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1. WO2022126274 - SYSTEM AND METHOD FOR AUTOMATICALLY ADJUSTING WELDING VARIABLES OF A ROBOTIC WELDING SYSTEM

Publication Number WO/2022/126274
Publication Date 23.06.2022
International Application No. PCT/CA2021/051822
International Filing Date 16.12.2021
IPC
B23K 9/095 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
095Monitoring or automatic control of welding parameters
B23K 9/02 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
9Arc welding or cutting
02Seam welding; Backing means; Inserts
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
B25J 19/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
CPC
B23K 9/02
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
02Seam welding; Backing means; Inserts
B23K 9/095
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
095Monitoring or automatic control of welding parameters
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
G05B 2219/40609
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
40Robotics, robotics mapping to robotics vision
40609Camera to monitor end effector as well as object to be handled
G05B 2219/45104
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
45Nc applications
45104Lasrobot, welding robot
Applicants
  • NOVARC TECHNOLOGIES INC. [CA]/[CA]
Inventors
  • KHERADMAND, Shakiba
  • GONZALEZ, Ringo
  • BALAKRISHNAN, Roger
  • ASHOORI, Ahmad
  • KARIMZADEH, Soroush
Agents
  • DEN BOEF, Paul
  • JOHNSON, Richard A.
Priority Data
63/127,13717.12.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEM AND METHOD FOR AUTOMATICALLY ADJUSTING WELDING VARIABLES OF A ROBOTIC WELDING SYSTEM
(FR) SYSTÈME ET PROCÉDÉ DE RÉGLAGE AUTOMATIQUE DE VARIABLES DE SOUDAGE D'UN SYSTÈME DE SOUDAGE ROBOTISÉ
Abstract
(EN) Disclosed is a system having a robotic welding system, a controller, a camera, and a processor. The robotic welding system is configured to weld metal sections together in accordance with a plurality of welding variables. The controller is configured to automatically control the robotic welding system. The camera captures sequential images of the welding performed by the robotic welding system. According to an embodiment, the processor is configured to process the sequential images to determine when a selected welding state is to change to a next welding state based on the selected welding state and multiple consistent determinations of the next welding state, and to signal that change to the controller to effect a change in how the welding is performed by the robotic welding system. By considering multiple consistent determinations of the next welding state, there can be a high probability that the next welding state is correct.
(FR) L'invention concerne un système ayant un système de soudage robotisé, un dispositif de commande, un appareil de prise de vues et un processeur. Le système de soudage robotisé est conçu pour souder ensemble des sections métalliques selon une pluralité de variables de soudage. Le dispositif de commande est conçu pour commander automatiquement le système de soudage robotisé. L'appareil de prise de vues capture des images séquentielles du soudage effectué par le système de soudage robotisé. Selon un mode de réalisation, le processeur est conçu pour traiter les images séquentielles pour déterminer quand un état de soudage sélectionné doit passer à un prochain état de soudage sur la base de l'état de soudage sélectionné et de multiples déterminations cohérentes du prochain état de soudage, et pour signaler ce changement au dispositif de commande afin d'effectuer un changement relatif à la manière dont le soudage est effectué par le système de soudage robotisé. En tenant compte de multiples déterminations cohérentes du prochain état de soudage, il peut y avoir une probabilité élevée que le prochain état de soudage soit correct.
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