GB1511608A - Device for programming a manipulator - Google Patents

Device for programming a manipulator

Info

Publication number
GB1511608A
GB1511608A GB2277676A GB2277676A GB1511608A GB 1511608 A GB1511608 A GB 1511608A GB 2277676 A GB2277676 A GB 2277676A GB 2277676 A GB2277676 A GB 2277676A GB 1511608 A GB1511608 A GB 1511608A
Authority
GB
United Kingdom
Prior art keywords
manipulator
device
programming
welding
proman
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
Application number
GB2277676A
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.)
Akers Mek Verksted AS
Original Assignee
Akers Mek Verksted AS
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
Priority to NO751951A priority Critical patent/NO751951L/no
Application filed by Akers Mek Verksted AS filed Critical Akers Mek Verksted AS
Publication of GB1511608A publication Critical patent/GB1511608A/en
Application status is Expired legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/42Recording 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0081Programme-controlled manipulators with master teach-in means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/34Director, elements to supervisory
    • G05B2219/34365After interrupt of operation, do other task and go on - resume operation
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36417Programmed coarse position, fine position by alignment, follow line, path adaptive
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36495Recording position and other parameters, current, tool diameter, voltage
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40233Portable robot
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40258Robot can be fixed in orientation and height to ground, plurality of such points
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40259Set friction in each joint to optimal value
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40278Compact, foldable manipulator
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45135Welding

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.
GB2277676A 1975-06-03 1976-06-02 Device for programming a manipulator Expired GB1511608A (en)

Priority Applications (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
GB2277676A 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 (26)

* Cited by examiner, † Cited by third party
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
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

Families Citing this family (4)

* Cited by examiner, † Cited by third party
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 Stud welding device
FR2488823B1 (en) * 1980-08-19 1984-06-29 Framatome Sa
DE102017213001A1 (en) * 2017-07-27 2019-01-31 Bayerische Motoren Werke Aktiengesellschaft A method and control unit for controlling a joining station

Cited By (58)

* Cited by examiner, † Cited by third party
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
US9691299B2 (en) 2008-08-21 2017-06-27 Lincoln Global, Inc. Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment
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
US10249215B2 (en) 2008-08-21 2019-04-02 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality environment
US10204529B2 (en) 2008-08-21 2019-02-12 Lincoln Global, Inc. System and methods providing an enhanced user Experience in a real-time simulated virtual reality welding environment
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
US10056011B2 (en) 2008-08-21 2018-08-21 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9965973B2 (en) 2008-08-21 2018-05-08 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality environment
US9928755B2 (en) 2008-08-21 2018-03-27 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
US9858833B2 (en) 2008-08-21 2018-01-02 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9836995B2 (en) 2008-08-21 2017-12-05 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9818311B2 (en) 2008-08-21 2017-11-14 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9818312B2 (en) 2008-08-21 2017-11-14 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9196169B2 (en) 2008-08-21 2015-11-24 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9792833B2 (en) 2008-08-21 2017-10-17 Lincoln Global, Inc. Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment
US9779636B2 (en) 2008-08-21 2017-10-03 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9761153B2 (en) 2008-08-21 2017-09-12 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9483959B2 (en) 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
US9293057B2 (en) 2008-08-21 2016-03-22 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9293056B2 (en) 2008-08-21 2016-03-22 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
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
US9336686B2 (en) 2008-08-21 2016-05-10 Lincoln Global, Inc. Tablet-based welding simulator
US9754509B2 (en) 2008-08-21 2017-09-05 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9779635B2 (en) 2008-08-21 2017-10-03 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US8851896B2 (en) 2008-08-21 2014-10-07 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
USRE45398E1 (en) 2009-03-09 2015-03-03 Lincoln Global, Inc. System for tracking and analyzing welding activity
US9230449B2 (en) 2009-07-08 2016-01-05 Lincoln Global, Inc. Welding training system
US10068495B2 (en) 2009-07-08 2018-09-04 Lincoln Global, Inc. System for characterizing manual welding operations
US9685099B2 (en) 2009-07-08 2017-06-20 Lincoln Global, Inc. System for characterizing manual welding operations
US9773429B2 (en) 2009-07-08 2017-09-26 Lincoln Global, Inc. System and method for manual welder training
US9221117B2 (en) 2009-07-08 2015-12-29 Lincoln Global, Inc. System for characterizing manual welding operations
US10347154B2 (en) 2009-07-08 2019-07-09 Lincoln Global, Inc. System for characterizing manual welding operations
US9836994B2 (en) 2009-07-10 2017-12-05 Lincoln Global, Inc. Virtual welding system
US10134303B2 (en) 2009-07-10 2018-11-20 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality environment
US9011154B2 (en) 2009-07-10 2015-04-21 Lincoln Global, Inc. Virtual welding system
US9911359B2 (en) 2009-07-10 2018-03-06 Lincoln Global, Inc. Virtual testing and inspection of a virtual weldment
US9911360B2 (en) 2009-07-10 2018-03-06 Lincoln Global, Inc. Virtual testing and inspection of a virtual weldment
US9280913B2 (en) 2009-07-10 2016-03-08 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality environment
US9895267B2 (en) 2009-10-13 2018-02-20 Lincoln Global, Inc. Welding helmet with integral user interface
US9089921B2 (en) 2009-11-13 2015-07-28 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US8569646B2 (en) 2009-11-13 2013-10-29 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9050679B2 (en) 2009-11-13 2015-06-09 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9050678B2 (en) 2009-11-13 2015-06-09 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US8987628B2 (en) 2009-11-13 2015-03-24 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US8884177B2 (en) 2009-11-13 2014-11-11 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9468988B2 (en) 2009-11-13 2016-10-18 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9012802B2 (en) 2009-11-13 2015-04-21 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9269279B2 (en) 2010-12-13 2016-02-23 Lincoln Global, Inc. Welding training system
US9767712B2 (en) 2012-07-10 2017-09-19 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US10198962B2 (en) 2013-09-11 2019-02-05 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
US10083627B2 (en) 2013-11-05 2018-09-25 Lincoln Global, Inc. Virtual reality and real welding training system and method
US9836987B2 (en) 2014-02-14 2017-12-05 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup

Also Published As

Publication number Publication date
NO751951L (en) 1976-12-06
SE7606239L (en) 1976-12-04
DE2624012A1 (en) 1976-12-16
DK241176A (en) 1976-12-04
FI761568A (en) 1976-12-04

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Legal Events

Date Code Title Description
PS Patent sealed
PCNP Patent ceased through non-payment of renewal fee