GB1431413A - Method of programming a servo system and a servo system designed for such programming - Google Patents
Method of programming a servo system and a servo system designed for such programmingInfo
- Publication number
- GB1431413A GB1431413A GB608874A GB608874A GB1431413A GB 1431413 A GB1431413 A GB 1431413A GB 608874 A GB608874 A GB 608874A GB 608874 A GB608874 A GB 608874A GB 1431413 A GB1431413 A GB 1431413A
- Authority
- GB
- United Kingdom
- Prior art keywords
- cylinder
- programming
- freedom
- cylinders
- resolver
- 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.)
- Expired
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
-
- 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
- G05B2219/41309—Hydraulic or pneumatic drive
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
- Hydrogenated Pyridines (AREA)
- Manipulator (AREA)
Abstract
1431413 Recording and playback TRALIFA NILS UNDERHAUG AS 11 Feb 1974 [13 Feb 1973] 06088/74 Heading G3N In a hydraulic or pneumatic servosystem, motion of a controlled member VT being associated, for each one of degrees of freedom of member movement, with corresponding servo cylinders AS, MO, during a programming mode in which position detectors{resolvers}R for each cylinder provide data to generate a program whilst member VT is manually moved, each cylinder is shortcircuited for fluid-flow by a branch KO connected to drain AV providing fluid outlet to reservoir RE. Position data from a corresponding resolver R passes to recorder BO to form, for all cylinders, parallel data tracks on magnetic tape, hydraulic switch HV decoupling servovalves SE from the fluid supply, the effect on relief valves PT being to open links KO, and the routes AV to the reservoir. The pistons can thus be freely moved during programming. Playback. The tape data, for each degree of freedom passes to a corresponding comparator K receiving actual position data from the corresponding resolver R, the comparator output, derived on the basis of a phase or numerical comparison of its inputs controlling a corresponding servovalve SE itself controlling a corresponding servo cylinder to reduce the comparator output to zero. For each degree of freedom, the cylinder, servovalve, relief valve, and resolver may be combined into a single replaceable unit CM. The member VT may be a gun for the spraying of paint, metal, varnish, or powder, or material for sand blasting, the programming phase taking place during manual use of the gun by an operative. Cylinders AS generate linear motion, torque cylinder MO providing rotation.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO57973A NO131906C (en) | 1973-02-13 | 1973-02-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1431413A true GB1431413A (en) | 1976-04-07 |
Family
ID=19877683
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB608874A Expired GB1431413A (en) | 1973-02-13 | 1974-02-11 | Method of programming a servo system and a servo system designed for such programming |
Country Status (7)
Country | Link |
---|---|
JP (2) | JPS5040985A (en) |
DE (1) | DE2406493C2 (en) |
FR (1) | FR2217741B1 (en) |
GB (1) | GB1431413A (en) |
IT (1) | IT1008824B (en) |
NO (1) | NO131906C (en) |
SE (1) | SE404406B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2124407A (en) * | 1982-06-03 | 1984-02-15 | Zed Instr Ltd | Control of hydraulic booms |
CN114017406A (en) * | 2021-11-16 | 2022-02-08 | 成都大宏立机器股份有限公司 | Hydraulic system of full-automatic fatigue strength testing machine |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2498493A1 (en) * | 1981-01-26 | 1982-07-30 | Rondolotti Ets | IMPROVED REPELLENT TOWER |
NO148986C (en) * | 1981-10-05 | 1984-01-25 | Ole Molaug | ROBOT MANIPULATOR DEVICE |
NL8301678A (en) * | 1983-05-11 | 1984-12-03 | Johan Massee | FORCING MACHINE. |
US5004392A (en) * | 1984-02-20 | 1991-04-02 | Zoller-Kipper Gmbh | Device for emptying containers, especially refuse bins |
JPS6198411A (en) * | 1984-10-20 | 1986-05-16 | Hitachi Constr Mach Co Ltd | Reproducer |
JPS621004A (en) * | 1985-05-30 | 1987-01-07 | Matsushita Electric Ind Co Ltd | Robot |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3246223A (en) * | 1962-05-03 | 1966-04-12 | American Mach & Foundry | Selective condition limiting recording system for a motor controlled machine tool |
CA918789A (en) * | 1969-03-18 | 1973-01-09 | F. Engelberger Joseph | Programmed manipulator apparatus |
-
1973
- 1973-02-13 NO NO57973A patent/NO131906C/no unknown
-
1974
- 1974-02-11 GB GB608874A patent/GB1431413A/en not_active Expired
- 1974-02-11 IT IT4824874A patent/IT1008824B/en active
- 1974-02-11 SE SE7401804A patent/SE404406B/en not_active IP Right Cessation
- 1974-02-12 DE DE19742406493 patent/DE2406493C2/en not_active Expired
- 1974-02-13 FR FR7404806A patent/FR2217741B1/fr not_active Expired
- 1974-02-13 JP JP1750274A patent/JPS5040985A/ja active Pending
-
1981
- 1981-04-20 JP JP5700781U patent/JPS6039103U/en active Granted
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2124407A (en) * | 1982-06-03 | 1984-02-15 | Zed Instr Ltd | Control of hydraulic booms |
CN114017406A (en) * | 2021-11-16 | 2022-02-08 | 成都大宏立机器股份有限公司 | Hydraulic system of full-automatic fatigue strength testing machine |
Also Published As
Publication number | Publication date |
---|---|
IT1008824B (en) | 1976-11-30 |
NO131906B (en) | 1975-05-12 |
JPS6039103U (en) | 1985-03-18 |
NO131906C (en) | 1975-08-20 |
SE404406B (en) | 1978-10-02 |
JPS5040985A (en) | 1975-04-15 |
DE2406493C2 (en) | 1986-02-13 |
FR2217741A1 (en) | 1974-09-06 |
DE2406493A1 (en) | 1974-08-15 |
FR2217741B1 (en) | 1977-09-23 |
JPS6117448Y2 (en) | 1986-05-28 |
AU6552774A (en) | 1975-08-14 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PS | Patent sealed | ||
PCNP | Patent ceased through non-payment of renewal fee |