Method for simultaneous operation of robot welders
First Claim
1. A method for programming a first robot and a second robot to avoid collisions between said robots, comprising the steps of:
- specifying a desired zone of operation for said first robot and a desired zone of operation for said second robot;
developing a job for each of said robots, said jobs instructing said robots how to reach said desired zones;
simultaneously stepping said first robot and said second robot through respective said jobs;
visually observing said robots as said robots are stepped through said respective jobs;
manually inserting stop points in said jobs as necessary to prevent a collision between said robots;
specifying resume conditions for said stop points;
storing said jobs with said stop points; and
authorizing said robots to begin execution of said jobs.
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Accused Products
Abstract
A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot. The peformance of two or more heat generating operations, such as welding operations, can cause excessive heating of an object if the operations are performed closely together in time or space. That excessive heating can result in distortion of the object. The present invention prevents excessive heating and subsequent distortion of the object by changing the sequence of the operations.
100 Citations
17 Claims
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1. A method for programming a first robot and a second robot to avoid collisions between said robots, comprising the steps of:
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specifying a desired zone of operation for said first robot and a desired zone of operation for said second robot; developing a job for each of said robots, said jobs instructing said robots how to reach said desired zones; simultaneously stepping said first robot and said second robot through respective said jobs; visually observing said robots as said robots are stepped through said respective jobs; manually inserting stop points in said jobs as necessary to prevent a collision between said robots; specifying resume conditions for said stop points; storing said jobs with said stop points; and authorizing said robots to begin execution of said jobs. - View Dependent Claims (2, 3, 4)
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5. A method of operating a first robot and a second robot to avoid a collision between said robots, comprising the steps of:
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authorizing said first robot to begin execution of a first predetermined procedure, said first predetermined procedure having a plurality of stop points; authorizing said second robot to begin execution of a second predetermined procedure, said second predetermined procedure having a plurality of stop points; receiving a signal that said first robot has reached a predetermined stop point in said first predetermined procedure; receiving a signal that said second robot has reached a predetermined stop point in said second predetermined procedure; authorizing said first robot to proceed to a next predetermined stop point in said first predetermined procedure; waiting for a signal that said first robot has reached said next predetermined stop point; receiving said signal that said first robot has reached said next predetermined stop point; and authorizing said second robot to proceed to a next predetermined stop point in said second predetermined procedure. - View Dependent Claims (6)
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7. A method for programming a first robot and a second robot to avoid collisions between said robots, comprising the steps of:
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specifying a desired zone of operation for said first robot and a desired zone of operation for said second robot; developing a job for each of said robots, said jobs instructing said robots how to reach said desired zones; visually identifying critical points in said jobs; manually inserting a stop point at each said critical point in said jobs; specifying resume conditions for said stop points; storing said jobs with said stop points; and authorizing said robots to begin execution of said jobs. - View Dependent Claims (8, 9, 10, 11)
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12. A method of operating a first robot and a second robot to avoid a collision between said robots, comprising the steps of:
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authorizing said first robot to begin execution of a first predetermined procedure, said first predetermined procedure having a plurality of stop points; authorizing said second robot to begin execution of a second predetermined procedure, said second predetermined procedure having a plurality of stop points; receiving a signal that said first robot has reached a predetermined stop point in said first predetermined procedure; receiving a signal that said second robot has reached a predetermined stop point in said second predetermined procedure; and authorizing both said first robot and said second robot to simultaneously proceed to next stop points.
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13. A method of programming a robot to avoid distortion of an object, said robot having a program for performing a plurality of operations on said object, said method comprising:
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determining the location on said object of a first operation to be performed; determining the location on said object of a second operation to be performed; determining the location on said object of a third operation to be performed; determining whether said first location is sufficiently close to said second location that performance of said first operation and said second operation consecutively will cause distortion of said object; and if said performance will cause said distortion then altering said program to cause said robot to perform said third operation between performance of said first operation and performance of said second operation.
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14. A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:
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determining a first location on said object of a first operation to be performed by said first robot; determining a second location on said object of a second operation to be performed by said second robot; determining whether said first location is sufficiently close to said second location that simultaneous performance of said first operation and said second operation will cause distortion of said object; and if said simultaneous performance will cause said distortion then altering said program of said first robot to cause said first robot to perform a third operation while said second robot is performing said second operation.
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15. A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:
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determining a first location on said object of a first operation to be performed by said first robot; determining a second location on said object of a second operation to be performed by said second robot; determining whether said first location is sufficiently close to said second location that simultaneous performance of said first operation and said second operation will cause distortion of said object; and if said simultaneous performance will cause said distortion then altering said program of said first robot to cause said first robot to perform an operation at a third location while said second robot is performing said second operation.
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16. A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:
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determining a first location on said object of a first operation to be performed by said first robot; determining a second location on said object of a second operation to be performed by said second robot; determining whether said first location is sufficiently close to said second location that consecutive performance of said first operation and said second operation will cause distortion of said object; and if said consecutive performance will cause said distortion then altering said program of said first robot to cause said first robot to perform a third operation after said second robot has performed said second operation, and to cause said first robot to perform said first operation after said first robot has performed said third operation.
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17. A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:
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determining a first location on said object of a first operation to be performed by said first robot; determining a second location on said object of a second operation to be performed by said second robot; determining whether said first location is sufficiently close to said second location that consecutive performance of said first operation and said second operation will cause distortion of said object; and if said consecutive performance will cause said distortion then altering said program of said first robot to cause said first robot to perform a third operation at a third location after said second robot has performed said second operation, and to cause said first robot to perform said first operation after said first robot has performed said third operation at said third location.
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Specification