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US 11,992,949 B2Granted
Remote robotic welding with a handheld controller
AssigneeSisu Devices LLC
InventorsRussell Aldridge, Jacob Robinson, Marc Christenson
Life of this patent
Estimating the term…
Abstract
This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip.
Claims15
A robotic device, comprising:
- at least one memory that stores computer-executable instructions;
- and
- at least one processor configured to access the at least one memory, wherein the at least one processor is configured to execute the computer-executable instructions to:
- define one or more keepout planes to prevent an end effector from crossing the one or more keepout planes;
- define one or more planes using one or more captured points in space during a learning stage using a probe;
- determine a starting point and an ending point associated with a welding path;
- indicate the starting point by a first button press on a remote handheld device after the remote handheld device has moved in space to a starting position associated with the starting point, wherein the remote handheld device comprises the probe;
- determine coordinates of a probe tip of the probe based on a profile associated with the probe;
- indicate the ending point by a second button press on the remote handheld device after the remote handheld device has moved in space to an ending position associated with the ending point;
- move the remote handheld device to a point in space associated with the ending point;
- traverse the end effector of the robotic device from the starting point to the ending point, wherein a welding tip is attached to the end effector;
- prevent the end effector from crossing the one or more keepout planes;
- perform a weld using the welding tip as the end effector is traversing across the welding path;
- and
- apply one or more preset functions while performing the weld, wherein the one or more preset functions are input from a pendant, and wherein the one or more preset functions comprises at least current, voltage, wire speed, weave pattern, and dwell.
12 more elements
A non-transitory computer-readable medium storing computer-executable instructions which when executed by one or more processors result in performing operations comprising:
- defining one or more keepout planes to prevent an end effector from crossing the one or more keepout planes;
- defining one or more planes using one or more captured points in space during a learning stage using a probe;
- determining a starting point and an ending point associated with a welding path;
- indicating the starting point by a first button press on a remote handheld device after the remote handheld device has moved in space to a starting position associated with the starting point, wherein the remote handheld device comprises the probe;
- determining coordinates of a probe tip of the probe based on a profile associated with the probe;
- indicating the ending point by a second button press on the remote handheld device after the remote handheld device has moved in space to an ending position associated with the ending point;
- moving the remote handheld device to a point in space associated with the ending point;
- traversing the end effector of a robotic device from the starting point to the ending point, wherein a welding tip is attached to the end effector;
- preventing the end effector from crossing the one or more keepout planes;
- performing a weld using the welding tip as the end effector is traversing across the welding path;
- and
- applying one or more preset functions while performing the weld, wherein the one or more preset functions are inputted from a pendant, and wherein the one or more preset functions comprises at least current, voltage, wire speed, weave pattern, and dwell.
9 more elements
A method comprising:
- defining one or more keepout planes to prevent an end effector from crossing the one or more keepout planes;
- defining one or more planes using one or more captured points in space during a learning stage using a probe;
- determining, by one or more processors, a starting point and an ending point associated with a welding path;
- indicating the starting point by a first button press on a remote handheld device after the remote handheld device has moved in space to a starting position associated with the starting point, wherein the remote handheld device comprises a probe;
- determining coordinates of a probe tip of the probe based on a profile associated with the probe;
- indicating the ending point by a second button press on the remote handheld device after the remote handheld device has moved in space to an ending position associated with the ending point;
- moving the remote handheld device to a point in space associated with the ending point;
- traversing the end effector of a robotic device from the starting point to the ending point, wherein a welding tip is attached to the end effector;
- preventing the end effector from crossing the one or more keepout planes;
- performing a weld using the welding tip as the end effector is traversing across the welding path;
- and
- applying one or more preset functions while performing the weld, wherein the one or more preset functions are inputted from a pendant, and wherein the one or more preset functions comprises at least current, voltage, wire speed, weave pattern, and dwell.
9 more elements
Dependencies are inferred from the claim text.