JPS5887603A - Industrial robbot - Google Patents

Industrial robbot

Info

Publication number
JPS5887603A
JPS5887603A JP56186690A JP18669081A JPS5887603A JP S5887603 A JPS5887603 A JP S5887603A JP 56186690 A JP56186690 A JP 56186690A JP 18669081 A JP18669081 A JP 18669081A JP S5887603 A JPS5887603 A JP S5887603A
Authority
JP
Japan
Prior art keywords
working
camera
detection signal
nozzle
arm
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
JP56186690A
Other languages
Japanese (ja)
Inventor
Yoshimasa Ito
Yutaka Kitano
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 JP56186690A priority Critical patent/JPS5887603A/en
Publication of JPS5887603A publication Critical patent/JPS5887603A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0093Programme-controlled manipulators co-operating with conveyor means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/418Total 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], computer integrated manufacturing [CIM]
    • G05B19/41815Total 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], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182Total 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], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/42Recording 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
    • G05B19/423Teaching 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36417Programmed coarse position, fine position by alignment, follow line, path adaptive
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36503Adapt program to real coordinates, software orientation
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37462Resistor, potentiometers
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37572Camera, tv, vision
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45013Spraying, coating, painting
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45135Welding
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

PURPOSE: To set a working member accurately on a working position, to decrease the amount of correction during work and to make the device small and light, by detecting the working position of a work and controlling the position of the working member to the working position with a detection signal.
CONSTITUTION: A robbot main body 1 of a joint type robhot 50 is provided with a base 2 and a movable arm 3 and this arm 3 consists of an arm 6 freely rotatably and a wrist freely bendably. The tip of the wrist 7 is provided with a contact nozzle 31 in contact with a working member 13, and the member 13 is positioned to the nozzle 31 according to a working program stored in a storage device. The working position of the working plane 14 of the member 13 is detected with a TV camera 17 and through a detection signal from the camera 17, a slit light source 16, the camera 17 and the member 13 are incorporatedly rotated around an axial line 11 in response to the rotation of a motor 25 as a correcting device. The main body 1 is moved with a moving device by the detection signal of the camera 17 so that the member 13 is set to a reference position of the nozzle 31.
COPYRIGHT: (C)1983,JPO&Japio
JP56186690A 1981-11-20 1981-11-20 Industrial robbot Pending JPS5887603A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP56186690A JPS5887603A (en) 1981-11-20 1981-11-20 Industrial robbot

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP56186690A JPS5887603A (en) 1981-11-20 1981-11-20 Industrial robbot
CA000415857A CA1181837A (en) 1981-11-20 1982-11-18 Industrial robot
DE3243341A DE3243341C2 (en) 1981-11-20 1982-11-19
GB08233052A GB2110427B (en) 1981-11-20 1982-11-19 Industrial robot

Publications (1)

Publication Number Publication Date
JPS5887603A true JPS5887603A (en) 1983-05-25

Family

ID=16192926

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56186690A Pending JPS5887603A (en) 1981-11-20 1981-11-20 Industrial robbot

Country Status (4)

Country Link
JP (1) JPS5887603A (en)
CA (1) CA1181837A (en)
DE (1) DE3243341C2 (en)
GB (1) GB2110427B (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6042584U (en) * 1983-08-29 1985-03-26
JPS60118907A (en) * 1983-12-01 1985-06-26 Tokico Ltd Industrial robot
JPS63251182A (en) * 1987-04-08 1988-10-18 Hitachi Ltd Method of detecting position of bevel of working-line start end
JPH01301082A (en) * 1988-02-15 1989-12-05 Amada Co Ltd Welding robot
WO1990006836A1 (en) * 1988-12-12 1990-06-28 Fanuc Ltd Robot operation method that can be manually corrected
WO1990011166A1 (en) * 1989-03-20 1990-10-04 Fanuc Ltd Manual intervention method for industrial robot
JPH0511825A (en) * 1991-07-03 1993-01-22 Matsushita Electric Ind Co Ltd Correction device for track of robot
JPH06344315A (en) * 1993-06-04 1994-12-20 Inax Corp Pressure cast molding method
CN105818134A (en) * 2016-05-12 2016-08-03 南京理工大学 Intelligent mechanical arm with automatic button pressing function
CN107297399A (en) * 2017-08-08 2017-10-27 南京埃斯顿机器人工程有限公司 A kind of method of robot Automatic-searching bending position

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4380696A (en) * 1980-11-12 1983-04-19 Unimation, Inc. Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing
CA1204192A (en) * 1982-04-30 1986-05-06 Norman H. Vogt Method and apparatus for processing similar workpieces of varying shape, points of contour and dimension
JPS6353862B2 (en) * 1982-11-19 1988-10-25 Tokico Ltd
EP0151417A1 (en) * 1984-01-19 1985-08-14 Hitachi, Ltd. Method for correcting systems of coordinates in a robot having visual sensor device and apparatus therefor
JPS60169905A (en) * 1984-02-15 1985-09-03 Hitachi Constr Mach Co Ltd Teaching play back device
FR2564016B1 (en) * 1984-05-11 1989-02-17 Commissariat Energie Atomique METHOD FOR RECALARING THE TRAJECTORY OF AN ORGAN AND DEVICE FOR CARRYING OUT SAID METHOD
DE3526958C2 (en) * 1985-07-27 1989-04-20 Daimler-Benz Aktiengesellschaft, 7000 Stuttgart, De
IL77654A (en) * 1986-01-20 1991-03-10 Dov Rosenthal Electric positioning apparatus
DE3613096A1 (en) * 1986-04-18 1987-10-29 Messer Griesheim Gmbh Method for machining workpieces
DE3627560C3 (en) * 1986-08-14 1994-12-22 Audi Ag Program-controlled and sensor-guided manufacturing and / or assembly unit, especially industrial robots
GB8626499D0 (en) * 1986-11-06 1986-12-10 Busm Co Ltd Treating workpieces
JPH0815877B2 (en) * 1987-12-10 1996-02-21 日産自動車株式会社 Assembly method of car body
GB2226372B (en) * 1988-12-15 1992-11-11 Luk Lamellen & Kupplungsbau Assembly process for the clutch and clutch disc in motor vehicles and tool for carrying out the process
FR2641223B1 (en) * 1989-01-05 1994-06-17 Peugeot Automated industrial manufacturing line
DE4100806C2 (en) * 1990-07-27 1994-08-11 Kloeckner Ferromatik Desma Method and device for determining coordinate values for controlling a robot, in particular for shoe manufacture
DE19615069A1 (en) * 1996-04-17 1997-10-23 Hannover Laser Zentrum Procedure for panning machine tool esp. laser beam cutter using edge tracking on workpiece
US5807449A (en) * 1997-01-08 1998-09-15 Hooker; Jeffrey A. Workpiece treating apparatus and method of treating same
US6259519B1 (en) 1999-08-31 2001-07-10 Intelligent Machine Concepts, L.L.C. Method of determining the planar inclination of a surface
DE10006852C5 (en) * 2000-02-16 2004-08-26 Anders, Michael, Dr.-Ing. Method and device for joining workpiece parts by means of an energy beam, in particular a laser beam
DE10048749A1 (en) 2000-09-29 2002-04-11 Josef Schucker Arrangement for applying adhesive to a workpiece
DE10323536A1 (en) * 2003-05-24 2004-12-09 Liman Gmbh & Co. Kg Adhesive applicator for use in interconnecting together sheet metal parts of motor vehicle body, has pair of nozzle bodies both rotatable about axis corresponding to adhesive flow direction
JP3905073B2 (en) 2003-10-31 2007-04-18 ファナック株式会社 Arc welding robot
DE10361018C9 (en) 2003-12-23 2021-03-04 QUISS Qualitäts-Inspektionssysteme und Service GmbH Method for recognizing a structure to be applied to a substrate with a plurality of cameras and a device therefor
ES2264892B1 (en) * 2005-07-04 2007-12-16 Index Servicios De Ingenieria, S.L. AUTOMATIC SYSTEM FOR APPLICATION OF A SOLIDIFICABLE FLUID.
DE102005039094B4 (en) * 2005-08-08 2009-03-19 Carl Zeiss Industrielle Messtechnik Gmbh Method and device for guiding a machine part along a defined trajectory over a workpiece surface
CN102794771A (en) * 2011-05-24 2012-11-28 鸿富锦精密工业(深圳)有限公司 Mechanical arm correction system and method
DE102012105275A1 (en) * 2012-06-18 2013-12-19 Endress + Hauser Gmbh + Co. Kg Production device comprises support device arranged on working plane, and functional element comprising a transmitting device mounted on work plane, which emits radiation during operation in a predetermined two-dimensional output form
GB201413991D0 (en) 2014-08-07 2014-09-24 Ubisense Ltd Tool tracking
FR3093021A1 (en) 2019-02-22 2020-08-28 Hms2030 High mobility land robot & high performance, thanks to its active arms with controlled compliance

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49103358A (en) * 1973-02-09 1974-09-30
JPS5633175A (en) * 1979-08-22 1981-04-03 Daihen Corp Welding robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6016673B2 (en) * 1978-12-25 1985-04-26 Kawasaki Heavy Ind Ltd
GB2045463B (en) * 1979-04-03 1983-04-20 Hall Automation Ltd Arrangement for controlling an operation performed on a workpiece
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49103358A (en) * 1973-02-09 1974-09-30
JPS5633175A (en) * 1979-08-22 1981-04-03 Daihen Corp Welding robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6042584U (en) * 1983-08-29 1985-03-26
JPS60118907A (en) * 1983-12-01 1985-06-26 Tokico Ltd Industrial robot
JPS63251182A (en) * 1987-04-08 1988-10-18 Hitachi Ltd Method of detecting position of bevel of working-line start end
JPH01301082A (en) * 1988-02-15 1989-12-05 Amada Co Ltd Welding robot
WO1990006836A1 (en) * 1988-12-12 1990-06-28 Fanuc Ltd Robot operation method that can be manually corrected
WO1990011166A1 (en) * 1989-03-20 1990-10-04 Fanuc Ltd Manual intervention method for industrial robot
JPH0511825A (en) * 1991-07-03 1993-01-22 Matsushita Electric Ind Co Ltd Correction device for track of robot
JPH06344315A (en) * 1993-06-04 1994-12-20 Inax Corp Pressure cast molding method
CN105818134A (en) * 2016-05-12 2016-08-03 南京理工大学 Intelligent mechanical arm with automatic button pressing function
CN107297399A (en) * 2017-08-08 2017-10-27 南京埃斯顿机器人工程有限公司 A kind of method of robot Automatic-searching bending position

Also Published As

Publication number Publication date
DE3243341A1 (en) 1983-06-01
GB2110427B (en) 1985-08-21
CA1181837A1 (en)
GB2110427A (en) 1983-06-15
DE3243341C2 (en) 1989-04-20
CA1181837A (en) 1985-01-29

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