SE8301697L - PROCEDURE AND DEVICE FOR PROGRAMMING A ROBOT, PREFERRED A SHIPPING ROBOT - Google Patents

PROCEDURE AND DEVICE FOR PROGRAMMING A ROBOT, PREFERRED A SHIPPING ROBOT

Info

Publication number
SE8301697L
SE8301697L SE8301697A SE8301697A SE8301697L SE 8301697 L SE8301697 L SE 8301697L SE 8301697 A SE8301697 A SE 8301697A SE 8301697 A SE8301697 A SE 8301697A SE 8301697 L SE8301697 L SE 8301697L
Authority
SE
Sweden
Prior art keywords
robot
programming
signals
procedure
preferred
Prior art date
Application number
SE8301697A
Other languages
Swedish (sv)
Other versions
SE8301697D0 (en
Inventor
W Trautwein
H J Boll
Original Assignee
Wagner Gmbh J
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 Wagner Gmbh J filed Critical Wagner Gmbh J
Publication of SE8301697D0 publication Critical patent/SE8301697D0/en
Publication of SE8301697L publication Critical patent/SE8301697L/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • G05B19/423—Teaching 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
    • 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
    • G05B2219/36153—Two, several consoles, displays, panels, two different input, joystick
    • 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
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • 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
    • G05B2219/36429—Power assisted positioning
    • 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
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50042—Return to origin, reference point, zero point, homing
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)

Abstract

A method and a device for programming a track-controlled robot whose movement processes which are effected by control motors are controlled by electrical output signals of a programmable memory, at least one grip with sensors being attached to the robot during the programming process, which sensors, when subjected to stressing, output electrical signals which are transmitted on the one hand to the robot control motors as control signals and on the other hand into the robot memory as programming signals.
SE8301697A 1982-03-31 1983-03-28 PROCEDURE AND DEVICE FOR PROGRAMMING A ROBOT, PREFERRED A SHIPPING ROBOT SE8301697L (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19823211992 DE3211992A1 (en) 1982-03-31 1982-03-31 Method and device for programming a robot, in particular paint spraying robot

Publications (2)

Publication Number Publication Date
SE8301697D0 SE8301697D0 (en) 1983-03-28
SE8301697L true SE8301697L (en) 1983-10-01

Family

ID=6159885

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8301697A SE8301697L (en) 1982-03-31 1983-03-28 PROCEDURE AND DEVICE FOR PROGRAMMING A ROBOT, PREFERRED A SHIPPING ROBOT

Country Status (4)

Country Link
JP (1) JPS58181598A (en)
DE (1) DE3211992A1 (en)
IT (1) IT1163194B (en)
SE (1) SE8301697L (en)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4648783A (en) * 1984-11-06 1987-03-10 Patrick Tan Educational and laboratory work cell for a robotic device
DE8434357U1 (en) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg GRIPPER HAND AT A MANIPULATOR
FR2582245A1 (en) * 1985-05-24 1986-11-28 Etud Rech Meca Automat Centre Control auxiliary with six degrees of freedom with automatic return to the reference position intended for teaching manipulator robots and polyarticulated mechanical assemblies the trajectory in space of generalised or operational coordinates
DE3526958A1 (en) * 1985-07-27 1985-12-19 Daimler-Benz Ag, 7000 Stuttgart Enamelling robot which can be programmed by the teach-in method
DE3606685A1 (en) * 1986-02-28 1987-09-03 Forsch Steuerungstechnik Der W DEVICE FOR HANDLING AN INDUSTRIAL ROBOT
US4735159A (en) * 1987-02-17 1988-04-05 Titan-Baratto Embroidery machine
JPS63318277A (en) * 1987-06-19 1988-12-27 ファナック株式会社 Vertical shaft direct teaching method and device for horizontal arm type multi-joint robot
JPS6487174A (en) * 1987-09-22 1989-03-31 Fanuc Ltd Controller for industrial robot
DE3810054A1 (en) * 1988-03-25 1989-10-05 Weck Manfred Prof Dr Ing Method and device for movement guidance of multi-axis manipulators
EP0346503B1 (en) * 1988-06-11 1992-07-01 Blomberg Robotertechnik GmbH Programming joy-stick
US6365221B1 (en) * 1999-11-23 2002-04-02 Visions East, Inc. Computer controlled method and apparatus for fairing and painting of marine vessel surfaces
US6287389B1 (en) * 2000-06-23 2001-09-11 Ultrastrip Systems, Inc. Method of robotic automobile paint stripping
DE102004054867B4 (en) 2004-11-12 2018-03-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robot equipped with sensory intelligence
EP1987406B1 (en) * 2006-02-23 2010-08-04 Abb Ab A system for controlling the position and orientation of an object in dependence on received forces and torques from a user
DE102008027008B4 (en) * 2008-06-06 2016-03-17 Kuka Roboter Gmbh Method and device for controlling a manipulator
WO2010069430A1 (en) 2008-12-17 2010-06-24 Kuka Roboter Gmbh Method for allowing a manipulator to cover a predetermined trajectory, and control device for carrying out said method
DE102008062622B9 (en) * 2008-12-17 2016-08-25 Kuka Roboter Gmbh Method and device for entering commands into a controller of a manipulator
DE102013019869B4 (en) 2013-11-28 2022-01-13 Abb Schweiz Ag Robot arm with input module
DE102014202145A1 (en) * 2014-02-06 2015-08-06 Kuka Roboter Gmbh A method of programming an industrial robot and associated industrial robots
DE102015117211B8 (en) * 2015-10-08 2016-12-29 Kastanienbaum GmbH Robotic arm with input elements
DE102015117306B4 (en) * 2015-10-12 2018-01-18 Toolmotion GmbH Multi-axis mouse for a multi-axis robot
AT518481B1 (en) * 2016-03-07 2018-09-15 Keba Ag System and method for the spatial movement of an object
TWI622865B (en) 2016-04-29 2018-05-01 財團法人工業技術研究院 Method and device for robot direct lead through teaching
IT201600097482A1 (en) 2016-09-28 2018-03-28 Gaiotto Automation S P A METHOD FOR THE SURFACE TREATMENT OF A MANUFACTURE
IT201700025766A1 (en) * 2017-03-08 2018-09-08 Epistolio S R L PAINTING ROBOT
DE102017007032B4 (en) * 2017-07-25 2021-03-25 Visiontools Bildanalyse Systeme Gmbh Method and device for programming robot poses
JP6730247B2 (en) 2017-11-28 2020-07-29 ファナック株式会社 Robot operating device
CN109732567A (en) * 2018-12-29 2019-05-10 深圳市越疆科技有限公司 A kind of hand-held teaching method and device of mechanical arm
US11950677B2 (en) 2019-02-28 2024-04-09 L'oreal Devices and methods for electrostatic application of cosmetics
EP4070753A1 (en) * 2021-04-09 2022-10-12 MinMaxMedical Handle for guiding a robotic arm of a computer-assisted surgery system and a surgical tool held by said robotic arm
IT202200002306A1 (en) * 2022-02-08 2023-08-08 Idea Prototipi Srl REMOVABLE OPERATING ELEMENT FOR THE MOVEMENT OF AN AUTOMATIC OPERATOR DEVICE

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE7828226U1 (en) * 1978-09-22 1987-01-02 H.A. Schlatter AG, Schlieren, Zürich Device for programming a handling device
IT1129409B (en) * 1980-03-07 1986-06-04 Fiat Ricerche SIX DEGREE TRANSDUCER OF FREEDOM TO CONVERT INTO ELECTRIC SIGNALS THE FORCES AND MOMENTS APPLIED TO A MOBILE BODY PARTICULARLY TO THE MOBILE ARM OF A ROBOT

Also Published As

Publication number Publication date
JPS58181598A (en) 1983-10-24
IT8320363A1 (en) 1984-09-30
DE3211992A1 (en) 1983-10-06
SE8301697D0 (en) 1983-03-28
IT1163194B (en) 1987-04-08
IT8320363A0 (en) 1983-03-30

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