CN107107279B - 保持装置、加工装置和方法 - Google Patents

保持装置、加工装置和方法 Download PDF

Info

Publication number
CN107107279B
CN107107279B CN201580061507.0A CN201580061507A CN107107279B CN 107107279 B CN107107279 B CN 107107279B CN 201580061507 A CN201580061507 A CN 201580061507A CN 107107279 B CN107107279 B CN 107107279B
Authority
CN
China
Prior art keywords
workpiece
machining
tool
holding device
clamping
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.)
Active
Application number
CN201580061507.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN107107279A (zh
Inventor
每奥拉夫·布洛克霍夫
C·戈德斯坦
B·里克特
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Industries GmbH
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 KUKA Industries GmbH filed Critical KUKA Industries GmbH
Publication of CN107107279A publication Critical patent/CN107107279A/zh
Application granted granted Critical
Publication of CN107107279B publication Critical patent/CN107107279B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B23K20/126—Workpiece support, i.e. backing or clamping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • 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
    • B25J19/02—Sensing 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
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)
CN201580061507.0A 2014-11-13 2015-11-12 保持装置、加工装置和方法 Active CN107107279B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE202014105464.2U DE202014105464U1 (de) 2014-11-13 2014-11-13 Halteeinrichtung
DE202014105464.2 2014-11-13
PCT/EP2015/076407 WO2016075222A1 (de) 2014-11-13 2015-11-12 Halteeinrichtung, bearbeitungseinrichtung und verfahren

Publications (2)

Publication Number Publication Date
CN107107279A CN107107279A (zh) 2017-08-29
CN107107279B true CN107107279B (zh) 2020-10-30

Family

ID=54783563

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580061507.0A Active CN107107279B (zh) 2014-11-13 2015-11-12 保持装置、加工装置和方法

Country Status (9)

Country Link
US (1) US10537962B2 (enExample)
EP (1) EP3218149B1 (enExample)
JP (1) JP6676648B2 (enExample)
KR (1) KR102340728B1 (enExample)
CN (1) CN107107279B (enExample)
DE (1) DE202014105464U1 (enExample)
ES (1) ES2911724T3 (enExample)
PL (1) PL3218149T3 (enExample)
WO (1) WO2016075222A1 (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102398181B1 (ko) 2017-07-03 2022-05-17 삼성전자주식회사 쓰기 데이터를 위해 할당될 물리 어드레스를 미리 관리하는 스토리지 장치
CN109397290A (zh) * 2018-11-13 2019-03-01 黄滋宇 一种智能家居机器人及其控制方法
CN109807853A (zh) * 2019-02-18 2019-05-28 杜毅 一种公路工程墩柱钢筋焊接机器人
CN111283575A (zh) * 2020-01-16 2020-06-16 中科海拓(无锡)科技有限公司 用于工业检测的可调节夹持的固定装置及其操作方法
CN111347152A (zh) * 2020-03-27 2020-06-30 敏实汽车技术研发有限公司 一种电池盒摩擦焊的生产设备
CN111687528B (zh) * 2020-05-31 2022-02-11 西安交通大学 一种用于发动机盘片损伤修复的随动夹紧装置
CN112548309A (zh) * 2020-11-12 2021-03-26 广州瑞松威尔斯通智能装备有限公司 一种移动式搅拌摩擦焊装置以及多功能加工装置
JP6986651B1 (ja) * 2021-07-30 2021-12-22 株式会社日立パワーソリューションズ 摩擦攪拌接合装置、摩擦攪拌接合方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000202645A (ja) * 1999-01-12 2000-07-25 Nippon Light Metal Co Ltd 摩擦攪拌接合装置及び摩擦攪拌接合方法
JP2008523997A (ja) * 2004-12-22 2008-07-10 エアバス・ドイチュラント・ゲーエムベーハー 少なくとも２つの部品、特に航空機用の部品をクランプし、２つの部品の縁部間での摩擦攪拌接合により形成される溶接線で部品同士を接続するための装置
CN102858490A (zh) * 2010-04-27 2013-01-02 库卡实验仪器有限公司 加工装置
CN103170658A (zh) * 2011-12-22 2013-06-26 库卡系统有限责任公司 加工工具和加工方法
CN103658967A (zh) * 2012-09-07 2014-03-26 空中客车营运有限公司 用于将加强件摩擦搅拌焊接在飞行器面板上的改善方法和系统

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4955119A (en) * 1989-07-11 1990-09-11 Imta Multi-task end effector for robotic machining center
US4995148A (en) * 1990-03-30 1991-02-26 Imta Robotically controlled multi-task end effector
DE4115912C2 (de) * 1991-05-15 1994-03-24 Mohammad Mohsen Prof Dr Saadat Modularer Greifmechanismus für Handhabungsgeräte
JP3598204B2 (ja) * 1997-06-26 2004-12-08 昭和電工株式会社 摩擦撹拌接合法及び摩擦撹拌接合装置
US6430796B1 (en) * 2000-05-03 2002-08-13 The Boeing Company Apparatus for performing automated manufacturing operations on panel-shaped workpieces
GB2385817A (en) 2002-02-27 2003-09-03 Henry Smith Welding jig
JP3702257B2 (ja) * 2002-08-23 2005-10-05 ファナック株式会社 ロボットハンドリング装置
US20040056497A1 (en) * 2002-09-24 2004-03-25 Abid Ghuman Flexible manufacturing system
GB0226266D0 (en) * 2002-11-11 2002-12-18 Infraco Bcv Ltd Apparatus for welding rail sections
JP2007512142A (ja) * 2003-11-24 2007-05-17 ミサティ ソシエダード リミターダ 自動化溶接設備用のクランプ
JP4742496B2 (ja) * 2003-12-15 2011-08-10 トヨタ自動車株式会社 溶接システム
EP1864747A1 (en) * 2006-06-07 2007-12-12 Abb Ab System and method for frictional stir welding with means for supporting the workpiece during welding moving synchronously with the rotary tool relative to the workpiece
DE102006029292A1 (de) * 2006-06-23 2007-12-27 Uhdenora S.P.A. Schweißverfahren für dünne Bleche
US8157155B2 (en) * 2008-04-03 2012-04-17 Caterpillar Inc. Automated assembly and welding of structures
FR3015329B1 (fr) * 2013-12-19 2016-05-20 Aerolia Procede, dispositif et systeme d'assemblage d'une pluralite de panneaux

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000202645A (ja) * 1999-01-12 2000-07-25 Nippon Light Metal Co Ltd 摩擦攪拌接合装置及び摩擦攪拌接合方法
JP2008523997A (ja) * 2004-12-22 2008-07-10 エアバス・ドイチュラント・ゲーエムベーハー 少なくとも２つの部品、特に航空機用の部品をクランプし、２つの部品の縁部間での摩擦攪拌接合により形成される溶接線で部品同士を接続するための装置
CN102858490A (zh) * 2010-04-27 2013-01-02 库卡实验仪器有限公司 加工装置
CN103170658A (zh) * 2011-12-22 2013-06-26 库卡系统有限责任公司 加工工具和加工方法
CN103658967A (zh) * 2012-09-07 2014-03-26 空中客车营运有限公司 用于将加强件摩擦搅拌焊接在飞行器面板上的改善方法和系统

Also Published As

Publication number Publication date
ES2911724T3 (es) 2022-05-20
KR102340728B1 (ko) 2021-12-20
EP3218149B1 (de) 2022-01-26
PL3218149T3 (pl) 2022-06-20
CN107107279A (zh) 2017-08-29
KR20170084233A (ko) 2017-07-19
EP3218149A1 (de) 2017-09-20
DE202014105464U1 (de) 2016-02-16
JP6676648B2 (ja) 2020-04-08
WO2016075222A1 (de) 2016-05-19
US10537962B2 (en) 2020-01-21
JP2017536245A (ja) 2017-12-07
US20170326678A1 (en) 2017-11-16

Similar Documents

Publication Publication Date Title
CN107107279B (zh) 保持装置、加工装置和方法
CN100537332C (zh) 用于部件的制造方法和制造装置
CN108349077B (zh) 机器人、此类型的机器人xy机台及线性传输系统
CN110238553B (zh) 一种天窗拼焊机
CN103149880B (zh) 加工装置
JP6110002B1 (ja) 鉄骨材溶接システムおよび鉄骨材溶接方法
JPS60152387A (ja) 多点溶接装置
US20110253686A1 (en) Laser Processing Machines and Methods
CN109975302B (zh) 一种钎焊格架外观自动化检测装置
CN114131409A (zh) 一种厚板试样自动精确定位加工系统
JP2017536245A5 (enExample)
US20100115749A1 (en) Flexible assembly for performing work on large surfaces
CN109663836A (zh) 传感器引脚的自动整形结构
CN106061673A (zh) 用于通过夹紧框架料库在夹紧框架运输装置和框架输送器之间承载车身部件的夹紧框架的更换装置和更换方法
EP1927430A2 (en) Turning unit
CN102039487B (zh) 激光焊接设备
CN216542146U (zh) 一种厚板试样自动精确定位加工系统
US8304689B2 (en) Device and method for laser treatment
WO2014111673A1 (en) A continuous crawler
CN117245286A (zh) 一种加劲环焊接装置及其工作方法
CN214236953U (zh) 一种法兰-管子智能组焊系统
KR101148073B1 (ko) 이송장치 및 이를 구비한 용접장치
CN112798624A (zh) 板件焊缝检测装置
KR20140096965A (ko) 레이저 가공기의 워크피스 로딩장치
CN116969178B (zh) 一种塑料型材焊接前物料输送码放装置及方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant