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WO1997046927A1 - Dispositif de commande de robots anthropomorphes - Google Patents

Dispositif de commande de robots anthropomorphes Download PDF

Info

Publication number
WO1997046927A1
WO1997046927A1 PCT/IT1997/000065 IT9700065W WO9746927A1 WO 1997046927 A1 WO1997046927 A1 WO 1997046927A1 IT 9700065 W IT9700065 W IT 9700065W WO 9746927 A1 WO9746927 A1 WO 9746927A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
anthropomoφhic
detected
workstation
points
Prior art date
Application number
PCT/IT1997/000065
Other languages
English (en)
Inventor
Jorge Pascual Sergio Tigano
Original Assignee
Societa' Emiliana Parchi Attrazioni Ravenna S.E.P.A.R. S.R.L.
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 Societa' Emiliana Parchi Attrazioni Ravenna S.E.P.A.R. S.R.L. filed Critical Societa' Emiliana Parchi Attrazioni Ravenna S.E.P.A.R. S.R.L.
Priority to AU23060/97A priority Critical patent/AU2306097A/en
Publication of WO1997046927A1 publication Critical patent/WO1997046927A1/fr

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
    • G05B19/4202—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 preparation of the programme medium using a drawing, a model
    • G05B19/4205—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 preparation of the programme medium using a drawing, a model in which a drawing is traced or scanned and corresponding data recorded
    • 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
    • G05B19/4097—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 using design data to control NC machines, e.g. CAD/CAM
    • G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing

Definitions

  • the present invention falls within the technical sector of process control equipment and relates in particular to a device for controlling anthropomo ⁇ hic robots
  • moulding equipment is used which, however, is not very precise and does not always provide a perfect reproduction of the artistic work recorded
  • a technical problem underlying the present invention is that of eliminating substantially the aforementioned limitations by producing and providing a device for controlling anthropomo ⁇ hic robots, which, in an automatic manner and depending on the incoming inputs, allows one to produce, to scale without error and rapidly, a reproduction of an artistic work
  • a device for controlling anthropomo ⁇ hic robots as claimed in the following claims
  • Figure I shows a block diagram of the device according to the invention
  • 1 denotes globally and surrounded by a broken line a device for controlling anthropomo ⁇ hic robots
  • 2 denotes a source for detecting drawings, photographs, sketches, etc From this source 2, by means of a scanner 3, photo CD, telecamera or similar equipment, an optical recording of the object to be reproduced is performed and then the corresponding form detected is digital lzed point by point
  • a workstation 6 and the PC 5 then allow the parts which are to be milled to be processed using a plurality of software which determine the formats to be executed on the basis of the data acquired
  • This personal computer 7 serves as a physical and logic interface for the robot 8 of the anthropomo ⁇ hic type, since the latter requires suitably coded data, and is therefore supplied by means of cartesian coordinates with all the horizontal, vertical, oblique and starting or stopping and gripping movements of the arm of a milling cutter for machining a material in order to provide the finished object
  • KAWASAKI robot which is structured so that, once the data has been acquired, it processes the spatial points by means of dedicated software so as to make the anthropomo ⁇ hic arm with which it is provided (not shown in the Figure) perform a series of operations
  • the execution software for the workstation 6 are those of the CAD-CAM type, which serve for the modelling and five-axis milling of products of various types This software has been developed in order to perform the aforementioned functions
  • the personal computers 4. 5 and 7 they are currently 486 processors which perform the measurement, modelling and transmission of the data serially to the robot 8 and use modelling software products such as Fotomodeller, Art Cam and Autocad, which are personalized for operations of this kind
  • the PC 7 is provided with interfacing software for the robot 8 which otherwise would not be able to mte ⁇ ret the data received

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Catching Or Destruction (AREA)

Abstract

Cette invention entre dans le domaine technique des dispositifs de commande de processus et se rapporte à un dispositif servant à commander des robots anthropomorphes, afin de produire des oeuvres artistiques, en partant de la détection d'une figure, en traitant en trois dimensions au moyen d'un PC les points détectés de la figure, en effectuant une modélisation au moyen d'une station de travail et en établissant une interface entre ces points et un robot dont le bras anthropomorphe effectue physiquement tous les mouvements, afin de produire la figure détectée.
PCT/IT1997/000065 1996-06-07 1997-03-24 Dispositif de commande de robots anthropomorphes WO1997046927A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU23060/97A AU2306097A (en) 1996-06-07 1997-03-24 Device for controlling anthropomorphic robots

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITBO96A000309 1996-06-07
IT96BO000309A IT1285933B1 (it) 1996-06-07 1996-06-07 Dispositivo per il controllo di robot antropomorfi

Publications (1)

Publication Number Publication Date
WO1997046927A1 true WO1997046927A1 (fr) 1997-12-11

Family

ID=11341445

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT1997/000065 WO1997046927A1 (fr) 1996-06-07 1997-03-24 Dispositif de commande de robots anthropomorphes

Country Status (3)

Country Link
AU (1) AU2306097A (fr)
IT (1) IT1285933B1 (fr)
WO (1) WO1997046927A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011070597A1 (fr) 2009-12-09 2011-06-16 Grossi Lamiere S.R.L. Appareil et procédé pour la fabrication de panneaux décoratifs et panneau décoratif associé

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4888713A (en) * 1986-09-05 1989-12-19 Cdi Technologies, Inc. Surface detail mapping system
US5197013A (en) * 1987-07-28 1993-03-23 David M. Dundorf Method of forming a carved sign using an axially rotating carving tool
WO1993019129A2 (fr) * 1992-03-09 1993-09-30 Queen Mary & Westfield College Procede de realisation par cao/mao d'un outil de production
US5408409A (en) * 1990-05-11 1995-04-18 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
DE4433146A1 (de) * 1994-09-17 1996-03-21 Kreidler Geb Teirich Hildegard Verfahren zur Herstellung von Türbeschlägen
WO1996013787A1 (fr) * 1994-11-01 1996-05-09 Winget, Larry, J. Procede et systeme pour la reproduction d'un article a partir d'un modele physique

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4888713A (en) * 1986-09-05 1989-12-19 Cdi Technologies, Inc. Surface detail mapping system
US4888713B1 (en) * 1986-09-05 1993-10-12 Cdi Technologies, Inc. Surface detail mapping system
US5197013A (en) * 1987-07-28 1993-03-23 David M. Dundorf Method of forming a carved sign using an axially rotating carving tool
US5408409A (en) * 1990-05-11 1995-04-18 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
WO1993019129A2 (fr) * 1992-03-09 1993-09-30 Queen Mary & Westfield College Procede de realisation par cao/mao d'un outil de production
DE4433146A1 (de) * 1994-09-17 1996-03-21 Kreidler Geb Teirich Hildegard Verfahren zur Herstellung von Türbeschlägen
WO1996013787A1 (fr) * 1994-11-01 1996-05-09 Winget, Larry, J. Procede et systeme pour la reproduction d'un article a partir d'un modele physique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HEEDONG KO ET AL: "FACE SCULPTURING ROBOT WITH RECOGNITION CAPABILITY", COMPUTER AIDED DESIGN, vol. 26, no. 11, 1 November 1994 (1994-11-01), pages 814 - 821, XP000490042 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011070597A1 (fr) 2009-12-09 2011-06-16 Grossi Lamiere S.R.L. Appareil et procédé pour la fabrication de panneaux décoratifs et panneau décoratif associé

Also Published As

Publication number Publication date
AU2306097A (en) 1998-01-05
ITBO960309A0 (it) 1996-06-07
ITBO960309A1 (it) 1997-12-07
IT1285933B1 (it) 1998-06-26

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