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1. WO2022016152 - REAL TIME FEEDBACK AND DYNAMIC ADJUSTMENT FOR WELDING ROBOTS

Publication Number WO/2022/016152
Publication Date 20.01.2022
International Application No. PCT/US2021/042218
International Filing Date 19.07.2021
IPC
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B23K 37/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the other main groups of this subclass
02Carriages for supporting the welding or cutting element
B23K 9/32 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
9Arc welding or cutting
32Accessories
B23K 26/08 2014.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
08Devices involving relative movement between laser beam and workpiece
B23K 31/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
31Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups B23K1/-B23K28/193
G05B 19/18 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
Applicants
  • PATH ROBOTICS, INC. [US]/[US]
Inventors
  • LONSBERRY, Alexander James
  • LONSBERRY, Andrew Gordon
  • BALAJEPALLI, Surag
  • DESANTIS, Dylan
Agents
  • WESTON, Scott B.
  • FERNSTROM, Anders E.
  • SOMNATH, Nisha
Priority Data
63/053,32417.07.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) REAL TIME FEEDBACK AND DYNAMIC ADJUSTMENT FOR WELDING ROBOTS
(FR) RÉTROACTION EN TEMPS RÉEL ET RÉGLAGE DYNAMIQUE POUR ROBOTS DE SOUDAGE
Abstract
(EN) Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.
(FR) Sont décrits ici des systèmes et des procédés de rétroaction en temps réel et de mise à jour d'instructions de soudage pour un robot de soudage en temps réel. Les données d'un espace de travail qui comprend une pièce à souder peuvent être reçues par l'intermédiaire d'au moins un capteur. Ces données peuvent être transformées en données de nuages de points représentant une surface tridimensionnelle de la pièce. Un état souhaité indiquant une position souhaitée d'au moins une partie du robot de soudage par rapport à la pièce peut être identifié. Un état estimé indiquant une position estimée d'au moins la partie du robot de soudage par rapport à la pièce peut être comparé à l'état souhaité. Les instructions de soudage peuvent être mises à jour sur la base de la comparaison.
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