SE1000759A1 - Kombination av två industrirobotar i serie - Google Patents
Kombination av två industrirobotar i serieInfo
- Publication number
- SE1000759A1 SE1000759A1 SE1000759A SE1000759A SE1000759A1 SE 1000759 A1 SE1000759 A1 SE 1000759A1 SE 1000759 A SE1000759 A SE 1000759A SE 1000759 A SE1000759 A SE 1000759A SE 1000759 A1 SE1000759 A1 SE 1000759A1
- Authority
- SE
- Sweden
- Prior art keywords
- manipulator
- manipulators
- combination
- combination according
- series
- Prior art date
Links
- 238000010422 painting Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 239000003973 paint Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- 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 3D-surfaces
-
- 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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
- B05B13/069—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 specially designed for treating the inside of hollow bodies the hollow bodies having a closed end
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
En kombination av manipulatorer omfattar en första och en andra manipulator monterade i serie. Man kan utbreda arbetsområdet på en standard målningsrobot genom att montera den i serie med en SCARA robot. Kombinationen klarar av att måla interiören på en skåpbils lastutrymme.
Description
l0 15 20 25 30 manage the van painting task would require a considerable It might turn out not to be profitable to develop a robot for such a engineering effort and would become very expensive. special application. Also acquiring a robot managing the van painting task would probably be many times more expensive than acquiring a standard painting robot. Therefore, conventionally it is an attractive alternative to continue painting van interiors manually.
SUMMARY OF THE INVENTION One object of the invention is to provide a manipulator that manages the task of painting an interior of a van in a profitable manner.
This object is achieved by the device according to appended claim l and the method according to appended claim ll.
The invention is based on the realization that a working space of a standard manipulator can be enlarged by combining the manipulator in series with another standard manipulator.
According to a first aspect of the invention, there is provided a combination of manipulators comprising a first and a second manipulator, the first and the second manipulators being assembled in series. By assembling two manipulators in series the working space of a standard manipulator can be enlarged without the need of redesigning any of existing manipulators. both the first and the second manipulators are configured to operate According to one embodiment of the invention, individually.
According to one embodiment of the invention, there is an interface between the first and the second manipulators with a static coupling. By providing a static coupling thereinbetween the manipulators can be easily disassembled 10 15 20 25 30 without affecting the individual function of any one of them.
According to one embodiment of the invention, the second manipulator is attached to a last arm of the first manipulator.
According to one embodiment of the invention, relative mechanical movement is not transmitted across at least one interface between the two manipulators.
According to one embodiment of the invention, both the first and the second manipulators are industrial robots.
According to one embodiment of the invention, the first manipulator is a 2-axis manipulator and the second manipulator is a 6-axis manipulator.
According to one embodiment of the invention, the first manipulator is a SCARA robot.
According to one embodiment of the invention, the second manipulator is a standard painting robot.
According to one embodiment of the invention, the combination further comprises a third or an even further manipulator.
According to a second aspect of the invention, there is provided a method for enlarging a working space of a manipulator. The method comprises the steps of providing a first manipulator configured to operate individually, providing a second manipulator configured to operate individually, and combining the first and the second manipulators by assembling them in series.
According to a third aspect of the invention, a combination of manipulators and a corresponding method is used for painting an inside of a van. 10 15 20 25 30 BRIEF DESCRIPTION OF THE DRAWINGS The invention will be explained in greater detail with reference to the accompanying drawings, wherein figure 1 shows a combination of manipulators according to an embodiment of the invention, figure 2 shows the combination of figure 1 reaching an interior of a van.
DESCRIPTION OF PREFERRED EMBODIMENTS Referring to figure 1, a combination 10 of two robots comprises a 6-axis standard painting robot 20 assembled in series with a 2-axis SCARA robot 30. The SCARA robot has two swing arms 31, 32 rotatable about first and second swing axes 33, 34, and the painting robot is attached to the end portion of the second swing arm 32. The first axis 21 of the painting robot allows a yawing movement in relation to the end portion of the second swing arm. The second and third axes 22, 23 of the painting robot allow pitching movements in a plane parallel to the first axis. The fourth, fifth and sixth axes 24, 25, 26 of the painting robot constitute a wrist allowing for pitch, yaw and roll.
The working space of the painting robot alone does not suffice for managing a van painting task. However, in combination with the SCARA robot the working space is considerably enlarged in the x-y plane of figure l. The size of the SCARA robot can be chosen appropriately for the intended task, and the painting robot may have a relatively modest size compared with the swing arm size of the SCARA robot.
Both the SCARA robot and the painting robot are standard industrial robots and they are configured to operate individually i.e. independently from each other. This means 10 15 20 25 and the resulting individual robots can be reprogrammed to carry out that the two robots can be disassembled any time, new tasks individually. Since the two robots are configured to operate individually, there is at least one interface 40 between them where there is no kinematic but a static coupling. Also, the two robots are not mechanically so interrelated that disassembling the two robots would affect the individual function of any one of them. Especially, relative mechanical movement is not transmitted across at least one interface between the two robots. Electrical Cables, hoses, pipes and the like can however pass the SCARA robot and the interface between the two robots for delivering electric power, pressurized air, paint, etc. to the painting robot.
The movements of the combination of the two robots can be controlled by one common controller or each of the robots may have a controller of its own. In the latter case a higher order controller is needed for implementing movements of the combination in a coordinated manner.
The invention is not limited to the embodiments shown above, but the person skilled in the art may, of course, modify them in a plurality of ways within the scope of the invention as defined by the claims. Thus, for example, the invention is not limited to a combination of two manipulators but three or more manipulators can be assembled in series in a corresponding manner.
Claims (12)
1. A combination of manipulators comprising: a first manipulator, a second manipulator, characterized in that the first and the second manipulators are assembled in series.
2. A combination according to claim l, wherein both the first and the second manipulators are configured to operate individually.
3. A combination according to any of the preceding claims, wherein there is an interface between the first and the second manipulators with a static coupling.
4. A combination according to any of the preceding claims, wherein the second manipulator is attached to a last arm of the first manipulator.
5. A combination according to any of the preceding claims, wherein relative mechanical movement is not transmitted across at least one interface between the two manipulators.
6. A combination according to any of the preceding claims, wherein both the first and the second manipulators are industrial robots.
7. A combination according to any of the preceding claims, wherein the first manipulator is a 2-axis manipulator and the second manipulator is a 6-axis manipulator.
8. A combination according to any of the preceding claims, wherein the first manipulator is a SCARA robot.
9. A combination according to any of the preceding claims, wherein the second manipulator is a standard painting robot. 10 15
10.
11. ll.
12. A combination according to any of the preceding claims, wherein the combination further comprises a third or an even further manipulator. A method for enlarging a working space of a manipulator, the method comprising the steps of - providing a first manipulator configured to operate individually, - providing a second manipulator configured to operate individually, characterized by combining the first and the second manipulators by assembling them in series. Use of a combination according to any of claims 1-10, or a method according to claim ll for painting an inside of ö. Van.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1000759A SE1000759A1 (sv) | 2010-07-13 | 2010-07-13 | Kombination av två industrirobotar i serie |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1000759A SE1000759A1 (sv) | 2010-07-13 | 2010-07-13 | Kombination av två industrirobotar i serie |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| SE1000759A1 true SE1000759A1 (sv) | 2010-07-14 |
Family
ID=42664807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE1000759A SE1000759A1 (sv) | 2010-07-13 | 2010-07-13 | Kombination av två industrirobotar i serie |
Country Status (1)
| Country | Link |
|---|---|
| SE (1) | SE1000759A1 (sv) |
-
2010
- 2010-07-13 SE SE1000759A patent/SE1000759A1/sv not_active Application Discontinuation
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| NAV | Patent application has lapsed |