PL2242623T3 - Sposób łączenia i urządzenie do łączenia - Google Patents

Sposób łączenia i urządzenie do łączenia

Info

Publication number
PL2242623T3
PL2242623T3 PL08863544T PL08863544T PL2242623T3 PL 2242623 T3 PL2242623 T3 PL 2242623T3 PL 08863544 T PL08863544 T PL 08863544T PL 08863544 T PL08863544 T PL 08863544T PL 2242623 T3 PL2242623 T3 PL 2242623T3
Authority
PL
Poland
Prior art keywords
joining
Prior art date
Application number
PL08863544T
Other languages
English (en)
Inventor
Martin Eberl
Anton Englhard
Manfred Herrmann
Original Assignee
Kuka Systems 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 Systems Gmbh filed Critical Kuka Systems Gmbh
Publication of PL2242623T3 publication Critical patent/PL2242623T3/pl

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/042—Automatically aligning the laser beam
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B23K2101/006—Vehicles
    • 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
    • G05B2219/36414—Compare image detected path with stored reference, difference corrects position
    • 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
    • G05B2219/40425—Sensing, vision based motion planning
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45138—Laser welding
    • 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
    • G05B2219/49386—Automatic seam, weld line, finding

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Laser Beam Processing (AREA)
PL08863544T 2007-12-20 2008-12-15 Sposób łączenia i urządzenie do łączenia PL2242623T3 (pl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007062535A DE102007062535A1 (de) 2007-12-20 2007-12-20 Verfahren und Einrichtung zum Fügen
EP08863544.6A EP2242623B1 (de) 2007-12-20 2008-12-15 Verfahren und einrichtung zum fügen
PCT/EP2008/010640 WO2009080233A1 (de) 2007-12-20 2008-12-15 Verfahren und einrichtung zum fügen

Publications (1)

Publication Number Publication Date
PL2242623T3 true PL2242623T3 (pl) 2016-01-29

Family

ID=40473590

Family Applications (1)

Application Number Title Priority Date Filing Date
PL08863544T PL2242623T3 (pl) 2007-12-20 2008-12-15 Sposób łączenia i urządzenie do łączenia

Country Status (4)

Country Link
EP (1) EP2242623B1 (pl)
DE (1) DE102007062535A1 (pl)
PL (1) PL2242623T3 (pl)
WO (1) WO2009080233A1 (pl)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011000456U1 (de) 2011-02-28 2012-05-31 Kuka Systems Gmbh Fügeeinrichtung
DE102011014463A1 (de) * 2011-03-19 2012-09-20 Audi Ag Rollfalzverfahren zum randseitigen Verbinden von Blechen, insbesondere von Karosserieblechen
DE102012021658A1 (de) * 2012-05-03 2013-11-07 Dürr Systems GmbH Rotorblattherstellvorrichtung und zugehöriges Verfahren
DE102012012298A1 (de) * 2012-06-20 2013-12-24 Dürr Systems GmbH Klebeverfahren und entsprechende Klebevorrichtung
DE102012018003A1 (de) 2012-09-12 2014-03-13 Volkswagen Aktiengesellschaft Beschneiden eines Formteils mittels eines Energiestrahls
ES2556564T3 (es) 2013-05-22 2016-01-18 Fft Produktionssysteme Gmbh & Co. Kg Ensamblaje de una pieza de trabajo con una soldadura de ensamblaje escondida
DE102015115183B4 (de) * 2015-09-09 2024-07-18 BIAS - Bremer Institut für angewandte Strahltechnik GmbH Verfahren zum Herstellen einer Fügeverbindung
DE102017219184B4 (de) 2017-10-26 2023-02-02 Trumpf Laser- Und Systemtechnik Gmbh Bestrahlungseinrichtung und Bearbeitungsmaschine zum Bestrahlen eines ebenen Bearbeitungsfeldes
CN109732604B (zh) * 2019-01-21 2020-06-19 成都宇俊盛科技有限公司 一种通过电眼进行机械手移动对位的方法
CN110407010B (zh) * 2019-06-25 2021-03-19 安吉八塔机器人有限公司 一种适用于弹性材料的搬运与纠偏系统及其方法
DE102021124053A1 (de) 2021-09-17 2023-03-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bereitstellen von Informationen für eine Robotereinrichtung sowie elektronische Recheneinrichtung

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4402345C1 (de) * 1994-01-27 1995-05-24 Fraunhofer Ges Forschung Vorrichtung zum Verschweißen eines Gurts und eines Stegs, insbesondere zu einem T- oder I-Stoß, mit Hochenergiestrahlung
DE19913756A1 (de) * 1999-03-26 2000-09-28 Audi Ag Vorrichtung zum Teachen eines programmgesteuerten Roboters
DE10335501B4 (de) * 2002-07-31 2005-01-27 Kuka Schweissanlagen Gmbh Verfahren und Vorrichtung zum Schweißen oder Schneiden mit Laserstrahl
DE10326377B3 (de) * 2003-06-12 2004-12-16 Thyssenkrupp Drauz Gmbh Verfahren zum Laserschweißen eines Blechteils an einen Querschnitt eines Profils mittels verdeckter Schweißnähte und zu deren automatischer zerstörungsfreien Prüfung
DE102004038310A1 (de) * 2004-08-05 2006-02-23 Kuka Schweissanlagen Gmbh Lasereinrichtung und Betriebsverfahren
DE202006005916U1 (de) * 2006-04-10 2007-08-16 Kuka Schweissanlagen Gmbh Überwachungseinrichtung

Also Published As

Publication number Publication date
DE102007062535A1 (de) 2009-06-25
WO2009080233A1 (de) 2009-07-02
EP2242623A1 (de) 2010-10-27
EP2242623B1 (de) 2015-08-26

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