SE427909B - Programmerad manipulator - Google Patents

Programmerad manipulator

Info

Publication number
SE427909B
SE427909B SE7710679A SE7710679A SE427909B SE 427909 B SE427909 B SE 427909B SE 7710679 A SE7710679 A SE 7710679A SE 7710679 A SE7710679 A SE 7710679A SE 427909 B SE427909 B SE 427909B
Authority
SE
Sweden
Prior art keywords
programmed manipulator
manipulator
programmed
Prior art date
Application number
SE7710679A
Other languages
English (en)
Other versions
SE7710679L (sv
Inventor
J F Engelberger
M J Dunne
Original Assignee
Unimation Inc
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 Unimation Inc filed Critical Unimation Inc
Publication of SE7710679L publication Critical patent/SE7710679L/sv
Publication of SE427909B publication Critical patent/SE427909B/sv

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
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor 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
    • G05B19/418—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
    • 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/34236—Multiplex for servos, actuators
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35238—Gray-code
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35373—Data storage, buffer
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35545—Serial to parallel conversion
    • 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
    • G05B2219/39472—Braced manipulator, for fine positioning hand is resting on table
    • 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
    • G05B2219/41156—Injection of vibration anti-stick, against static friction, dither, stiction
    • 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
    • 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
    • G05B2219/41474—Servo loop with absolute digital position sensor
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42186—Master slave, motion proportional to axis
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42268—Safety, excess in error
    • 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
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/45135—Welding
    • 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)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Resistance Welding (AREA)
SE7710679A 1971-07-15 1977-09-23 Programmerad manipulator SE427909B (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US16301471A 1971-07-15 1971-07-15

Publications (2)

Publication Number Publication Date
SE7710679L SE7710679L (sv) 1977-09-23
SE427909B true SE427909B (sv) 1983-05-24

Family

ID=22588081

Family Applications (3)

Application Number Title Priority Date Filing Date
SE7209293A SE413585B (sv) 1971-07-15 1972-07-14 Programmerad manipulator kombinerad med en transportor
SE7512028A SE429905B (sv) 1971-07-15 1975-10-28 Sett att programmera en manipulator
SE7710679A SE427909B (sv) 1971-07-15 1977-09-23 Programmerad manipulator

Family Applications Before (2)

Application Number Title Priority Date Filing Date
SE7209293A SE413585B (sv) 1971-07-15 1972-07-14 Programmerad manipulator kombinerad med en transportor
SE7512028A SE429905B (sv) 1971-07-15 1975-10-28 Sett att programmera en manipulator

Country Status (8)

Country Link
US (1) US3744032A (sv)
JP (1) JPS5521362B1 (sv)
CA (1) CA972450A (sv)
DE (1) DE2234759C3 (sv)
FR (1) FR2145708B1 (sv)
GB (1) GB1405651A (sv)
IT (1) IT961436B (sv)
SE (3) SE413585B (sv)

Families Citing this family (44)

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GB1465293A (en) * 1973-06-15 1977-02-23 Hitachi Ltd Automatic working machine
US3888361A (en) * 1974-05-15 1975-06-10 Unimation Inc Programmed manipulator arrangement for continuously moving conveyor
US3958740A (en) * 1974-07-08 1976-05-25 Dixon Automation, Inc. Automatic component assembly machine and method relating thereto
US4011437A (en) * 1975-09-12 1977-03-08 Cincinnati Milacron, Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece
USRE30016E (en) * 1975-09-12 1979-05-29 Cincinnati Milacron Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation
US4162387A (en) * 1977-03-14 1979-07-24 Ettore De Candia Car body welding assembly system
US4256947A (en) * 1977-06-06 1981-03-17 Ettore De Candia Car body welding assembly system
US4150326A (en) * 1977-09-19 1979-04-17 Unimation, Inc. Trajectory correlation and error detection method and apparatus
US4170751A (en) * 1978-02-02 1979-10-09 General Motors Corporation Electronic control for a mechanized spray painting system
US4447697A (en) * 1978-03-28 1984-05-08 Unimation, Inc. Weld gun repositioning system for programmable manipulator
DE3014429A1 (de) * 1980-04-15 1981-10-22 Nixdorf Computer Ag, 4790 Paderborn Bolzenschweissvorrichtung
JPS57113117A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113107A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS58119474A (ja) * 1982-01-09 1983-07-15 Honda Motor Co Ltd 自動車車体の増打溶接装置
US4581893A (en) * 1982-04-19 1986-04-15 Unimation, Inc. Manipulator apparatus with energy efficient control
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
JPS58206389A (ja) * 1982-05-28 1983-12-01 日産自動車株式会社 ロボツトの制御装置
GB2124407A (en) * 1982-06-03 1984-02-15 Zed Instr Ltd Control of hydraulic booms
SE452719B (sv) * 1982-06-29 1987-12-14 Asea Ab Industrirobot
JPS61111863A (ja) * 1984-11-05 1986-05-29 Nissan Motor Co Ltd ロボットによる組立装置
JPS62185711U (sv) * 1986-05-15 1987-11-26
JPS63207580A (ja) * 1987-02-20 1988-08-26 フアナツク株式会社 ロボツト用教示操作盤
DE3874248D1 (de) * 1987-07-10 1992-10-08 Gregory C Hirschmann Lineareinheit fuer eine montage-einrichtung der handhabungstechnik.
JPH0811379B2 (ja) * 1988-06-20 1996-02-07 日産自動車株式会社 教示装置
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
FR2674780B1 (fr) * 1991-04-08 1995-06-23 Aro Installation de commande d'un outillage comportant une pince commandee par un systeme de positionnement automatique.
WO1996028282A1 (fr) * 1995-03-15 1996-09-19 Tovarishestvo S Ogranichennoi Otvetstvennostju 'lapik' Module industriel et dispositif de mesure de mouvements par rapport audit module
US6032344A (en) * 1995-07-07 2000-03-07 Ats Automation Tooling Systems Inc. Multiplexing of pneumatic tooling
US6027005A (en) * 1997-02-12 2000-02-22 Gentner; David G. Method and apparatus for automatically welding frames
JP3951079B2 (ja) * 1998-09-14 2007-08-01 株式会社安川電機 オフラインティーチング方法、オフラインティーチング装置および記録媒体
FR2806951B1 (fr) * 2000-03-31 2002-06-14 Aro Dispositif de motorisation electrique pour pince d'outillage
DE20216636U1 (de) * 2002-10-28 2004-03-11 Kuka Schweissanlagen Gmbh Bearbeitungsanlage
US8054752B2 (en) * 2005-12-22 2011-11-08 Intuitive Surgical Operations, Inc. Synchronous data communication
US8800482B2 (en) * 2005-12-29 2014-08-12 Exatec Llc Apparatus and method of dispensing conductive material with active Z-axis control
WO2007079041A2 (en) * 2005-12-30 2007-07-12 Roger Hirsch Resistance welding machine pinch point safety sensor
DE102006053580A1 (de) * 2006-03-10 2007-09-13 Carl Zeiss Meditec Ag System zur Behandlung oder Diagnose am Auge
DE102006022637A1 (de) * 2006-05-12 2007-11-15 Mühlbauer Ag Verfahren und Vorrichtung zum Anfahren einer vorbestimmten Position eines sich in einer Verfahrrichtung bewegenden Trägerbandes
EP2229282A1 (en) * 2007-12-31 2010-09-22 Exatec, LLC. Apparatus and method for printing three-dimensional articles
JP4443615B2 (ja) * 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
US9227322B2 (en) * 2012-11-30 2016-01-05 Fanuc Robotics America Corporation Multi-arm robotic painting process synchronization
JP6393134B2 (ja) * 2014-09-24 2018-09-19 日精エー・エス・ビー機械株式会社 プリフォーム搬送装置及びその方法並びにブロー成形装置
KR102359925B1 (ko) * 2017-07-12 2022-02-07 현대자동차 주식회사 자동차 조립라인의 차체 트랙킹 장치 및 방법
FR3090456B1 (fr) * 2018-12-19 2020-11-27 Sidel Participations Ligne de production de récipients controlée par un dispositif de détermination de position

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US2988237A (en) * 1954-12-10 1961-06-13 Jr George C Devol Programmed article transfer
US3291971A (en) * 1963-02-25 1966-12-13 Unimation Inc Control system
CH422951A (fr) * 1964-07-01 1966-10-31 Genevoise Instr Physique Dispositif électronique de commande des déplacements d'un organe mobile
US3543910A (en) * 1968-07-30 1970-12-01 George C Devol Work-head automatic motions controls
US3654613A (en) * 1970-02-11 1972-04-04 Unimation Inc Programmed manipulator apparatus with artificial end-of-program facilities
US3654616A (en) * 1970-06-29 1972-04-04 Unimation Inc Program selection arrangement for manipulator apparatus

Also Published As

Publication number Publication date
SE429905B (sv) 1983-10-03
IT961436B (it) 1973-12-10
FR2145708A1 (sv) 1973-02-23
JPS5521362B1 (sv) 1980-06-09
CA972450A (en) 1975-08-05
GB1405651A (en) 1975-09-10
DE2234759A1 (de) 1973-02-01
FR2145708B1 (sv) 1976-08-06
DE2234759B2 (de) 1979-06-28
US3744032A (en) 1973-07-03
SE7710679L (sv) 1977-09-23
SE7512028L (sv) 1975-10-28
SE413585B (sv) 1980-06-09
DE2234759C3 (de) 1980-02-21

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