# US 12,110,218 B2 · Lift device with robotic welding attachment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,218 B2 - Document ID: US12110218B2 - Status: Granted - Kind: B2 - Application number: 18/144,111 - Filed: 2023-05-05 - Published: 2023-11-09 - Granted: 2024-10-08 - Earliest claimed: 2022-05-06 - Assignees: Oshkosh Corporation - Applicants: Oshkosh Corporation - Inventors: Gregory Brulo; Ignacy Puszkiewicz; J P Kraisinger - Web page: https://patentgrep.com/patent/US12110218B2 ## CPC - B25J 5/06: Manipulators combined with a control cab for the operator - B66F 11/046: {of the telescoping type} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 11/00: Manipulators not otherwise provided for - B25J 11/005: {Manipulators for mechanical processing tasks} - B25J 13/089: {Determining the position of the robot with reference to its environment} - B25J 15/0019: {End effectors other than grippers} - B66F 17/006: {for working platforms} - B25J 19/0025: {Means for supplying energy to the end effector} - 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}) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) ## Abstract A lift device includes a lift apparatus for raising and lowering a robotic attachment. The lift apparatus includes a base assembly, the base assembly including a prime mover to rotate one or more wheels. The robotic attachment includes a base, a primary robotic implement, and a secondary robotic implement, each moveable independent of the base. The robotic attachment further includes a stabilizer bar coupled to the base and configured to engage with an external support to provide a stabilizing force to the robotic attachment. At least one of the primary robotic implement and the secondary robotic implement are configured to move one or more end effectors to perform a welding operation, including a weld gun, a weld lead, and a needle scaler. The lift apparatus may also include a control system configured to position the robotic implements in a plurality of preset positions. ## Claims ### Claim 1 A lift device comprising: a lift apparatus configured to raise and lower a robotic attachment; and a base assembly configured to support the lift apparatus, the base assembly including a prime mover configured to rotate one or more wheels coupled to the base assembly; wherein the robotic attachment comprises: a base; a primary robotic implement supported by the base and a secondary robotic implement supported by the base, wherein the primary robotic implement and the secondary robotic implement are moveable independent of each other; and a stabilizer bar coupled to the base and moveable independent of the base. ### Claim 2 (depends on 1) The lift device of claim 1, wherein the robotic attachment further comprises at least one stabilizer bar actuator configured to move the stabilizer bar relative to the base. ### Claim 3 (depends on 2) The lift device of claim 2, wherein the stabilizer bar is configured to move between a first position and second position, and wherein in the second position the stabilizer bar is configured to engage with an external support to generate a stabilizing force for the robotic attachment. ### Claim 4 (depends on 3) The lift device of claim 3, wherein the stabilizer bar actuator is configured to adjust a position of the stabilizer bar to maintain the stabilizing force at or below a threshold value. ### Claim 5 (depends on 1) The lift device of claim 1, wherein the stabilizer bar comprises a bumper made of at least one of plastic, rubber, silicone, polyurethane. ### Claim 6 (depends on 1) The lift device of claim 1, wherein at least one of the lift apparatus or the base assembly include at least one of a power source or a pneumatic system, and wherein the robotic attachment is electrically or pneumatically coupled to the at least one of the power source or the pneumatic system, respectively. ### Claim 7 (depends on 1) The lift device of claim 1, wherein the robotic attachment further comprise at least one visual indicator supported by the base, and wherein a processing circuit is further configured to control an aspect of the at least one visual indicator based on an operating mode of the robotic attachment. ### Claim 8 (depends on 1) The lift device of claim 1, wherein the primary robotic implement comprises a plurality of rotatable members, wherein the plurality of rotatable members comprises a first rotatable member rotatably coupled to the base and at least one intermediate rotatable member rotatably coupled between the first rotatable member and a second rotatable member. ### Claim 9 (depends on 1) The lift device of claim 1, wherein the primary robotic implement includes an end effector with six axes of movement relative to the lift apparatus. ### Claim 10 (depends on 1) The lift device of claim 1, further comprising a control system communicably coupled with the primary robotic implement and the secondary robotic implement, wherein the control system comprises a processing circuit configured to position the primary robotic implement and the secondary robotic implement in a plurality of preset positions. ### Claim 11 (depends on 10) The lift device of claim 10, wherein the plurality of preset positions comprise a stow position and a transportation position. ### Claim 12 (depends on 1) The lift device of claim 1, wherein at least one of the primary robotic implement or the secondary robotic implement is detachably coupled to an end effector comprising at least one of a weld gun, a weld lead, or a needle scaler. ### Claim 13 (depends on 12) The lift device of claim 12, wherein the weld lead is a detachable weld lead comprising a ground lead and a voltage sensor. ### Claim 14 (depends on 12) The lift device of claim 12, further comprising: a control system communicably coupled with at least one of the primary robotic implement or the secondary robotic implement, wherein the robotic attachment further comprises at least one sensor configured to determine a position of an external object, and wherein the control system comprises a processing circuit configured to control at least one of the primary robotic implement or the secondary robotic implement to engage the end effector with the external object. ### Claim 15 A robotic welding apparatus comprising: a base including a plurality of detachable couplings configured to engage with an external device; a first robotic arm supported by the base and a second robotic arm supported by the base, wherein the first robotic arm and the second robotic arm are moveable independent of each other; and a stabilizer bar coupled to a front of the base and moveable independent of the base in a direction perpendicular to the front of the base. ### Claim 16 (depends on 15) The robotic welding apparatus of claim 15, further comprising a plurality of end effectors supported by the base, wherein each of the first robotic arm and the second robotic arm are configured to detachably couple to at least one of the plurality of end effectors. ### Claim 17 (depends on 15) The robotic welding apparatus of claim 15, wherein the robotic welding apparatus further comprises at least one position sensor configured to determine a position of an external object relative to the robotic welding apparatus. ### Claim 18 (depends on 15) The robotic welding apparatus of claim 15, further comprising at least one stabilizer bar actuator configured to move the stabilizer bar relative to the base between a first position and a second position, wherein in the second position the stabilizer bar is configured to engage with an external support to generate a stabilizing force for the robotic attachment. ### Claim 19 A lift device comprising: a lift apparatus rotatably coupled to a robotic attachment, wherein the robotic attachment comprises: a base; a primary robotic implement supported by the base and a secondary robotic implement supported by the base, wherein the primary robotic implement and the secondary robotic implement are moveable independent of each other; a plurality of end effectors comprising at least one of a weld gun, a weld lead, or a needle scaler; a stabilizer bar coupled to the base; a stabilizer bar actuator configured to move the stabilizer bar relative to the base; and a controller comprising a processing circuit configured to position the primary robotic implement and the secondary robotic implement between a first preset position and a second preset position, the first preset position different than the second preset position. ### Claim 20 (depends on 19) The lift device of claim 19, further comprising at least one position sensor configured to determine a position of an external object relative to the robotic attachment.