Remotely operated manual welding method and welding robot implementing such a method
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorsYann Perrot, Max Da Silva Simoes
Life of this patent
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Abstract
A method to assist with the production of an assembly of two elements implemented by a remotely operated robot. The method includes an arm, hinged to the end of which is mounted a heat-supply member suitable for delivering heat to a heat-supply point; position sensors; guiding actuators; a video capture device; an interface; and a processing unit. The method involves the following steps: acquiring a type of assembly to be produced; calculating a reference path of the heat-supply point; defining a shell for guiding the heat-supply member; and controlling guiding actuators so as to prevent the heat-supply member from moving out of the guiding shell.
Claims21
A method for assisting in carrying out the assembly of two elements by the application of heat, the method being executed by a remotely operated robot, the robot comprising:
- an articulated arm at the end of which a heat application member is mounted, the heat application member being adapted to deliver heat at a point of application of heat;
- sensors of the position of the articulated arm;
- guidance actuators of the articulated arm;
- a device for video capture of the point of application of heat;
- an interface for controlling the path of the point of application of heat;
- a processing and control unit connected to the position sensors, to the guidance actuators, to the video capture device, and to the interface for controlling the assembly path and parameters,
- the method comprising the following steps:
- a) acquiring a type of assembly to be carried out;
- b) calculating a reference path of the point of application of heat;
- c) defining a guidance envelope of the heat application member around the reference path;
- d) controlling the guidance actuators in such a way as to oppose a movement of the heat application member out of the guidance envelope.
A remotely operated robot comprising:
- an articulated arm at the end of which a heat application member is mounted, the heat application member being adapted to deliver heat at a point of application of heat;
- sensors of the position of the articulated arm;
- guidance actuators of the articulated arm;
- a device for video capture of the point of application of heat;
- a haptic interface for controlling the path of the point of application of heat;
- a processing and control unit connected to the position sensors, to the guidance actuators, to the video capture device, and to the haptic interface for controlling the path of the point of application of heat,
- the processing and control unit being arranged to execute the following method for assisting in carrying out the assembly of two elements by the application of heat:
- a) acquire a type of assembly to be carried out
- b) calculate a reference path of the point of application of heat
- c) define a guidance envelope of the heat application member around the reference path;
- d) control the guidance actuators in such a way as to oppose a movement of the heat application member out of the guidance envelope.
A remotely operated robot comprising:
- an articulated arm at the end of which a heat application member is mounted, the heat application member being adapted to deliver heat at a point of application of heat;
- sensors of the position of the articulated arm;
- guidance actuators of the articulated arm;
- a device for video capture of the point of application of heat;
- a haptic interface for controlling the path of the point of application of heat;
- a processing and control unit connected to the position sensors, to the guidance actuators, to the video capture device, and to the haptic interface for controlling the path of the point of application of heat, the processing and control unit comprising means for controlling the assembly parameters,
- the processing and control unit being arranged to execute the following method for assisting in carrying out the assembly of two elements by the application of heat:
- a) acquire a type of assembly to be carried out;
- b) calculate a reference path of the point of application of heat;
- c) define a guidance envelope of the heat application member around the reference path;
- d) control the guidance actuators in such a way as to oppose a movement of the heat application member out of the guidance envelope, and
- adjust the assembly parameters as a function of the location and/or the path of the point of application of heat relative to the assembly.
Dependencies are inferred from the claim text.