DE69920081D1 - Robotersystem und Bearbeitungsverfahren mit einem Robotersystem - Google Patents

Robotersystem und Bearbeitungsverfahren mit einem Robotersystem

Info

Publication number
DE69920081D1
DE69920081D1 DE69920081T DE69920081T DE69920081D1 DE 69920081 D1 DE69920081 D1 DE 69920081D1 DE 69920081 T DE69920081 T DE 69920081T DE 69920081 T DE69920081 T DE 69920081T DE 69920081 D1 DE69920081 D1 DE 69920081D1
Authority
DE
Germany
Prior art keywords
robot system
machining method
robot
machining
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
DE69920081T
Other languages
English (en)
Other versions
DE69920081T2 (de
Inventor
Akihiro Terada
Toshihiko Inoue
Kazutaka Nakayama
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE69920081D1 publication Critical patent/DE69920081D1/de
Publication of DE69920081T2 publication Critical patent/DE69920081T2/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
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
    • B23K26/103—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam the laser beam rotating around the fixed workpiece
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/24—Seam welding
    • B23K26/28—Seam welding of curved planar seams
    • 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 to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Laser Beam Processing (AREA)
  • Manipulator (AREA)
DE69920081T 1998-03-10 1999-03-10 Robotersystem und Bearbeitungsverfahren mit einem Robotersystem Expired - Fee Related DE69920081T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP10078277A JP3040372B2 (ja) 1998-03-10 1998-03-10 加工ツール付ロボット及び加工方法
JP7827798 1998-03-10

Publications (2)

Publication Number Publication Date
DE69920081D1 true DE69920081D1 (de) 2004-10-21
DE69920081T2 DE69920081T2 (de) 2005-01-20

Family

ID=13657485

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69920081T Expired - Fee Related DE69920081T2 (de) 1998-03-10 1999-03-10 Robotersystem und Bearbeitungsverfahren mit einem Robotersystem

Country Status (4)

Country Link
US (1) US7092791B2 (de)
EP (1) EP0941815B1 (de)
JP (1) JP3040372B2 (de)
DE (1) DE69920081T2 (de)

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DE10255037A1 (de) 2002-11-26 2004-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks
DE20315114U1 (de) * 2003-09-19 2005-01-27 Kuka Schweissanlagen Gmbh Tragvorrichtung für Laserköpfe
JP4126292B2 (ja) * 2004-07-29 2008-07-30 三菱重工業株式会社 配管の残留応力改善装置
JP4209366B2 (ja) * 2004-07-29 2009-01-14 三菱重工業株式会社 配管の残留応力改善装置
JP4137927B2 (ja) * 2005-08-04 2008-08-20 ファナック株式会社 ロボットプログラミング装置
DE102006015981B4 (de) * 2005-08-19 2014-02-13 Siemens Aktiengesellschaft Verfahren zum Ermitteln des Verhaltens von zum Zwecke der Bewegung eines Werkzeugs oder einer Werkzeugaufnahme im Verbund bewegbaren Maschinenachsen einer mehrachsigen Maschine
KR101407754B1 (ko) * 2005-10-26 2014-06-16 마이크로닉 마이데이터 아베 라이팅 장치 및 방법
WO2007133624A2 (en) * 2006-05-10 2007-11-22 The Trustees Of The University Of Pennsylvania A device and method to synchronize the motion of two robots that have independent control systems
DE102007007508A1 (de) 2007-02-15 2008-08-21 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bearbeiten von Werkstücken mit einer energiereichen Strahlung
KR20090130559A (ko) * 2008-06-16 2009-12-24 삼성모바일디스플레이주식회사 이송 장치 및 이를 구비하는 유기물 증착 장치
JP5272223B2 (ja) * 2008-12-01 2013-08-28 コマツ産機株式会社 パイプのレーザ加工方法
JP5513207B2 (ja) * 2010-03-30 2014-06-04 株式会社小松製作所 溶接ロボットの制御装置
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
JP2013190834A (ja) * 2012-03-12 2013-09-26 Amada Co Ltd レーザ加工機の自動プログラミング装置及び方法およびレーザ加工システム
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
CA2879414A1 (en) 2012-08-03 2014-02-06 Stryker Corporation Systems and methods for robotic surgery
CN103042325B (zh) * 2012-12-26 2015-05-13 武汉蓝讯数控设备有限公司 一种弯管相贯线切割装置
US10678206B2 (en) 2013-01-08 2020-06-09 Raytheon Technologies Corporation Remote feature measurement
JP6138722B2 (ja) * 2014-04-10 2017-05-31 スターテクノ株式会社 ワーク加工装置
JP6311421B2 (ja) * 2014-04-10 2018-04-18 株式会社安川電機 ティーチングシステム、ロボットシステムおよびティーチング方法
RU2017104427A (ru) * 2014-07-11 2018-08-13 Корнинг Инкорпорейтед Системы и методы резки стекла путем создания перфорации в стеклянных изделиях с применением импульсного оптического квантового генератора
JP6166305B2 (ja) * 2015-05-08 2017-07-19 ファナック株式会社 負荷パラメータ設定装置および負荷パラメータ設定方法
CN108602159B (zh) * 2016-01-28 2020-09-29 浜松光子学株式会社 激光加工装置及激光输出装置
JP6382901B2 (ja) * 2016-09-29 2018-08-29 ファナック株式会社 レーザー加工システム
WO2018112025A1 (en) 2016-12-16 2018-06-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
DE102017121526A1 (de) 2017-09-15 2019-03-21 Rollomatic S.A. Vorrichtung zur Ausrichtung und Positionierung eines Werkstücks relativ zu einem Laserstrahl einer Laserbearbeitungsmaschine
DE102017129106B4 (de) 2017-12-07 2023-12-07 Jenoptik Automatisierungstechnik Gmbh Verfahren zur Herstellung eines Rohrrahmens
CN108857095A (zh) * 2018-08-09 2018-11-23 武汉市三雷数控设备有限公司 数控激光切管机管材及板材一体化切割工装
JP2020121360A (ja) 2019-01-30 2020-08-13 株式会社安川電機 ロボットシステム
KR102291139B1 (ko) * 2020-03-20 2021-08-20 한국원자력연구원 금속들의 용접부의 방위각을 결정하는 방위각 결정 장치 및 상기 방위각 결정 장치에 의해 수행되는 방위각 결정 방법
CN113319584A (zh) * 2021-03-01 2021-08-31 佛山汇百盛激光科技有限公司 一种管材和型材的切割复合机
CN113787221A (zh) * 2021-09-18 2021-12-14 江苏理工学院 一种基于机器人的全自动玻璃钢管道相贯线铣削装置
CN116871709B (zh) * 2023-09-08 2023-12-08 常州市鹏瑞自动化设备有限公司 激光切割异形圆管件的方法

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JPS5921478A (ja) * 1982-07-27 1984-02-03 Babcock Hitachi Kk 鞍形自動溶接方法
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
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JPS59174278A (ja) * 1983-03-22 1984-10-02 Yaskawa Electric Mfg Co Ltd 産業用ロボツトの手首機構
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DE3503675A1 (de) * 1985-02-04 1986-08-07 L. & C. Steinmüller GmbH, 5270 Gummersbach Verfahren und vorrichtung zum mechanisch gesteuerten brennschneiden und/oder verbindungsschweissen von werkstuecken
JPS61279491A (ja) * 1985-05-31 1986-12-10 株式会社安川電機 視覚機器付産業用ロボット
US4661681A (en) * 1986-10-06 1987-04-28 Cincinnati Milacron Inc. Robotic marking machine
JPS63278671A (ja) * 1987-05-07 1988-11-16 Mitsubishi Heavy Ind Ltd 管交差部の鞍型溶接線溶接方法
DE3721073A1 (de) * 1987-06-26 1989-01-12 Oxytechnik Ges Systemtech Einrichtung zum bearbeiten von boeden, insbesondere zum ausschneiden von loechern aus boeden
JPH034378A (ja) 1989-05-31 1991-01-10 Toshiba Corp 形状認識装置
EP0672496A3 (de) * 1990-09-17 1997-10-29 Hitachi Ltd Laser-Bearbeitungszentrum.
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US5570920A (en) * 1994-02-16 1996-11-05 Northeastern University Robot arm end effector
JP2835924B2 (ja) * 1994-06-29 1998-12-14 住友重機械工業株式会社 レーザ加工機におけるオートフォーカス装置
JPH08197250A (ja) * 1995-01-30 1996-08-06 Komatsu Ltd 溶接ロボット
JPH10291072A (ja) * 1997-04-18 1998-11-04 Kawasaki Heavy Ind Ltd 溶接装置

Also Published As

Publication number Publication date
DE69920081T2 (de) 2005-01-20
US7092791B2 (en) 2006-08-15
EP0941815A2 (de) 1999-09-15
JPH11254173A (ja) 1999-09-21
JP3040372B2 (ja) 2000-05-15
EP0941815B1 (de) 2004-09-15
US20020143435A1 (en) 2002-10-03
EP0941815A3 (de) 2000-02-02

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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