641A1 (fr) * 1971-05-10 1972-12-29 Sperry Rand Corp
US3835702A (en) * 1973-09-13 1974-09-17 Us Air Force Multi-axis bio-mechanical force measuring device
FR2281560A1 (fr) * 1974-08-07 1976-03-05 Bendix Corp Detecteur de charge a plusieurs dimensions
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2467061A1 (fr) * 1979-10-12 1981-04-17 Nordson Corp Robot programmable a la main et executant des deplacements assistes pendant la programmation

Also Published As

Publication number Publication date
CH639310A5 (de) 1983-11-15
USRE31581E (en) 1984-05-08
NL189595B (nl) 1993-01-04
GB2036376A (en) 1980-06-25
NL189595C (nl) 1993-06-01
CA1139404A (fr) 1983-01-11
DE7828226U1 (fr) 1987-01-02
GB2036376B (en) 1982-12-15
JPS6411430B2 (fr) 1989-02-23
SE7907758L (sv) 1980-03-23
SE443530B (sv) 1986-03-03
DE2841284C2 (de) 1982-04-15
FR2436655B1 (fr) 1984-07-20
NL7906827A (nl) 1980-03-25
DE2841284A1 (de) 1980-04-03
ATA608979A (de) 1981-06-15
JPS5547521A (en) 1980-04-04
AT365503B (de) 1982-01-25

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