JPS6219904B2 - - Google Patents

Info

Publication number
JPS6219904B2
JPS6219904B2 JP53085673A JP8567378A JPS6219904B2 JP S6219904 B2 JPS6219904 B2 JP S6219904B2 JP 53085673 A JP53085673 A JP 53085673A JP 8567378 A JP8567378 A JP 8567378A JP S6219904 B2 JPS6219904 B2 JP S6219904B2
Authority
JP
Japan
Prior art keywords
spray gun
arm
robot
control
paint
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
Application number
JP53085673A
Other languages
English (en)
Japanese (ja)
Other versions
JPS5440840A (en
Inventor
Jiorujio Dauini
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.)
Asea SpA
Original Assignee
Asea SpA
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
Priority claimed from IT2866274A external-priority patent/IT1027590B/it
Application filed by Asea SpA filed Critical Asea SpA
Publication of JPS5440840A publication Critical patent/JPS5440840A/ja
Publication of JPS6219904B2 publication Critical patent/JPS6219904B2/ja
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
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control
    • 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 three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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 leader 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
    • 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
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the objects being vehicle components, e.g. vehicle bodies

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Nozzles (AREA)
JP8567378A 1974-10-22 1978-07-13 Spray gun apparatus and programm control therefor Granted JPS5440840A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT2866274A IT1027590B (it) 1974-10-22 1974-10-22 Complesso di elementi per l insegnamento di fasi operative ad una apparecchiatura elettronica atta ad imporre le stesse fasi operative rispettivamento ad una macchina operatrice
US05/815,440 US4239431A (en) 1974-10-22 1977-07-13 Light-weight program controller

Publications (2)

Publication Number Publication Date
JPS5440840A JPS5440840A (en) 1979-03-31
JPS6219904B2 true JPS6219904B2 (en]) 1987-05-01

Family

ID=26328789

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8567378A Granted JPS5440840A (en) 1974-10-22 1978-07-13 Spray gun apparatus and programm control therefor

Country Status (5)

Country Link
US (2) US4239431A (en])
JP (1) JPS5440840A (en])
DE (1) DE2530261C2 (en])
FR (1) FR2397234A1 (en])
GB (1) GB2002142B (en])

Families Citing this family (560)

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Also Published As

Publication number Publication date
JPS5440840A (en) 1979-03-31
GB2002142A (en) 1979-02-14
DE2530261A1 (de) 1976-06-24
GB2002142B (en) 1982-03-24
US4239431A (en) 1980-12-16
FR2397234B1 (en]) 1984-08-17
FR2397234A1 (fr) 1979-02-09
US4300198A (en) 1981-11-10
DE2530261C2 (de) 1986-10-23

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