System and method for manufacturing and control thereof

• US 10,545,480 B2
• Filed: 02/20/2017
• Issued: 01/28/2020
• Est. Priority Date: 11/07/2016
• Status: Active Grant

• Current Assignee: Lincoln Global Incorporated (Lincoln Electric Holdings Incorporated)
• Original Assignee: Lincoln Global Incorporated (Lincoln Electric Holdings Incorporated)
• Inventors: Spieker, Daniel J., Mitchell, Levi J., Ben-Gharbia, Khaled M.
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/437,086
• Publication Number:
  US 20180129187A1
• Time in Patent Office: 1,072 Days
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4097 characterised by using design data to control NC machines, e.g. CAD/CAM G05B19/4093 takes precedence
• CPC Class Codes: G05B 19/4099 Surface or curve machining, making 3D objects, e.g. desktop manufacturing
• CPC Class Codes: G05B 2219/39096 Self-collision, internal collison, collision between links of one robot

Abstract

Embodiments for performing manufacture processes are disclosed. In one embodiment, a system includes a tool to be used in a manufacture process on a workpiece. The system includes a robot having an arm. The arm has an attachment point and is configured to move the tool, when attached to the attachment point, in multiple degrees of freedom during the manufacture process. A robot controller of the robot controls the movement of the arm based on motion parameters to perform the manufacture process via the tool. The system includes a power source having power electronics to generate electrical output power, based on electrical input parameters, provided to the tool during the manufacture process. A power source controller of the power source is configured to communicate with the robot controller, allowing a path planner component to generate the motion parameters used to perform the manufacture process while avoiding robot collision conflicts.

Claims

1. A system, comprising:

a tool configured to be used in a manufacture process on a workpiece;

a robot including;

an arm having an attachment point, the arm configured to move the tool, when attached to the attachment point, in multiple degrees of freedom during the manufacture process, and

a robot controller configured to control movement of the arm based on motion parameters to perform the manufacture process via the tool; and

a power source including;

power electronics configured to generate electrical output power, based on electrical input parameters, wherein the electrical output power is provided to the tool during the manufacture process, and

a power source controller configured to adjust at least the electrical input parameters based on at least the motion parameters to allow generation of adjusted electrical output power via the power electronics,

wherein the power source controller includes a path planner component configured to generate the motion parameters used to perform the manufacture process while avoiding robot collision conflicts, and

wherein the path planner component includes;

a reach configuration component including data related to physical attributes, motion attributes, kinematics, and limitations of the robot; and

a collision avoidance evaluator configured to, using the reach configuration component, determine if an anticipated robot path results in any robot collision conflicts and allow a user to modify at least one of the robot path or the manufacture process to avoid the robot collision conflicts.

2. The system of claim 1, wherein the manufacture process includes at least one of a welding process, an additive manufacturing process, or a cutting process.

3. The system of claim 1, wherein the power source controller is configured to adjust at least the motion parameters based on at least the electrical input parameters to generate adjusted motion parameters, and provide the adjusted motion parameters to the robot controller.

4. The system of claim 1, wherein the power source controller is configured to adjust, based on at least the motion parameters, a wire feed speed to generate an adjusted wire feed speed of a consumable electrode used by the tool during the manufacture process.

5. The system of claim 1, wherein the robot controller includes the path planner component configured to generate the motion parameters used to perform the manufacture process while avoiding robot collision conflicts.

6. A system, comprising:

a tool configured to be used in a manufacture process on a workpiece;

a robot including;

an arm having an attachment point, the arm configured to move the tool, when attached to the attachment point, in multiple degrees of freedom during the manufacture process, and

a robot controller configured to control movement of the arm based on motion parameters to perform the manufacture process via the tool; and

a power source including;

power electronics configured to generate electrical output power, based on electrical input parameters, wherein the electrical output power is provided to the tool during the manufacture process, and

a power source controller configured to adjust at least the motion parameters based on at least the electrical input parameters to generate adjusted motion parameters, and provide the adjusted motion parameters to the robot controller,

wherein the power source controller includes a path planner component configured to generate the motion parameters used to perform the manufacture process while avoiding robot collision conflicts, and

wherein the path planner component includes;

a reach configuration component including data related to physical attributes, motion attributes, kinematics, and limitations of the robot; and

a collision avoidance evaluator configured to, using the reach configuration component, determine if an anticipated robot path results in any robot collision conflicts and allow a user to modify at least one of the robot path or the manufacture process to avoid the robot collision conflicts.

7. The system of claim 6, wherein the manufacture process includes at least one of a welding process, an additive manufacturing process, or a cutting process.

8. The system of claim 6, wherein the power source controller is configured to adjust at least the electrical input parameters based on at least the motion parameters to allow generation of adjusted electrical output power via the power electronics.

9. The system of claim 6, wherein the power source controller is configured to adjust, based on at least the motion parameters, a wire feed speed to generate an adjusted wire feed speed of a consumable electrode used by the tool during the manufacture process.

10. The system of claim 6, wherein the robot controller includes the path planner component configured to generate the motion parameters used to perform the manufacture process while avoiding robot collision conflicts.