FR2435329A1 - Manipulateur, en particulier automate de peinture, susceptible d'apprentissage - Google Patents
Manipulateur, en particulier automate de peinture, susceptible d'apprentissageInfo
- Publication number
- FR2435329A1 FR2435329A1 FR7820513A FR7820513A FR2435329A1 FR 2435329 A1 FR2435329 A1 FR 2435329A1 FR 7820513 A FR7820513 A FR 7820513A FR 7820513 A FR7820513 A FR 7820513A FR 2435329 A1 FR2435329 A1 FR 2435329A1
- Authority
- FR
- France
- Prior art keywords
- jack
- memorises
- manual
- robot arm
- movements
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title 1
- 239000003973 paint Substances 0.000 title 1
- 239000012528 membrane Substances 0.000 abstract 1
- 238000010422 painting Methods 0.000 abstract 1
Classifications
-
- 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
- B25J13/02—Hand grip control means
-
- 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
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic 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
- B25J9/0081—Programme-controlled manipulators with master teach-in 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
- G05B19/42—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
- G05B2219/36429—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
- G05B2219/37—Measurements
- G05B2219/37357—Force, pressure, weight or deflection
-
- 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
-
- 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)
- Spray Control Apparatus (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
L'invention concerne un manipulateur succeptible d'apprentissage. Ce manipulateur comprend un bras 3-4 à plusieurs degrés de liberté, portant un outil 9, et muni d'une poignée de commande manuelle 12; des capteurs produisent des signaux caractéristiques, les uns des efforts manuels appliqués à la poignée 12, les autres, de la position du bras 3-4; un automatisme 22 en déduit des signaux de commande pour des moteurs hydrauliques 5, 6, qui, en phase d'apprentisage, assistent les efforts manuels de l'opérateur sur la poignée 12, et en phase automatique, commandée par les signaux de lecture d'une mémoire 21, commandent les déplacements du bras 3-4. L'invention est applicable par exemple à un automate de peinture.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7820513A FR2435329A1 (fr) | 1978-07-10 | 1978-07-10 | Manipulateur, en particulier automate de peinture, susceptible d'apprentissage |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7820513A FR2435329A1 (fr) | 1978-07-10 | 1978-07-10 | Manipulateur, en particulier automate de peinture, susceptible d'apprentissage |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2435329A1 true FR2435329A1 (fr) | 1980-04-04 |
FR2435329B1 FR2435329B1 (fr) | 1981-12-11 |
Family
ID=9210540
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7820513A Granted FR2435329A1 (fr) | 1978-07-10 | 1978-07-10 | Manipulateur, en particulier automate de peinture, susceptible d'apprentissage |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR2435329A1 (fr) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0019596A1 (fr) * | 1979-05-11 | 1980-11-26 | BASFER S.p.A. | Robot avec dispositif de programmation léger et exempt d'inertie |
EP0023864A1 (fr) * | 1979-08-02 | 1981-02-11 | Association Des Ouvriers En Instruments De Precision | Dispositif de commande manuelle, notamment poignée pour commander les déplacements d'un organe motorisé |
FR2467061A1 (fr) * | 1979-10-12 | 1981-04-17 | Nordson Corp | Robot programmable a la main et executant des deplacements assistes pendant la programmation |
EP0037911A2 (fr) * | 1980-04-12 | 1981-10-21 | Ransburg-Gema AG | Dispositif de revêtement automatique d'objets |
EP0038654A1 (fr) * | 1980-04-17 | 1981-10-28 | Hall Automation Limited | Système de positionnement pour lignes de production |
FR2483300A1 (fr) * | 1980-05-28 | 1981-12-04 | Expl Mat Indls Const | Manipulateur industriel perfectionne |
EP0121486A2 (fr) * | 1983-04-01 | 1984-10-10 | Permanent Label Corporation | Appareil et procédé de décoration d'objets |
FR2592607A1 (fr) * | 1986-01-06 | 1987-07-10 | Outiperret Sa | Dispositif manipulateur multiplicateur d'efforts tridimensionnel. |
EP0361162A2 (fr) * | 1988-09-29 | 1990-04-04 | Robert Bosch Gmbh | Servomécanisme réglable pour manipulateur |
FR2693397A1 (fr) * | 1992-07-09 | 1994-01-14 | Cogema | Dispositif de retour d'information sensorielle représentative de l'effort exercé sur un télémanipulateur par son utilisateur. |
US20090157092A1 (en) * | 2007-12-18 | 2009-06-18 | Blumenkranz Stephen J | Ribbed force sensor |
WO2017178469A1 (fr) * | 2016-04-12 | 2017-10-19 | Universal Robots A/S | Programmation d'un robot par démonstration |
US9855102B2 (en) | 2007-12-18 | 2018-01-02 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
IT201600097482A1 (it) * | 2016-09-28 | 2018-03-28 | Gaiotto Automation S P A | Metodo per il trattamento superficiale di un manufatto |
IT201700025766A1 (it) * | 2017-03-08 | 2018-09-08 | Epistolio S R L | Robot di verniciatura |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR1299784A (fr) * | 1960-07-15 | 1962-07-27 | American Mach & Foundry | Machine pour effectuer des opérations répétitives |
US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
FR2279521A1 (fr) * | 1974-07-22 | 1976-02-20 | Keller & Knappich Augsburg | Appareil automatique du type robot |
-
1978
- 1978-07-10 FR FR7820513A patent/FR2435329A1/fr active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR1299784A (fr) * | 1960-07-15 | 1962-07-27 | American Mach & Foundry | Machine pour effectuer des opérations répétitives |
US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
FR2279521A1 (fr) * | 1974-07-22 | 1976-02-20 | Keller & Knappich Augsburg | Appareil automatique du type robot |
Non-Patent Citations (1)
Title |
---|
NV111/76 * |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0019596A1 (fr) * | 1979-05-11 | 1980-11-26 | BASFER S.p.A. | Robot avec dispositif de programmation léger et exempt d'inertie |
EP0023864A1 (fr) * | 1979-08-02 | 1981-02-11 | Association Des Ouvriers En Instruments De Precision | Dispositif de commande manuelle, notamment poignée pour commander les déplacements d'un organe motorisé |
FR2467061A1 (fr) * | 1979-10-12 | 1981-04-17 | Nordson Corp | Robot programmable a la main et executant des deplacements assistes pendant la programmation |
EP0037911A2 (fr) * | 1980-04-12 | 1981-10-21 | Ransburg-Gema AG | Dispositif de revêtement automatique d'objets |
EP0037911A3 (en) * | 1980-04-12 | 1981-12-23 | Ransburg-Gema Ag | Apparatus for the automatic coating of articles |
EP0038654A1 (fr) * | 1980-04-17 | 1981-10-28 | Hall Automation Limited | Système de positionnement pour lignes de production |
FR2483300A1 (fr) * | 1980-05-28 | 1981-12-04 | Expl Mat Indls Const | Manipulateur industriel perfectionne |
EP0121486A2 (fr) * | 1983-04-01 | 1984-10-10 | Permanent Label Corporation | Appareil et procédé de décoration d'objets |
EP0121486A3 (en) * | 1983-04-01 | 1986-06-25 | Permanent Label Corporation | Apparatus and method for decorating articles |
FR2592607A1 (fr) * | 1986-01-06 | 1987-07-10 | Outiperret Sa | Dispositif manipulateur multiplicateur d'efforts tridimensionnel. |
EP0361162A2 (fr) * | 1988-09-29 | 1990-04-04 | Robert Bosch Gmbh | Servomécanisme réglable pour manipulateur |
EP0361162A3 (fr) * | 1988-09-29 | 1992-08-26 | Robert Bosch Gmbh | Servomécanisme réglable pour manipulateur |
FR2693397A1 (fr) * | 1992-07-09 | 1994-01-14 | Cogema | Dispositif de retour d'information sensorielle représentative de l'effort exercé sur un télémanipulateur par son utilisateur. |
US10620066B2 (en) | 2005-03-30 | 2020-04-14 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US9952107B2 (en) | 2007-12-18 | 2018-04-24 | Intuitive Surgical Operations, Inc | Ribbed force sensor |
US8621939B2 (en) | 2007-12-18 | 2014-01-07 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US9855102B2 (en) | 2007-12-18 | 2018-01-02 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US20090157092A1 (en) * | 2007-12-18 | 2009-06-18 | Blumenkranz Stephen J | Ribbed force sensor |
US10390896B2 (en) | 2007-12-18 | 2019-08-27 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US8496647B2 (en) * | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US11571264B2 (en) | 2007-12-18 | 2023-02-07 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US11650111B2 (en) | 2007-12-18 | 2023-05-16 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
WO2017178469A1 (fr) * | 2016-04-12 | 2017-10-19 | Universal Robots A/S | Programmation d'un robot par démonstration |
US11474510B2 (en) | 2016-04-12 | 2022-10-18 | Universal Robots A/S | Programming a robot by demonstration |
IT201600097482A1 (it) * | 2016-09-28 | 2018-03-28 | Gaiotto Automation S P A | Metodo per il trattamento superficiale di un manufatto |
US11241794B2 (en) | 2016-09-28 | 2022-02-08 | Gaiotto Automation S.P.A. | Method for the surface treatment of an article |
IT201700025766A1 (it) * | 2017-03-08 | 2018-09-08 | Epistolio S R L | Robot di verniciatura |
Also Published As
Publication number | Publication date |
---|---|
FR2435329B1 (fr) | 1981-12-11 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse | ||
TP | Transmission of property | ||
AR | Application made for restoration | ||
BR | Restoration of rights | ||
ST | Notification of lapse |