JPS5659309A - Robot - Google Patents

Robot

Info

Publication number
JPS5659309A
JPS5659309A JP13500679A JP13500679A JPS5659309A JP S5659309 A JPS5659309 A JP S5659309A JP 13500679 A JP13500679 A JP 13500679A JP 13500679 A JP13500679 A JP 13500679A JP S5659309 A JPS5659309 A JP S5659309A
Authority
JP
Japan
Prior art keywords
coated
robot
signal
moving object
coating
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.)
Pending
Application number
JP13500679A
Other languages
Japanese (ja)
Inventor
Yoshimasa Ito
Junji Hashizume
Junichi Ikeda
Noriyuki Uchiumi
Tetsuchika Naka
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.)
Tokico Ltd
Original Assignee
Tokico Ltd
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 Tokico Ltd filed Critical Tokico Ltd
Priority to JP13500679A priority Critical patent/JPS5659309A/en
Priority to US06/185,023 priority patent/US4420812A/en
Priority to DE19803034244 priority patent/DE3034244A1/en
Priority to CA000360103A priority patent/CA1148237A/en
Priority to GB8029481A priority patent/GB2058407B/en
Publication of JPS5659309A publication Critical patent/JPS5659309A/en
Priority to GB08330135A priority patent/GB2131572B/en
Pending legal-status Critical Current

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
    • B25J9/02—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
    • B25J9/046—Revolute coordinate type
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34388—Detect correct moment, position, advanced, delayed, then next command
    • 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
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • 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
    • G05B2219/36458—Teach only some points, for playback interpolation between points
    • 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
    • G05B2219/36471—Recording speed different from playback speed
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To make the robot follow a moving object easily, by storing the position information as an angle signal. CONSTITUTION:Teaching to the robot 1 is performed by tracing its actual motion by means of a handle 19 held by an operator. At this time, the angle information for location is sampled from the potentiometer provided to the arm 3, and it is written into the memory. As far as the robot for coating is concerned, signals for start and stop of jet are also stored. Since the object to be coated is being conveyed, the signal is generated when the object to be coated passes through the coating area. Both the extent of the traveling and the position of an object to be coated can be grasped by this signal, and the static play back operation is corrected so that a moving object can be coated.
JP13500679A 1979-09-14 1979-10-19 Robot Pending JPS5659309A (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP13500679A JPS5659309A (en) 1979-10-19 1979-10-19 Robot
US06/185,023 US4420812A (en) 1979-09-14 1980-09-08 Teaching- playback robot
DE19803034244 DE3034244A1 (en) 1979-09-14 1980-09-11 LEARNABLE ROBOT
CA000360103A CA1148237A (en) 1979-09-14 1980-09-11 Teaching-playback robot
GB8029481A GB2058407B (en) 1979-09-14 1980-09-12 Teaching-playback robot
GB08330135A GB2131572B (en) 1979-09-14 1983-11-11 Manipulator apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP13500679A JPS5659309A (en) 1979-10-19 1979-10-19 Robot

Publications (1)

Publication Number Publication Date
JPS5659309A true JPS5659309A (en) 1981-05-22

Family

ID=15141718

Family Applications (1)

Application Number Title Priority Date Filing Date
JP13500679A Pending JPS5659309A (en) 1979-09-14 1979-10-19 Robot

Country Status (1)

Country Link
JP (1) JPS5659309A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63102882A (en) * 1986-10-21 1988-05-07 株式会社神戸製鋼所 Method of controlling working robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50112969A (en) * 1974-02-18 1975-09-04
JPS5334269A (en) * 1976-09-08 1978-03-30 Kawasaki Heavy Ind Ltd Manipulator capable of being programmed and its programming method
JPS53133860A (en) * 1977-04-22 1978-11-22 Komatsu Ltd Robbot control system
JPS5427682A (en) * 1977-08-03 1979-03-01 Hitachi Ltd Automatic operational device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50112969A (en) * 1974-02-18 1975-09-04
JPS5334269A (en) * 1976-09-08 1978-03-30 Kawasaki Heavy Ind Ltd Manipulator capable of being programmed and its programming method
JPS53133860A (en) * 1977-04-22 1978-11-22 Komatsu Ltd Robbot control system
JPS5427682A (en) * 1977-08-03 1979-03-01 Hitachi Ltd Automatic operational device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63102882A (en) * 1986-10-21 1988-05-07 株式会社神戸製鋼所 Method of controlling working robot
JPH0431828B2 (en) * 1986-10-21 1992-05-27

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