SE8305518L - Programmerbar manipulator - Google Patents

Programmerbar manipulator

Info

Publication number
SE8305518L
SE8305518L SE8305518A SE8305518A SE8305518L SE 8305518 L SE8305518 L SE 8305518L SE 8305518 A SE8305518 A SE 8305518A SE 8305518 A SE8305518 A SE 8305518A SE 8305518 L SE8305518 L SE 8305518L
Authority
SE
Sweden
Prior art keywords
manipulator
teaching
facilities
register
assembly
Prior art date
Application number
SE8305518A
Other languages
English (en)
Other versions
SE8305518D0 (sv
Inventor
J F Engelberger
T H Lindbom
M J Dunne
W Perzley
W N Roberts
H L Gardner
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
Publication of SE8305518D0 publication Critical patent/SE8305518D0/sv
Publication of SE8305518L publication Critical patent/SE8305518L/sv

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—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
    • F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
    • F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
    • F16H9/10—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes engaging a pulley provided with radially-actuatable elements carrying the belt
    • 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
    • G05B19/18—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 program 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 program 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
    • G05B19/21—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 program 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 incremental digital measuring device
    • G05B19/25—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 program 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 incremental digital measuring device for continuous-path control
    • G05B19/251—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 program 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 incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/253—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 program 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 incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34236—Multiplex for servos, actuators
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34239—Multiplex for whole system
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35238—Gray-code
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35543—Cartesian to polar and vice versa
    • 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
    • G05B2219/39002—Move tip of arm on straight line
    • 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
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • G05B2219/40307—Two, dual arm robot, arm used synchronously, or each separately, asynchronously
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42207—Generate points between start and end position, linear interpolation
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43183—Speed control, input is the reference, but no feedback
    • 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
    • G05B2219/45051—Transfer line
    • 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
    • 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
    • G05B2219/49395—Repeating same operations for other coordinates

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Automatic Assembly (AREA)

Claims (1)

  1. PATENTXRAV Programmerbar manipulator av den typ som innefattar en manipulatorarm (50), vilken Sr rorlig langs en fOrutbestamd bana, kodarorgan (t ex 608, 610, 614) for alstring av en digital signal, eon svarar mot armens absolutlage langs namnda bana, och inlarningsstyrorgan (656) fir fOrflyttning av arisen 'drags namnda bana under en inlarningsoperationsmod fOr den programmerbara manipulatorn,kanne tecknadav ett register (652), organ (632b, 664) for lagring av den digitala signalen i registret och uppdatering av den lagrade digitala signa1en, dl amen forflyttas langs namnda bana, medelst inlarningsstyrorganen under inlarningsmoden, sa att laget, till vilket amen forflyttas, forblir lagrat i'registret under perioder, nar amen ej forflyttas, samt organ, innefattande koMparatororgan (626), for att i beroende av saval den digitala signalen sum registret hula amen i laget, son is lagrat i registret, under perioder I inlarningsmoden, nar arisen ej fOrflyttas av inlarningsstyrorganen.
SE8305518A 1975-10-28 1983-10-07 Programmerbar manipulator SE8305518L (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/625,932 US4163183A (en) 1975-10-28 1975-10-28 Programmable automatic assembly system

Publications (2)

Publication Number Publication Date
SE8305518D0 SE8305518D0 (sv) 1983-10-07
SE8305518L true SE8305518L (sv) 1983-10-07

Family

ID=24508237

Family Applications (6)

Application Number Title Priority Date Filing Date
SE7611920A SE446071B (sv) 1975-10-28 1976-10-27 Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settet
SE8305521A SE8305521L (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator
SE8305518A SE8305518L (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305519A SE8305519D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305517A SE8305517L (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305520A SE8305520L (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator

Family Applications Before (2)

Application Number Title Priority Date Filing Date
SE7611920A SE446071B (sv) 1975-10-28 1976-10-27 Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settet
SE8305521A SE8305521L (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator

Family Applications After (3)

Application Number Title Priority Date Filing Date
SE8305519A SE8305519D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305517A SE8305517L (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305520A SE8305520L (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator

Country Status (8)

Country Link
US (1) US4163183A (sv)
JP (1) JPS5284669A (sv)
CA (1) CA1084966A (sv)
DE (2) DE2649123C2 (sv)
FR (4) FR2357339A1 (sv)
GB (4) GB1561259A (sv)
IT (1) IT1075776B (sv)
SE (6) SE446071B (sv)

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US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
JPS5425300B2 (sv) * 1973-01-25 1979-08-27
JPS5214900B2 (sv) * 1973-02-28 1977-04-25
JPS5024686A (sv) 1973-07-09 1975-03-15
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
US4011437A (en) * 1975-09-12 1977-03-08 Cincinnati Milacron, Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece

Also Published As

Publication number Publication date
SE8305517D0 (sv) 1983-10-07
DE2660912C2 (de) 1986-07-17
SE8305520D0 (sv) 1983-10-07
DE2649123C2 (de) 1986-07-24
FR2361207B1 (fr) 1985-08-23
SE8305521D0 (sv) 1983-10-07
SE8305520L (sv) 1983-10-07
FR2361206B1 (sv) 1984-07-20
CA1084966A (en) 1980-09-02
FR2361205A1 (fr) 1978-03-10
FR2357339A1 (fr) 1978-02-03
SE446071B (sv) 1986-08-11
SE8305517L (sv) 1983-10-07
FR2361207A1 (fr) 1978-03-10
FR2357339B1 (sv) 1984-10-19
GB1561256A (en) 1980-02-13
GB1561258A (en) 1980-02-13
FR2361206A1 (fr) 1978-03-10
SE8305518D0 (sv) 1983-10-07
DE2649123A1 (de) 1977-05-12
IT1075776B (it) 1985-04-22
SE8305519L (sv) 1983-10-07
US4163183A (en) 1979-07-31
SE8305519D0 (sv) 1983-10-07
JPS5284669A (en) 1977-07-14
SE8305521L (sv) 1983-10-07
GB1561259A (en) 1980-02-13
SE7611920L (sv) 1977-04-29
GB1561260A (en) 1980-02-13

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