DE68918670T2 - Verfahren und Gerät zum automatischen Abtasten eines Gebietes einer Oberfläche und zum Ausführen einer Bearbeitungsfunktion darauf. - Google Patents

Verfahren und Gerät zum automatischen Abtasten eines Gebietes einer Oberfläche und zum Ausführen einer Bearbeitungsfunktion darauf.

Info

Publication number
DE68918670T2
DE68918670T2 DE68918670T DE68918670T DE68918670T2 DE 68918670 T2 DE68918670 T2 DE 68918670T2 DE 68918670 T DE68918670 T DE 68918670T DE 68918670 T DE68918670 T DE 68918670T DE 68918670 T2 DE68918670 T2 DE 68918670T2
Authority
DE
Germany
Prior art keywords
robot member
working
control circuit
working arm
tool
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.)
Expired - Fee Related
Application number
DE68918670T
Other languages
English (en)
Other versions
DE68918670D1 (de
Inventor
Jean-Luc Fihey
Bruce Hazel
Vicenzo Antonio Di
Mark Tinkler
Scott Mcnabb
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.)
Ontario Hydro
Hydro Quebec
Original Assignee
Ontario Hydro
Hydro Quebec
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 Ontario Hydro, Hydro Quebec filed Critical Ontario Hydro
Publication of DE68918670D1 publication Critical patent/DE68918670D1/de
Application granted granted Critical
Publication of DE68918670T2 publication Critical patent/DE68918670T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
    • 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
    • G05B19/4207—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 model 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
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding 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
    • G05B2219/49362—Tool, probe at constant height to surface during machining
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50153—Mount machining unit on workpiece, move unit on it
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50214—Refurbish, refinish, reprofile, recondition, restore, rebuild profile
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50356—Tool perpendicular, normal to 3-D surface

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
DE68918670T 1988-11-18 1989-11-17 Verfahren und Gerät zum automatischen Abtasten eines Gebietes einer Oberfläche und zum Ausführen einer Bearbeitungsfunktion darauf. Expired - Fee Related DE68918670T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/273,075 US4959523A (en) 1988-11-18 1988-11-18 Method and apparatus for automatically sensing the configuration of a surface area and effecting a work function thereon

Publications (2)

Publication Number Publication Date
DE68918670D1 DE68918670D1 (de) 1994-11-10
DE68918670T2 true DE68918670T2 (de) 1995-05-24

Family

ID=23042442

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68918670T Expired - Fee Related DE68918670T2 (de) 1988-11-18 1989-11-17 Verfahren und Gerät zum automatischen Abtasten eines Gebietes einer Oberfläche und zum Ausführen einer Bearbeitungsfunktion darauf.

Country Status (8)

Country Link
US (1) US4959523A (de)
EP (1) EP0369891B1 (de)
JP (1) JPH02237726A (de)
AT (1) ATE112642T1 (de)
BR (1) BR8905820A (de)
CA (1) CA2002513C (de)
DE (1) DE68918670T2 (de)
MX (1) MX165384B (de)

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US6560513B2 (en) * 1999-11-19 2003-05-06 Fanuc Robotics North America Robotic system with teach pendant
FR2806337B1 (fr) * 2000-03-15 2002-05-31 Joseph Sauron Materiel Ind Procede et automate de soudage a l'arc utilisant des fils fourres
JP2001259839A (ja) * 2000-03-22 2001-09-25 Matsushita Electric Ind Co Ltd アーク溶接装置
US6376801B1 (en) * 2000-10-12 2002-04-23 General Electric Company Gas turbine component refurbishment apparatus and repair method
AT413954B (de) * 2000-11-02 2006-07-15 Fronius Int Gmbh Erfassungselement für ein schweissgerät
US6492618B1 (en) 2000-11-02 2002-12-10 Tri Tool Inc. Automatic weld head alignment and guidance system and method
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US8809741B2 (en) * 2007-02-27 2014-08-19 Illinois Tool Works, Inc. Multi-cable umbilical cord system
US9292016B2 (en) 2007-10-26 2016-03-22 Ariel Andre Waitzman Automated welding of moulds and stamping tools
US9776274B2 (en) 2007-10-26 2017-10-03 Ariel Andre Waitzman Automated welding of moulds and stamping tools
US8367962B2 (en) * 2007-10-26 2013-02-05 Ariel Andre Waitzman Automated welding of moulds and stamping tools
JP4950018B2 (ja) * 2007-12-25 2012-06-13 アルプス電気株式会社 座標入力装置
US20100122973A1 (en) * 2008-11-20 2010-05-20 General Electric Company Welding process
EP2536951B1 (de) * 2010-02-19 2016-05-18 Dresser-Rand Company Anordnung eines Kompressorgehäuses und Herstellungsverfahren dafür
US8595930B2 (en) * 2010-03-24 2013-12-03 Dresser-Rand Company Press-fitting corrosion resistant liners in nozzles and casings
FR2970195B1 (fr) * 2011-01-06 2014-01-31 Ctf France Automate pour la maintenance de rails et procede de mise en oeuvre
GB201103235D0 (en) * 2011-02-25 2011-04-13 Mirage Machines Ltd Apparatus,method,system and computer program for machining a workpiece
CN103889632B (zh) * 2011-08-18 2017-07-21 维克托设备公司 用于降低在工件表面内的不规则的空气碳电弧系统以及使用其的方法
US9097508B2 (en) 2012-01-25 2015-08-04 Ttx Company Method for reconditioning a railcar articulated connector
US9126287B2 (en) * 2012-03-12 2015-09-08 Siemens Energy, Inc. Advanced pass progression for build-up welding
US8720526B1 (en) 2012-11-13 2014-05-13 Siemens Energy, Inc. Process for forming a long gas turbine engine blade having a main wall with a thin portion near a tip
CN103846769A (zh) * 2012-12-06 2014-06-11 青岛海尔模具有限公司 机器人辅助自适应曲面自动抛光系统
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US10040141B2 (en) 2013-05-23 2018-08-07 Crc-Evans Pipeline International, Inc. Laser controlled internal welding machine for a pipeline
US9821415B2 (en) 2014-03-28 2017-11-21 Crc-Evans Pipeline International, Inc. Internal pipeline cooler
US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
US10589371B2 (en) 2013-05-23 2020-03-17 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
CA2948393A1 (fr) * 2014-07-29 2016-02-04 Hydro-Quebec Systeme et methode de traitement thermique robotise par chauffage a induction
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EP3045394B1 (de) * 2015-01-16 2020-05-27 The Boeing Company Verfahren und system zur reparatur einer struktur
AU2016250430B2 (en) * 2015-10-30 2021-07-08 Ian David McCowat Method and Apparatus for Refurbishing Shovel Lips
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CN112917166B (zh) * 2021-02-04 2021-09-07 冯剑亮 一种机器人脚底板磨纹装置

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Also Published As

Publication number Publication date
EP0369891B1 (de) 1994-10-05
CA2002513A1 (fr) 1990-05-18
EP0369891A3 (de) 1991-09-04
MX165384B (es) 1992-11-06
DE68918670D1 (de) 1994-11-10
EP0369891A2 (de) 1990-05-23
JPH02237726A (ja) 1990-09-20
ATE112642T1 (de) 1994-10-15
CA2002513C (fr) 1994-10-11
BR8905820A (pt) 1990-06-12
US4959523A (en) 1990-09-25

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee