Abstract: A system and a method for separating a tubular component is disclosed, which for constructing a supporting structure, having a longitudinal pipe with pipe ends which are open on both sides. The system has a mobile transport module comprising a receiving platform having a pipe clamping device for clamping variable pipe diameters which receives and mounts the tubular component so that a first pipe end of the component, having a vertical longitudinal axis which detachably and securely engages the pipe clamping device. The invention further relates to a separating arrangement mounted on a supporting structure that it is deflectable at least vertically, to provide secure joining to the pipe end of a tubular component that faces away from the first pipe end. The tubular component is seated on the transport module and vertically securely engages the pipe clamping device.

Abstract: The invention relates to a welding assembly for the permanent joining of a first tubular component with a second component along a two- or three-dimensional intersection curve, along which both components contact, comprising a securing assembly for detachably securely joining on a tubular end of the first component facing away from the intersection curve, a manipulator unit mounted directly or indirectly on the securing assembly such that it can pivot about a tube longitudinal axis assigned to the first component. The manipulator unit has a freely positionable manipulator end, with a welding tool attached to the freely positionable manipulator end. The securing assembly comprises a clamping module that can at least partially be introduced into the tubular end of the first component on the end side and in an axial manner.

Abstract: The invention relates to a method and an arrangement for introducing boreholes into a surface of a workpiece (W) mounted in a stationary manner using a boring tool which is attached to the end face of an articulated-arm robot (KR) and which can be spatially positioned by said robot. The method has the following method steps: —positioning the articulated-arm robot-guided boring tool at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, —producing a rigid mechanical connection which supports the end face of the articulated-arm robot (KR) on the workpiece and which can be released from the workpiece surface, and —machining the surface by moving the boring tool towards the machining location and subsequently engaging the boring tool with the workpiece (W) at the machining location on the workpiece surface while the end face of the articulated-arm robot (KR) is connected to the workpiece.

Abstract: A system and a method for separating a tubular component is disclosed, which for constructing a supporting structure, having a longitudinal pipe with pipe ends which are open on both sides. The system has a mobile transport module comprising a receiving platform having a pipe clamping device for clamping variable pipe diameters which receives and mounts the tubular component so that a first pipe end of the component, having a vertical longitudinal axis which detachably and securely engages the pipe clamping device. The invention further relates to a separating arrangement mounted on a supporting structure that it is deflectable at least vertically, to provide secure joining to the pipe end of a tubular component that faces away from the first pipe end. The tubular component is seated on the transport module and vertically securely engages the pipe clamping device.

Abstract: The invention relates to an articulated arm robot for handling a payload, comprising a robot arm (R), which is attached to a base (1) that can be rotated about a first axis (A1), and at least two arm elements (2 and 3), which are arranged to form a kinematic chain and a first arm element (2) is mounted on the base (1) to pivot about a second axis (A2) that is oriented orthogonally relative to the first axis and a second arm element (3) which is attached to the first arm to be pivotal manner about a third axis (A3) that is oriented parallel to the second axis (A2).

Abstract: The invention relates to a method and an arrangement for introducing boreholes into a surface of a workpiece (W) mounted in a stationary manner using a boring tool which is attached to the end face of an articulated-arm robot (KR) and which can be spatially positioned by said robot. The method has the following method steps: —positioning the articulated-arm robot-guided boring tool at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, —producing a rigid mechanical connection which supports the end face of the articulated-arm robot (KR) on the workpiece and which can be released from the workpiece surface, and —machining the surface by moving the boring tool towards the machining location and subsequently engaging the boring tool with the workpiece (W) at the machining location on the workpiece surface while the end face of the articulated-arm robot (KR) is connected to the workpiece.

Abstract: The invention relates to a welding assembly for the permanent joining of a first tubular component with a second component along a two- or three-dimensional intersection curve, along which both components contact, comprising a securing assembly for detachably securely joining on a tubular end of the first component facing away from the intersection curve, a manipulator unit mounted directly or indirectly on the securing assembly such that it can pivot about a tube longitudinal axis assigned to the first component. The manipulator unit has a freely positionable manipulator end, with a welding tool attached to the freely positionable manipulator end. The securing assembly comprises a clamping module that can at least partially be introduced into the tubular end of the first component on the end side and in an axial manner.

Abstract: The invention relates to an articulated arm robot for handling a payload, comprising a robot arm (R), which is attached to a base (1) that can be rotated about a first axis (A1), and at least two arm elements (2 and 3), which are arranged to form a kinematic chain and a first arm element (2) is mounted on the base (1) to pivot about a second axis (A2) that is oriented orthogonally relative to the first axis and a second arm element (3) which is attached to the first arm to be pivotal manner about a third axis (A3) that is oriented parallel to the second axis (A2).

Abstract: The spatial center of mass and a mass of an object can be determined by orientating the suspended object in at least two different spatial positions and measuring the orientation of the object in each of the different spatial positions the forces acting on the suspension devices because of the suspended object, the forces acting on the suspension devices being resolved into three independent force components. A center of area of the object and the associated force effect lines are determined for each of the at least two spatial positions, the center of area of the respective spatial position being determined with an inclined tension compensation of the suspension devices. The spatial center of mass is determined by superimposing at least two force effect lines.

Abstract: The invention relates to a method for controlling robots for welding three-dimensional workpieces, comprising the following steps: positioning and tacking profiles to a plate in order to form the workpiece to be welded, depicting the workpiece by means of a three-dimensional imaging system in the form of three-dimensional pixels, determining the geometric data of the plate and profiles, including the allocation of cutouts and final cutting shapes from the three-dimensional pixels, determining the weld seam data from the geometric data while considering the profile placement lines and the contact lines of profiles, allocating the weld seam data to parameterizable specifications for the weld plan into stored predefined movement patterns of the robot, and into commands for the control of the welding process.

Abstract: The invention relates to a method for controlling robots for welding three-dimensional workpieces, comprising the following steps: positioning and tacking profiles to a plate in order to form the workpiece to be welded, depicting the workpiece by means of a three-dimensional imaging system in the form of three-dimensional pixels, determining the geometric data of the plate and profiles, including the allocation of cutouts and final cutting shapes from the three-dimensional pixels, determining the weld seam data from the geometric data while considering the profile placement lines and the contact lines of profiles, allocating the weld seam data to parameterizable specifications for the weld plan into stored predefined movement patterns of the robot, and into commands for the control of the welding process.

Abstract: The spatial center of mass and a mass of an object can be determined by orientating the suspended object in at least two different spatial positions and measuring the orientation of the object in each of the different spatial positions the forces acting on the suspension devices because of the suspended object, the forces acting on the suspension devices being resolved into three independent force components. A center of area of the object and the associated force effect lines are determined for each of the at least two spatial positions, the center of area of the respective spatial position being determined with an inclined tension compensation of the suspension devices. The spatial center of mass is determined by superimposing at least two force effect lines.

Abstract: A process and arrangement are disclosed for cleaning the surface of airpls (44). A large manipulator arranged on a truck (8) is moved towards the airplane (44) up to a predetermined position within its range of action and is parked in that position. A rotary brush-bearing head (18) is moved over the surface of the object by means of an articulated mast (13) arranged on the truck (10) and constituted of several extension arms (12, 12', 12", 12"', 14) that may swivel or slide with respect to each other at turning knuckles and/or prismatic joints and of a multiple joint (16) arranged at the last extension arm (14).