# US 12,109,692 B2 · Method for teaching torch orientation for robotic welding > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,692 B2 - Document ID: US12109692B2 - Status: Granted - Kind: B2 - Application number: 17/588,001 - Filed: 2022-01-28 - Published: 2023-07-20 - Granted: 2024-10-08 - Earliest claimed: 2022-01-18 - Applicants: James Walter Beard, III; Stephen Lee Canfield; Stephen Zuccaro - Inventors: James Walter Beard, III; Stephen Lee Canfield; Stephen Zuccaro - Web page: https://patentgrep.com/patent/US12109692B2 ## CPC - B25J 9/0081: {with leader teach-in means} - B23K 9/126: {Controlling the spatial relationship between the work and the gas torch (between wire tip and piece B23K9/073)} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 11/005: {Manipulators for mechanical processing tasks} - G05B 19/423: Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path - B23K 37/0229: {the guide member being situated alongside the workpiece} - B25J 13/00: Controls for manipulators (program controls B25J9/16) - G05B 2219/45104: Lasrobot, welding robot - G05B 2219/45135: Welding - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - 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 - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Robots are commonly used for automated MIG (Metal Inert Gas) or TIG (Tungsten Inert Gas) welding in many industries such as automotive manufacturing. A weld procedure is defined and the robot performs motion control of the weld torch along the weld seam, while starting and stopping the arc as desired along the weld seams. The robot controls the motion of the torch along the weld path. The motion is defined by a combination of the position and orientation of the torch which is attached to the robot end-effector. The weld specification will generally prescribe a portion or all of the desired orientation of the torch. This information can be used to reduce the complexity of programming a weld path for a robot. ## Claims ### Claim 1 A method for teaching a weld path for a robot end-effector with a tool center point comprising the steps of: manually move with force the robot end effector to a x y z position of the tool center point on the weld path; select a desired roll pitch yaw angle set orientation of the robot end effector from a memory storage in a robot controller; rotationally move the robot end effector to the desired orientation with the robot controller; store the weld path for the robot end effector as a combination of the x y z positions of the tool center point and the roll pitch yaw angle set orientation of the robot end effector. ### Claim 2 (depends on 1) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 1 where the step of selecting a desired roll pitch yaw angle set orientation of the robot end effector from a memory storage in a robot controller is performed by pressing a button or switch. ### Claim 3 (depends on 1) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 1 where the step rotationally move the robot end effector to the desired orientation with the robot controller is performed without changing the x y z position of the tool center point. ### Claim 4 (depends on 1) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 1 where the step Rotationally move the robot end effector to the desired orientation with the robot controller is performed by pressing a button or switch. ### Claim 5 (depends on 1) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 1 where the desired roll pitch yaw angle set orientation of the robot end effector is pre-saved. ### Claim 6 (depends on 4) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 4 where the desired roll pitch yaw angle set orientation of the robot end effector is pre- saved through the steps of: Rotationally move the robot end-effector to the desired roll pitch yaw angle set orientation; Save the desired roll pitch yaw angle set orientation in a memory storage in a robot controller. ### Claim 7 (depends on 4) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 4 where the desired roll pitch yaw angle set orientation of the robot end effector is pre-saved through the steps of: calculating the desired roll pitch yaw angle set orientation, from a weld specification consisting of a desired work angle, a desired travel angle, a desired torch roll angle; save the desired roll pitch yaw angle set orientation in a memory storage in a robot controller. ### Claim 8 A method for teaching a weld path for a robot end-effector with a tool center point comprising the steps of: 10 manually move with force the robot end-effector to x y z position of the tool center point on the weld path; select a desired roll pitch yaw angle set orientation of the robot end effector from a memory storage in a robot controller; and store the weld path for the robot end effector as a combination of the x y z positions of the tool center point and the roll pitch yaw angle set orientation of the robot end effector. ### Claim 9 (depends on 7) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 7 where the step save the desired roll pitch yaw angle set orientation in a memory storage in a robot controller is performed by pressing a button or switch. ### Claim 10 (depends on 7) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 7 where the step rotationally move the robot end-effector to the desired roll pitch yaw angle set orientation is performed by applying an external force to the robot end-effector. ### Claim 11 (depends on 7) A method for teaching a weld path for a robot end-effector with a tool center point according to claim 7 where the step rotationally move the robot end-effector to the desired roll pitch yaw angle set orientation is performed by using a control pendant.