SE8302153D0 - DEVICE BY INDUSTRIROBOT - Google Patents

DEVICE BY INDUSTRIROBOT

Info

Publication number
SE8302153D0
SE8302153D0 SE8302153A SE8302153A SE8302153D0 SE 8302153 D0 SE8302153 D0 SE 8302153D0 SE 8302153 A SE8302153 A SE 8302153A SE 8302153 A SE8302153 A SE 8302153A SE 8302153 D0 SE8302153 D0 SE 8302153D0
Authority
SE
Sweden
Prior art keywords
robot
workpiece
robot hand
sensor
during
Prior art date
Application number
SE8302153A
Other languages
Swedish (sv)
Other versions
SE455281B (en
SE8302153L (en
Original Assignee
Asea Ab
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 Asea Ab filed Critical Asea Ab
Priority to SE8302153A priority Critical patent/SE455281B/en
Publication of SE8302153D0 publication Critical patent/SE8302153D0/en
Priority to DE19843413731 priority patent/DE3413731A1/en
Priority to JP7746384A priority patent/JPS6062487A/en
Publication of SE8302153L publication Critical patent/SE8302153L/en
Publication of SE455281B publication Critical patent/SE455281B/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37425—Distance, range

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Numerical Control (AREA)

Abstract

The invention relates to an arrangement on an industrial robot which is used for performing an operation on a workpiece (10). According to the invention, a sensor (S) is fastened to the robot hand (8). The sensor (S) senses the distance between the robot hand and the workpiece by means of optical triangulation. The robot is provided with control elements (RC) which control the robot hand during a first preprogrammed search movement in a direction which has a component parallel to the workpiece surface facing the robot hand. Furthermore, there are signal-processing elements (SC) which, with the aid of the distance detected by the sensor during the searching, determine the position of the workpiece in the search direction relative to the robot. <IMAGE>
SE8302153A 1983-04-18 1983-04-18 DEVICE BY INDUSTRIROBOT SE455281B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE8302153A SE455281B (en) 1983-04-18 1983-04-18 DEVICE BY INDUSTRIROBOT
DE19843413731 DE3413731A1 (en) 1983-04-18 1984-04-12 Arrangement on an industrial robot
JP7746384A JPS6062487A (en) 1983-04-18 1984-04-17 Industrial robot device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8302153A SE455281B (en) 1983-04-18 1983-04-18 DEVICE BY INDUSTRIROBOT

Publications (3)

Publication Number Publication Date
SE8302153D0 true SE8302153D0 (en) 1983-04-18
SE8302153L SE8302153L (en) 1984-10-19
SE455281B SE455281B (en) 1988-07-04

Family

ID=20350846

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8302153A SE455281B (en) 1983-04-18 1983-04-18 DEVICE BY INDUSTRIROBOT

Country Status (3)

Country Link
JP (1) JPS6062487A (en)
DE (1) DE3413731A1 (en)
SE (1) SE455281B (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2151350A (en) * 1983-11-25 1985-07-17 Vs Eng Ltd Sensing arrangement
JP2599709B2 (en) * 1986-10-28 1997-04-16 サペル Force and / or couple sensor device
JPS63175204U (en) * 1987-04-30 1988-11-14
DE3714776A1 (en) * 1987-05-04 1988-11-24 Dietmar Klinger Optoelectronic measuring arrangement
DE9001451U1 (en) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programming aid for a multi-axis manipulator
DE4040222A1 (en) * 1990-12-15 1992-06-17 Ind Rheinboellen Gmbh Path control for object handling robots - is carried out by flexible program based on analysis of optical data
DE4124261C2 (en) * 1991-07-22 1994-05-26 Kaercher Gmbh & Co Alfred Cleaning device for cleaning jagged surfaces, especially in motor vehicles
JP2764485B2 (en) * 1991-08-27 1998-06-11 ファナック株式会社 Diagnosis method of real-time sensor
DE4236057A1 (en) * 1992-10-26 1994-04-28 Tox Pressotechnik Gmbh Distance sensor for press. converter - has immersion piston, pneumatic controller, working piston displacement detector and electronic controller
AUPM570694A0 (en) * 1994-05-19 1994-06-09 O'Brien, Brian Jonathan Shape variable structure
DE4425879A1 (en) * 1994-07-09 1996-01-11 Ges Zur Foerderung Angewandter Optik Optoelektronik Quantenelektronik & Spektroskopie Ev Scoring system for separating components is essentially single crystal substrates
DE102004040345B4 (en) * 2004-08-20 2007-07-26 Intelligendt Systems & Services Gmbh & Co Kg Method and device for checking the impact area next to each other laid on a substrate sheets of a fiber composite material
DE102005009526A1 (en) * 2005-03-02 2006-09-07 Böllhoff Verbindungstechnik GmbH Method and device for controlling / regulating the feed movement of a joining tool
EP2132008B1 (en) * 2007-03-08 2010-10-06 Smv S.R.L. A method and a device for recognising, collecting and repositioning objects
FI124602B (en) * 2012-10-26 2014-10-31 Oy Langh Ship Ab Goods Transport Unit
DE102019103570B4 (en) * 2019-02-13 2022-12-22 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for manufacturing a traction battery for a motor vehicle
CN111215800B (en) * 2020-02-10 2021-02-02 武汉理工大学 Maintenance amount detection device and detection method for welding maintenance robot

Also Published As

Publication number Publication date
DE3413731A1 (en) 1984-10-18
SE455281B (en) 1988-07-04
JPS6062487A (en) 1985-04-10
SE8302153L (en) 1984-10-19

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