SE8306520D0 - FLUID FLUID CONTROL BY INDUSTRIROBOT - Google Patents

FLUID FLUID CONTROL BY INDUSTRIROBOT

Info

Publication number
SE8306520D0
SE8306520D0 SE8306520A SE8306520A SE8306520D0 SE 8306520 D0 SE8306520 D0 SE 8306520D0 SE 8306520 A SE8306520 A SE 8306520A SE 8306520 A SE8306520 A SE 8306520A SE 8306520 D0 SE8306520 D0 SE 8306520D0
Authority
SE
Sweden
Prior art keywords
fluid
control
fluid flow
industrirobot
translation velocity
Prior art date
Application number
SE8306520A
Other languages
Swedish (sv)
Other versions
SE8306520L (en
Inventor
L Bjork
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 SE8306520A priority Critical patent/SE8306520L/en
Publication of SE8306520D0 publication Critical patent/SE8306520D0/en
Priority to EP84114013A priority patent/EP0145991A3/en
Priority to JP59246420A priority patent/JPS60132668A/en
Publication of SE8306520L publication Critical patent/SE8306520L/en

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
    • 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
    • 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
    • G05B2219/37324—Derive position, speed from acceleration
    • 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
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/37431—Temperature
    • 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
    • G05B2219/37503—Set integrator of acceleration detector to zero at velocity zero, avoids drift
    • 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
    • G05B2219/39194—Compensation gravity
    • 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
    • G05B2219/45065—Sealing, painting 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49056—Control of flow of fluid or temperature as function of speed for uniform coating

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Spray Control Apparatus (AREA)
  • Nozzles (AREA)
  • Manipulator (AREA)

Abstract

Device for controlling the fluid flow, for example of an adhesive or of a sealing compound, for an industrial robot (1-6) whose tool carrier (6) carries a spraying device (7, 8) for spraying the fluid. According to the invention, the device embodies measuring instruments for determining the translation velocity of the spraying device and also flow control instruments which control the fluid flow as a function of the translation velocity determined by the measuring instruments. The fluid flow is preferably proportional to the measured translation velocity. <IMAGE>
SE8306520A 1983-11-25 1983-11-25 FLUID FLUID CONTROL BY INDUSTRIROBOT SE8306520L (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE8306520A SE8306520L (en) 1983-11-25 1983-11-25 FLUID FLUID CONTROL BY INDUSTRIROBOT
EP84114013A EP0145991A3 (en) 1983-11-25 1984-11-20 Fluid-floww control device for an industrial robot
JP59246420A JPS60132668A (en) 1983-11-25 1984-11-22 Fluid flow amount controller of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8306520A SE8306520L (en) 1983-11-25 1983-11-25 FLUID FLUID CONTROL BY INDUSTRIROBOT

Publications (2)

Publication Number Publication Date
SE8306520D0 true SE8306520D0 (en) 1983-11-25
SE8306520L SE8306520L (en) 1985-05-26

Family

ID=20353468

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8306520A SE8306520L (en) 1983-11-25 1983-11-25 FLUID FLUID CONTROL BY INDUSTRIROBOT

Country Status (3)

Country Link
EP (1) EP0145991A3 (en)
JP (1) JPS60132668A (en)
SE (1) SE8306520L (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE59913140D1 (en) * 1998-09-09 2006-04-27 Kuka Roboter Gmbh Method and device for improving the dynamic behavior of a robot
DE602005013193D1 (en) * 2005-05-20 2009-04-23 Abb Research Ltd Accelerometer for controlling the movement of a tool attached to a robot end effector

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3479574A (en) * 1966-11-18 1969-11-18 Bunker Ramo Feed rate computer and squaring circuit for a pulse responsive multiaxes servo system
US3782634A (en) * 1972-12-15 1974-01-01 Swenson Spreader & Mfg Co Vehicle mounted liquid distributor apparatus
FR2357942A1 (en) * 1976-07-09 1978-02-03 Renault Automatic painting mechanism programming system - uses spray gun held by operator with inertial system attached
JPS5567358A (en) * 1978-11-14 1980-05-21 Tokico Ltd Industrial coating robot
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Also Published As

Publication number Publication date
JPS60132668A (en) 1985-07-15
EP0145991A3 (en) 1987-08-19
EP0145991A2 (en) 1985-06-26
SE8306520L (en) 1985-05-26

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Legal Events

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NAV Patent application has lapsed

Ref document number: 8306520-1

Effective date: 19860610