GB1511608A - Device for programming a manipulator - Google Patents
Device for programming a manipulatorInfo
- Publication number
- GB1511608A GB1511608A GB22776/76A GB2277676A GB1511608A GB 1511608 A GB1511608 A GB 1511608A GB 22776/76 A GB22776/76 A GB 22776/76A GB 2277676 A GB2277676 A GB 2277676A GB 1511608 A GB1511608 A GB 1511608A
- Authority
- GB
- United Kingdom
- Prior art keywords
- manipulator
- welding
- programming
- proman
- june
- 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
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
-
- 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
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- 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
- B25J19/06—Safety 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- G05B2219/34365—After interrupt of operation, do other task and go on - resume operation
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
-
- 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
- G05B2219/40233—Portable 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40258—Robot can be fixed in orientation and height to ground, plurality of such points
-
- 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
- G05B2219/40259—Set friction in each joint to optimal value
-
- 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
- G05B2219/40278—Compact, foldable manipulator
-
- 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
- G05B2219/45135—Welding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Plasma & Fusion (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Document Processing Apparatus (AREA)
Abstract
1511608 Teaching robot arm AKERS MEK VERKSTED AS 2 June 1976 [3 June 1975] 22776/76 Heading G3N [Also in Division B8] A manipulator is programmed by firstly manually leading a robot device through the desired movements, e.g. for welding, and recording the resulting data, e.g. on magnetic cassettes in a digital computer. This data is then used to control the manipulator. The robot device, is so called proman (programming manipulator), can perform the same movements as the manipulator but has a simplified structure. The device comprises a foot 1 having a conical space, for receiving an orienting block in the region where welding is to be carried out. Fig. 1 (not shown), and attachment magnets 3. Central stem 4 has a central axle 22 supporting central pivoting joint 23 the device arm having shoulder, elbow, and wrist joints 6, 9, 11, 12, the angular movement of which is measured by respective angle transducers. Switch 66 is used to indicate whether welding is to be started or stopped and sensor 14 is a marking device, e.g. a nail, pen or sprayer. At joint 23 there is a programming panel connected to a portable programming unit (25) Fig. 3 (not shown). The proman can be folded and carried by handle 26.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO751951A NO751951L (en) | 1975-06-03 | 1975-06-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1511608A true GB1511608A (en) | 1978-05-24 |
Family
ID=19882305
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB22776/76A Expired GB1511608A (en) | 1975-06-03 | 1976-06-02 | Device for programming a manipulator |
Country Status (6)
Country | Link |
---|---|
DE (1) | DE2624012A1 (en) |
DK (1) | DK241176A (en) |
FI (1) | FI761568A (en) |
GB (1) | GB1511608A (en) |
NO (1) | NO751951L (en) |
SE (1) | SE7606239L (en) |
Cited By (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2245994A (en) * | 1990-04-18 | 1992-01-15 | Sunvic Controls Ltd | Time switch |
FR2878461A1 (en) * | 2004-11-30 | 2006-06-02 | Franco Belge Combustibles | Welding installation for nuclear fuel assembly skeletons has welding tool movement system capable of five, six or seven degrees of freedom |
US8569646B2 (en) | 2009-11-13 | 2013-10-29 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
US8747116B2 (en) | 2008-08-21 | 2014-06-10 | Lincoln Global, Inc. | System and method providing arc welding training in a real-time simulated virtual reality environment using real-time weld puddle feedback |
US8834168B2 (en) | 2008-08-21 | 2014-09-16 | Lincoln Global, Inc. | System and method providing combined virtual reality arc welding and three-dimensional (3D) viewing |
US8851896B2 (en) | 2008-08-21 | 2014-10-07 | Lincoln Global, Inc. | Virtual reality GTAW and pipe welding simulator and setup |
US8884177B2 (en) | 2009-11-13 | 2014-11-11 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
US8911237B2 (en) | 2008-08-21 | 2014-12-16 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
US8915740B2 (en) | 2008-08-21 | 2014-12-23 | Lincoln Global, Inc. | Virtual reality pipe welding simulator |
USRE45398E1 (en) | 2009-03-09 | 2015-03-03 | Lincoln Global, Inc. | System for tracking and analyzing welding activity |
US9011154B2 (en) | 2009-07-10 | 2015-04-21 | Lincoln Global, Inc. | Virtual welding system |
US9196169B2 (en) | 2008-08-21 | 2015-11-24 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
US9221117B2 (en) | 2009-07-08 | 2015-12-29 | Lincoln Global, Inc. | System for characterizing manual welding operations |
US9230449B2 (en) | 2009-07-08 | 2016-01-05 | Lincoln Global, Inc. | Welding training system |
US9280913B2 (en) | 2009-07-10 | 2016-03-08 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
US9318026B2 (en) | 2008-08-21 | 2016-04-19 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
US9330575B2 (en) | 2008-08-21 | 2016-05-03 | Lincoln Global, Inc. | Tablet-based welding simulator |
US9468988B2 (en) | 2009-11-13 | 2016-10-18 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
US9483959B2 (en) | 2008-08-21 | 2016-11-01 | Lincoln Global, Inc. | Welding simulator |
US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
US9767712B2 (en) | 2012-07-10 | 2017-09-19 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
CN107303671A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Cooperate robot |
US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
US9895267B2 (en) | 2009-10-13 | 2018-02-20 | Lincoln Global, Inc. | Welding helmet with integral user interface |
US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
US10373524B2 (en) | 2009-07-10 | 2019-08-06 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
US10496080B2 (en) | 2006-12-20 | 2019-12-03 | Lincoln Global, Inc. | Welding job sequencer |
US10878591B2 (en) | 2016-11-07 | 2020-12-29 | Lincoln Global, Inc. | Welding trainer utilizing a head up display to display simulated and real-world objects |
US10913125B2 (en) | 2016-11-07 | 2021-02-09 | Lincoln Global, Inc. | Welding system providing visual and audio cues to a welding helmet with a display |
US10930174B2 (en) | 2013-05-24 | 2021-02-23 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
US10940555B2 (en) | 2006-12-20 | 2021-03-09 | Lincoln Global, Inc. | System for a welding sequencer |
US10997872B2 (en) | 2017-06-01 | 2021-05-04 | Lincoln Global, Inc. | Spring-loaded tip assembly to support simulated shielded metal arc welding |
US10994358B2 (en) | 2006-12-20 | 2021-05-04 | Lincoln Global, Inc. | System and method for creating or modifying a welding sequence based on non-real world weld data |
US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4224501A (en) * | 1978-02-27 | 1980-09-23 | Unimation, Inc. | Teaching arrangement for programmable manipulator |
DE3014429A1 (en) * | 1980-04-15 | 1981-10-22 | Nixdorf Computer Ag, 4790 Paderborn | BOLT WELDING DEVICE |
FR2488823A1 (en) * | 1980-08-19 | 1982-02-26 | Framatome Sa | WELDING PROCESS |
DE102017213001A1 (en) | 2017-07-27 | 2019-01-31 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit for controlling a joining station |
CN108708751B (en) * | 2018-07-15 | 2023-05-23 | 西安科技大学 | Autonomous net distribution device and method for coal mine anchor drilling robot |
-
1975
- 1975-06-03 NO NO751951A patent/NO751951L/no unknown
-
1976
- 1976-05-28 DE DE19762624012 patent/DE2624012A1/en not_active Withdrawn
- 1976-06-02 SE SE7606239A patent/SE7606239L/en not_active Application Discontinuation
- 1976-06-02 DK DK241176A patent/DK241176A/en not_active Application Discontinuation
- 1976-06-02 GB GB22776/76A patent/GB1511608A/en not_active Expired
- 1976-06-03 FI FI761568A patent/FI761568A/fi not_active Application Discontinuation
Cited By (86)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2245994A (en) * | 1990-04-18 | 1992-01-15 | Sunvic Controls Ltd | Time switch |
FR2878461A1 (en) * | 2004-11-30 | 2006-06-02 | Franco Belge Combustibles | Welding installation for nuclear fuel assembly skeletons has welding tool movement system capable of five, six or seven degrees of freedom |
WO2006059004A3 (en) * | 2004-11-30 | 2006-08-03 | Fbfc Soc Franco Belge De Fabri | Installation for welding frameworks of nuclear fuel assemblies, programming method, corresponding methods for framework welding and assembling |
CN101065810B (en) * | 2004-11-30 | 2011-02-09 | 弗兰克巴尔日燃料制造公司 | Installation for welding frameworks of nuclear fuel assemblies, programming method, corresponding methods for framework welding and assembling |
US10994358B2 (en) | 2006-12-20 | 2021-05-04 | Lincoln Global, Inc. | System and method for creating or modifying a welding sequence based on non-real world weld data |
US11980976B2 (en) | 2006-12-20 | 2024-05-14 | Lincoln Global, Inc. | Method for a welding sequencer |
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US10940555B2 (en) | 2006-12-20 | 2021-03-09 | Lincoln Global, Inc. | System for a welding sequencer |
US8915740B2 (en) | 2008-08-21 | 2014-12-23 | Lincoln Global, Inc. | Virtual reality pipe welding simulator |
US9318026B2 (en) | 2008-08-21 | 2016-04-19 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
US9836995B2 (en) | 2008-08-21 | 2017-12-05 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
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US8851896B2 (en) | 2008-08-21 | 2014-10-07 | Lincoln Global, Inc. | Virtual reality GTAW and pipe welding simulator and setup |
US10916153B2 (en) | 2008-08-21 | 2021-02-09 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
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US9196169B2 (en) | 2008-08-21 | 2015-11-24 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
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US8747116B2 (en) | 2008-08-21 | 2014-06-10 | Lincoln Global, Inc. | System and method providing arc welding training in a real-time simulated virtual reality environment using real-time weld puddle feedback |
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Also Published As
Publication number | Publication date |
---|---|
FI761568A (en) | 1976-12-04 |
DK241176A (en) | 1976-12-04 |
SE7606239L (en) | 1976-12-04 |
NO751951L (en) | 1976-12-06 |
DE2624012A1 (en) | 1976-12-16 |
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Legal Events
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PS | Patent sealed [section 19, patents act 1949] | ||
PCNP | Patent ceased through non-payment of renewal fee |