SE7606239L - KIT AND DEVICE FOR PROGRAMMING - Google Patents

KIT AND DEVICE FOR PROGRAMMING

Info

Publication number
SE7606239L
SE7606239L SE7606239A SE7606239A SE7606239L SE 7606239 L SE7606239 L SE 7606239L SE 7606239 A SE7606239 A SE 7606239A SE 7606239 A SE7606239 A SE 7606239A SE 7606239 L SE7606239 L SE 7606239L
Authority
SE
Sweden
Prior art keywords
manipulator
welding
programming
proman
june
Prior art date
Application number
SE7606239A
Other languages
Swedish (sv)
Inventor
S G Brekke
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
Application filed by Akers Mek Verksted As filed Critical Akers Mek Verksted As
Publication of SE7606239L publication Critical patent/SE7606239L/en

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)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Document Processing Apparatus (AREA)
  • Manipulator (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.
SE7606239A 1975-06-03 1976-06-02 KIT AND DEVICE FOR PROGRAMMING SE7606239L (en)

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
SE7606239L true SE7606239L (en) 1976-12-04

Family

ID=19882305

Family Applications (1)

Application Number Title Priority Date Filing Date
SE7606239A SE7606239L (en) 1975-06-03 1976-06-02 KIT AND DEVICE FOR PROGRAMMING

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 (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108708751A (en) * 2018-07-15 2018-10-26 西安科技大学 A kind of coal mine brill robot autonomous device and method of arranging net of anchor

Families Citing this family (43)

* 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, 4790 Paderborn BOLT WELDING DEVICE
FR2488823A1 (en) * 1980-08-19 1982-02-26 Framatome Sa WELDING PROCESS
GB9008651D0 (en) * 1990-04-18 1990-06-13 Sunvic Controls Ltd Controller
FR2878461B1 (en) * 2004-11-30 2007-02-09 Franco Belge Combustibles NUCLEAR FUEL ASSEMBLY SKELETON WELDING SYSTEM, METHOD OF PROGRAMMING, METHODS OF SKELETON WELDING AND CORRESPONDING ASSEMBLY.
US9937577B2 (en) 2006-12-20 2018-04-10 Lincoln Global, Inc. System for a welding sequencer
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
US9104195B2 (en) 2006-12-20 2015-08-11 Lincoln Global, Inc. Welding job sequencer
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
US9330575B2 (en) 2008-08-21 2016-05-03 Lincoln Global, Inc. Tablet-based welding simulator
US8884177B2 (en) 2009-11-13 2014-11-11 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9196169B2 (en) 2008-08-21 2015-11-24 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US8911237B2 (en) 2008-08-21 2014-12-16 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
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
US8915740B2 (en) 2008-08-21 2014-12-23 Lincoln Global, Inc. Virtual reality pipe welding simulator
US9483959B2 (en) 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
US8851896B2 (en) 2008-08-21 2014-10-07 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
US9280913B2 (en) 2009-07-10 2016-03-08 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality 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
US8274013B2 (en) 2009-03-09 2012-09-25 Lincoln Global, Inc. System for tracking and analyzing welding activity
US9221117B2 (en) 2009-07-08 2015-12-29 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
US9011154B2 (en) 2009-07-10 2015-04-21 Lincoln Global, Inc. Virtual welding system
US10748447B2 (en) 2013-05-24 2020-08-18 Lincoln Global, Inc. Systems and methods providing a computerized eyewear device to aid in welding
US8569655B2 (en) 2009-10-13 2013-10-29 Lincoln Global, Inc. Welding helmet with integral user interface
US8569646B2 (en) 2009-11-13 2013-10-29 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
WO2012082105A1 (en) 2010-12-13 2012-06-21 Edison Welding Institute, Inc. Welding training system
US20160093233A1 (en) 2012-07-06 2016-03-31 Lincoln Global, Inc. System for characterizing manual welding operations on pipe and other curved structures
US9767712B2 (en) 2012-07-10 2017-09-19 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US10930174B2 (en) 2013-05-24 2021-02-23 Lincoln Global, Inc. Systems and methods providing a computerized eyewear device to aid in welding
US20150072323A1 (en) 2013-09-11 2015-03-12 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
EP3111440A1 (en) 2014-06-02 2017-01-04 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
EP3319066A1 (en) 2016-11-04 2018-05-09 Lincoln Global, Inc. Magnetic frequency selection for electromagnetic position tracking
US20180130226A1 (en) 2016-11-07 2018-05-10 Lincoln Global, Inc. System and method for calibrating a welding trainer
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
US10997872B2 (en) 2017-06-01 2021-05-04 Lincoln Global, Inc. Spring-loaded tip assembly to support simulated shielded metal arc welding
DE102017213001A1 (en) * 2017-07-27 2019-01-31 Bayerische Motoren Werke Aktiengesellschaft Method and control unit for controlling a joining station
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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108708751A (en) * 2018-07-15 2018-10-26 西安科技大学 A kind of coal mine brill robot autonomous device and method of arranging net of anchor
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

Also Published As

Publication number Publication date
DK241176A (en) 1976-12-04
NO751951L (en) 1976-12-06
DE2624012A1 (en) 1976-12-16
GB1511608A (en) 1978-05-24
FI761568A (en) 1976-12-04

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