CA1004444A - Programmed manipulator arrangement for assembling randomly oriented parts - Google Patents

Programmed manipulator arrangement for assembling randomly oriented parts

Info

Publication number
CA1004444A
CA1004444A CA170,317A CA170317A CA1004444A CA 1004444 A CA1004444 A CA 1004444A CA 170317 A CA170317 A CA 170317A CA 1004444 A CA1004444 A CA 1004444A
Authority
CA
Canada
Prior art keywords
assembling
randomly oriented
oriented parts
manipulator arrangement
programmed manipulator
Prior art date
Legal status (The legal status 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 status listed.)
Expired
Application number
CA170,317A
Other versions
CA170317S (en
Inventor
Maurice J. Dunne
Joseph F. Engelberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Unimation Inc
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
Application granted granted Critical
Publication of CA1004444A publication Critical patent/CA1004444A/en
Expired legal-status Critical Current

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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/27—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
CA170,317A 1972-05-08 1973-05-03 Programmed manipulator arrangement for assembling randomly oriented parts Expired CA1004444A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US25131572A 1972-05-08 1972-05-08

Publications (1)

Publication Number Publication Date
CA1004444A true CA1004444A (en) 1977-02-01

Family

ID=22951409

Family Applications (1)

Application Number Title Priority Date Filing Date
CA170,317A Expired CA1004444A (en) 1972-05-08 1973-05-03 Programmed manipulator arrangement for assembling randomly oriented parts

Country Status (6)

Country Link
JP (1) JPS5232506B2 (en)
CA (1) CA1004444A (en)
DE (1) DE2323113C2 (en)
FR (1) FR2183938B1 (en)
GB (1) GB1437003A (en)
SE (2) SE403266B (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3984006A (en) * 1974-02-01 1976-10-05 Hitachi, Ltd. Automatic assembly control system
JPS5435355B2 (en) * 1974-12-04 1979-11-01
JPS5165499A (en) * 1974-12-04 1976-06-07 Hitachi Ltd
US3893217A (en) * 1974-12-13 1975-07-08 Bendix Corp System and method for automatic insertion of pins in holes
FR2445199A1 (en) * 1978-12-27 1980-07-25 Jaz Sa Wrist for rivet-placing robot arm - uses ball joint pincer mounting with springs connecting ball segment to motor crank shaft on slide plate
US4327138A (en) * 1979-09-10 1982-04-27 The Firestone Tire & Rubber Company Application of ambient temperature cured polymers or prepolymers to a cured elastomer
DE3141332C2 (en) * 1981-10-17 1985-12-12 Bayerische Motoren Werke AG, 8000 München Device for assembling two telescoping parts, one of which has at least one radially directed projection
JPS58208807A (en) * 1982-05-31 1983-12-05 Nissan Motor Co Ltd Teaching device of robot
DE3310191C2 (en) * 1983-03-21 1985-08-01 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Gripper for industrial robots
GB2155212A (en) * 1984-02-29 1985-09-18 Dowty Group Services Apparatus for assembling component parts
DE3407551A1 (en) * 1984-03-01 1985-09-05 FRENCO Verzahnungslehren GmbH, 8500 Nürnberg RECEIVING HEAD FOR MEASURING AND / OR INSTALLATION PROCESSES
GB8501654D0 (en) * 1985-01-23 1985-02-27 Emi Ltd Compliant coupling mechanism
BG41865A1 (en) * 1985-04-26 1987-09-15 Ivanov Method and device for scanning mounting of two- pieces entering one in the other
DE8629559U1 (en) * 1986-11-05 1987-03-12 Ipr Intelligente Peripherien Fuer Roboter Inhaberin: Petra Soehner, 7500 Karlsruhe, De
DE3807374A1 (en) * 1988-03-07 1989-09-21 Henkels Dirk Universal gripper
US5794339A (en) * 1994-12-27 1998-08-18 Ford Global Technologies, Inc. Automated assembly of transmission components
US5718043A (en) * 1994-12-27 1998-02-17 Ford Global Technologies, Inc. Automated assembly of torque converters to transmissions
GB2334506A (en) * 1998-02-18 1999-08-25 Univ London Compliant interface device
CN110077847A (en) * 2019-06-03 2019-08-02 东莞市光轩塑料制品有限公司 Loading and unloading system and its charging and discharging mechanism
CN110757463B (en) * 2019-11-20 2023-06-27 贵州大学 Mechanical arm grabbing force control method and device
CN113305818A (en) * 2021-05-28 2021-08-27 高彦波 Mechanical arm self-checking reset and protection method

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE474971C (en) * 1928-01-18 1929-04-16 Ackermann & Schmitt Socket wrench for screwing on nuts
CH206492A (en) * 1937-12-08 1939-08-15 Bosch Gmbh Robert Power operated screwdriver.
US2786379A (en) * 1955-09-19 1957-03-26 Lemaire Tool & Mfg Company Hydraulically controlled, gear operated wrench
DE1058816B (en) * 1956-03-01 1959-06-04 Rheinstahl Hanomag Ag Device for pressing in bushings
DE1189167B (en) * 1963-09-12 1965-03-18 Standard Elektrik Lorenz Ag Machine for carrying out the process of inserting soldering points in insulating panels, in particular printed circuits
DE1527592A1 (en) * 1964-05-29 1970-01-29 Lewetag Ulrich Program-controlled assembly device
JPS4327202Y1 (en) * 1965-06-28 1968-11-11
GB1164723A (en) * 1967-02-25 1969-09-17 Giddings & Lewis Improvements in Torque Applying Apparatus
US3583752A (en) * 1968-01-02 1971-06-08 Ibm Vibratory article handling device
US3575301A (en) * 1968-01-02 1971-04-20 Ibm Manipulator
CA918789A (en) * 1969-03-18 1973-01-09 F. Engelberger Joseph Programmed manipulator apparatus

Also Published As

Publication number Publication date
FR2183938A1 (en) 1973-12-21
JPS5232506B2 (en) 1977-08-22
SE7601913L (en) 1976-02-19
SE431372B (en) 1984-01-30
FR2183938B1 (en) 1976-05-07
DE2323113C2 (en) 1986-04-17
GB1437003A (en) 1976-05-26
JPS4955056A (en) 1974-05-28
SE403266B (en) 1978-08-07
DE2323113A1 (en) 1973-11-22

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