PL3519142T3 - Sposób obróbki powierzchniowej przedmiotu - Google Patents

Sposób obróbki powierzchniowej przedmiotu

Info

Publication number
PL3519142T3
PL3519142T3 PL17791459.5T PL17791459T PL3519142T3 PL 3519142 T3 PL3519142 T3 PL 3519142T3 PL 17791459 T PL17791459 T PL 17791459T PL 3519142 T3 PL3519142 T3 PL 3519142T3
Authority
PL
Poland
Prior art keywords
surface treatment
treatment
Prior art date
Application number
PL17791459.5T
Other languages
English (en)
Inventor
Cesare Fantuzzi
Cristian Secchi
Federica FERRAGUTI
Chiara TALIGNANI LANDI
Marco NOLLI
Original Assignee
Gaiotto Automation S.P.A.
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 Gaiotto Automation S.P.A. filed Critical Gaiotto Automation S.P.A.
Publication of PL3519142T3 publication Critical patent/PL3519142T3/pl

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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 three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
    • B28B11/04—Apparatus or processes for treating or working the shaped or preshaped articles for coating or applying engobing layers
    • B28B11/048—Apparatus or processes for treating or working the shaped or preshaped articles for coating or applying engobing layers by spraying or projecting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program 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
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program 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
    • G05B2219/36184—Record actions of human expert, teach by showing
    • 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
    • G05B2219/36401—Record play back, teach position and record it then play back
    • 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
    • G05B2219/36442—Automatically teaching, teach by showing
    • 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
    • G05B2219/39101—Cooperation with one or more rotating workpiece holders, manipulators
    • 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
    • G05B2219/39325—External force control, additional loop comparing forces corrects position
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45065—Sealing, painting robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
PL17791459.5T 2016-09-28 2017-09-28 Sposób obróbki powierzchniowej przedmiotu PL3519142T3 (pl)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102016000097482A IT201600097482A1 (it) 2016-09-28 2016-09-28 Metodo per il trattamento superficiale di un manufatto
PCT/IB2017/055972 WO2018060925A1 (en) 2016-09-28 2017-09-28 Method for the surface treatment of an article

Publications (1)

Publication Number Publication Date
PL3519142T3 true PL3519142T3 (pl) 2022-11-28

Family

ID=57909989

Family Applications (1)

Application Number Title Priority Date Filing Date
PL17791459.5T PL3519142T3 (pl) 2016-09-28 2017-09-28 Sposób obróbki powierzchniowej przedmiotu

Country Status (8)

Country Link
US (1) US11241794B2 (pl)
EP (1) EP3519142B1 (pl)
JP (1) JP6968892B2 (pl)
CN (1) CN110049849B (pl)
ES (1) ES2927750T3 (pl)
IT (1) IT201600097482A1 (pl)
PL (1) PL3519142T3 (pl)
WO (1) WO2018060925A1 (pl)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108745721B (zh) * 2018-06-07 2019-09-06 宝鸡文理学院 喷涂机器人
CN108908363B (zh) * 2018-07-23 2022-04-15 合肥工业大学 用于喷涂机器人的无线拖动示教器系统及其主动示教方法
US20220050435A1 (en) * 2018-12-19 2022-02-17 3M Innovative Properties Company Automated coating system having smart end-effector tool
TR201913754A2 (tr) 2019-09-11 2021-03-22 Eurobotik Otomasyon Ve Goeruentue Isleme Teknolojileri San Ve Tic Ltd Sti Bi̇r yörünge kayit kolu
CN112372630B (zh) * 2020-09-24 2022-02-22 哈尔滨工业大学（深圳） 一种多机械臂协同打磨力柔顺控制方法和系统
CN112433512A (zh) * 2020-11-03 2021-03-02 佛山市德力泰科技有限公司 一种节能施釉线的控制系统以及控制方法
WO2023053053A1 (en) * 2021-09-29 2023-04-06 Gaiotto Automation S.P.A. Method for the safety control, during direct teaching, of a robotised system and relative robotised system
IT202100024899A1 (it) * 2021-09-29 2023-03-29 Gaiotto Automation S P A Metodo per il controllo in autoapprendimento di un sistema robotizzato chiuso e relativo impianto di lavorazione
JP7770202B2 (ja) * 2022-02-09 2025-11-14 株式会社安川電機 ロボット制御システム、ロボットシステム、ロボット制御方法、およびロボット制御プログラム
JP7799275B2 (ja) * 2022-03-04 2026-01-15 新東工業株式会社 ロボット、及び、その制御方法
CN116803624B (zh) * 2022-03-16 2025-11-25 武汉联影智融医疗科技有限公司 机械臂的注册方法、机械臂系统
DE102022132620A1 (de) * 2022-12-08 2024-06-13 AS Strömungstechnik Gesellschaft mit beschränkter Haftung Entnahmesystem und Verfahren zum Betrieb eines Entnahmesystems
WO2026062609A1 (en) * 2024-09-23 2026-03-26 Gaiotto Automation S.P.A. Method for controlling a robotised system and related robotised system

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FR2435329A1 (fr) * 1978-07-10 1980-04-04 Ass Ouvriers Instr Precision Manipulateur, en particulier automate de peinture, susceptible d'apprentissage
DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
JPH05318359A (ja) 1992-05-20 1993-12-03 Tokico Ltd 工業用ロボット
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
JP4267027B2 (ja) * 2006-12-07 2009-05-27 ファナック株式会社 ロボット制御装置
JP4873253B2 (ja) 2007-09-18 2012-02-08 株式会社安川電機 ロボットの直接教示装置
WO2009096408A1 (ja) * 2008-02-01 2009-08-06 Kyokko Electric Co, Ltd. 多関節構造体教示装置
US9731419B2 (en) * 2010-08-03 2017-08-15 Praxair S.T. Technology, Inc. System and method for programming robots
KR101250795B1 (ko) 2011-05-30 2013-04-04 한국과학기술연구원 직접 교시 로봇 시스템 및 직접 교시 로봇 동작 제어 방법
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Also Published As

Publication number Publication date
JP6968892B2 (ja) 2021-11-17
IT201600097482A1 (it) 2018-03-28
EP3519142B1 (en) 2022-09-14
CN110049849A (zh) 2019-07-23
CN110049849B (zh) 2022-06-24
ES2927750T3 (es) 2022-11-10
JP2019529149A (ja) 2019-10-17
US11241794B2 (en) 2022-02-08
US20200030983A1 (en) 2020-01-30
WO2018060925A1 (en) 2018-04-05
EP3519142A1 (en) 2019-08-07

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