US-12623309-B2 - Collaborative robot welding system

US12623309B2US 12623309 B2US12623309 B2US 12623309B2US-12623309-B2

Abstract

A welding system includes a collaborative robot, a robot controller, a welding torch having an end located at a tool center point (TCP), a welding power supply, and a teach pendant. The teach pendant includes a UI application configured for programming welding points and parameters. In a first operation mode, the UI application displays the plurality of welding points in a list that includes a highlighted closest welding point having a three-dimensional position that is closest to the TCP. The highlighted closest welding point automatically updates upon manual movement TCP. In a second operation mode, the list includes a highlighted selected welding point, and the UI further displays a selector button that shows a straight line distance of the TCP to a three-dimensional position of the highlighted selected welding point. Activation of the selector button causes the TCP to move to the position of the highlighted selected welding point.

Inventors

Jacob F. Aas
Emily A. Lickiss
Taylor L. Robertson
Levi J. Mitchell
Camila Maria Perez Gavilan Torres

Assignees

LINCOLN GLOBAL, INC.

Dates

Publication Date: 20260512
Application Date: 20230330

Claims (20)

1 . A welding system, comprising: a collaborative robot having a movable arm; a robot controller operatively connected to the collaborative robot; a welding torch attached to the movable arm of the collaborative robot and having a distal end located at a tool center point (TCP) known by the robot controller; a welding power supply operatively connected to the welding torch to supply welding current to the welding torch; and a teach pendant in communication with at least one of the robot controller and the welding power supply, wherein the teach pendant includes a user interface application configured for programming both a plurality of welding points and a plurality of welding parameters of a welding operation performed by the collaborative robot, wherein, in a first operation mode, the user interface application displays the plurality of welding points in a list and the list includes a highlighted closest welding point, wherein the highlighted closest welding point has a three-dimensional position that is closest to the TCP relative to other welding points in the list, and wherein the highlighted closest welding point automatically updates upon manual movement of the movable arm of the collaborative robot and the TCP, and wherein, in a second operation mode, the user interface application displays the plurality of welding points in the list and the list includes a highlighted selected welding point, and wherein the user interface application further displays a selector button and a straight line distance of the TCP to a three-dimensional position of the highlighted selected welding point, wherein activation of the selector button causes the moveable arm of the collaborative robot to move the TCP to the three-dimensional position of the highlighted selected welding point.
2 . The welding system of claim 1 , wherein in said second operation mode, manual movement of the TCP away from the three-dimensional position of the highlighted selected welding point results in the selector button showing the straight line distance of the TCP to the three-dimensional position of the highlighted selected welding point.
3 . The welding system of claim 2 , wherein in said second operation mode, the user interface application further displays an additional selector button for reprogramming the three-dimensional position of the highlighted selected welding point to a current TCP.
4 . The welding system of claim 1 , wherein in said second operation mode, the straight line distance is updated in real time as the moveable arm of the collaborative robot moves the TCP to the three-dimensional position of the highlighted selected welding point.
5 . The welding system of claim 1 , wherein in said second operation mode, the selector button is replaced by an informational component having a different color than the selector button when the TCP reaches the three-dimensional position of the highlighted selected welding point.
6 . The welding system of claim 1 , wherein in said second operation mode, a color of the selector button changes when the TCP reaches the three-dimensional position of the highlighted selected welding point.
7 . The welding system of claim 6 , wherein in said second operation mode, selection of another welding point of the plurality of welding points in the list and having a three-dimensional position different from the TCP results in the selector button showing the straight line distance of the TCP to the three-dimensional position of said another welding point.
8 . The welding system of claim 1 , wherein the user interface application is configured to receive respective user inputs of a welding wire material type, a welding wire size, a shielding gas composition, and a workpiece thickness, and, based on the welding wire material type, the welding wire size, the shielding gas composition, and the workpiece thickness, automatically determine the plurality of welding parameters.
9 . The welding system of claim 8 , wherein at least one of the robot controller and the welding power supply stores a database of welding parameters associated with the welding wire material type, the welding wire size, the shielding gas composition, and the workpiece thickness.
10 . The welding system of claim 8 , wherein the user interface application is further configured to display a plurality of workpiece thickness selector buttons, each associated with a different workpiece thickness dimension, for receiving the user input of the workpiece thickness.
11 . The welding system of claim 8 , wherein based on the welding wire material type, the welding wire size, the shielding gas composition, and the workpiece thickness, the user interface application automatically determines a welding torch travel speed and a welding torch weave frequency.
12 . A welding system, comprising: a collaborative robot having a movable arm; a robot controller operatively connected to the collaborative robot; a welding torch attached to the movable arm of the collaborative robot and having a distal end located at a tool center point (TCP) known by the robot controller; a welding power supply operatively connected to the welding torch to supply welding current to the welding torch; and a teach pendant in communication with at least one of the robot controller and the welding power supply, wherein the teach pendant includes a user interface application configured for programming both a plurality of welding points and a plurality of welding parameters of a welding operation performed by the collaborative robot, wherein the user interface application is configured to receive respective user inputs of a welding wire material type, a welding wire size, a shielding gas composition, and a workpiece thickness, and, based on the welding wire material type, the welding wire size, the shielding gas composition, and the workpiece thickness, automatically determine the plurality of welding parameters, and wherein the user interface application is configured to display the plurality of welding points in a list and the list includes a highlighted selected welding point, and wherein the user interface application further displays a selector button and a straight line distance of the TCP to a three-dimensional position of the highlighted selected welding point, wherein activation of the selector button causes the moveable arm of the collaborative robot to move the TCP to the three-dimensional position of the highlighted selected welding point.
13 . The welding system of claim 12 , wherein manual movement of the TCP away from the three-dimensional position of the highlighted selected welding point results in the selector button showing the straight line distance of the TCP to the three-dimensional position of the highlighted selected welding point.
14 . The welding system of claim 13 , wherein the user interface application further displays an additional selector button for reprogramming the three-dimensional position of the highlighted selected welding point to a current TCP.
15 . The welding system of claim 12 , wherein the straight line distance is updated in real time as the moveable arm of the collaborative robot moves the TCP to the three-dimensional position of the highlighted selected welding point.
16 . The welding system of claim 12 , wherein in said second operation mode, the selector button is replaced by an informational component having a different color than the selector button when the TCP reaches the three-dimensional position of the highlighted selected welding point.
17 . The welding system of claim 12 , wherein a color of the selector button changes when the TCP reaches the three-dimensional position of the highlighted selected welding point.
18 . The welding system of claim 16 , wherein selection of another welding point of the plurality of welding points in the list and having a three-dimensional position different from the TCP results in the selector button showing the straight line distance of the TCP to the three-dimensional position of said another welding point.
19 . The welding system of claim 12 , wherein at least one of the robot controller and the welding power supply stores a database of welding parameters associated with the welding wire material type, the welding wire size, the shielding gas composition, and the workpiece thickness.
20 . The welding system of claim 12 , wherein the user interface application is further configured to display a plurality of workpiece thickness selector buttons, each associated with a different workpiece thickness dimension, for receiving the user input of the workpiece thickness.

Description

BACKGROUND OF THE INVENTION Field of the Invention Embodiments of the present invention relate to the use of collaborative robots (cobots) for welding, additive manufacturing or plasma cutting. More specifically, embodiments of the present invention relate to a user interface for a cobot system, such as a teach pendant, and its user interface application software. Description of Related Art The motions of a cobot can be programmed using a teach pendant. The teach pendant may be hardwired to a robot controller for the cobot or may communicate wirelessly with the robot controller. The teach pendant may take the form of a tablet device having primarily a touch screen interface and having user interface application software that provides software buttons or selectors and other input and informational devices/fields for programming the cobot. The cobot manufacturer typically provides a proprietary user interface application for programming its cobot, but such an application may not be optimal for welding, additive manufacturing, cutting or similar metal fabrication operations. Thus, an improved user interface application for use in welding, additive manufacturing, cutting or similar metal fabrication operations would be desirable. BRIEF SUMMARY OF THE INVENTION The following summary presents a simplified summary in order to provide a basic understanding of some aspects of the devices, systems and/or methods discussed herein. This summary is not an extensive overview of the devices, systems and/or methods discussed herein. It is not intended to identify critical elements or to delineate the scope of such devices, systems and/or methods. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later. In accordance with one aspect of the present invention, provided is a welding system that includes a collaborative robot having a movable arm, a robot controller operatively connected to the collaborative robot, a welding torch attached to the movable arm of the collaborative robot and having a distal end located at a tool center point (TCP) known by the robot controller, a welding power supply operatively connected to the welding torch to supply welding current to the welding torch, and a teach pendant in communication with at least one of the robot controller and the welding power supply. The teach pendant includes a user interface application configured for programming both a plurality of welding points and a plurality of welding parameters of a welding operation performed by the collaborative robot. In a first operation mode, the user interface application displays the plurality of welding points in a list and the list includes a highlighted closest welding point, wherein the highlighted closest welding point has a three-dimensional position that is closest to the TCP relative to other welding points in the list, and wherein the highlighted closest welding point automatically updates upon manual movement of the movable arm of the collaborative robot and the TCP. In a second operation mode, the user interface application displays the plurality of welding points in the list and the list includes a highlighted selected welding point, and wherein the user interface application further displays a selector button that shows a straight line distance of the TCP to a three-dimensional position of the highlighted selected welding point. Activation of the selector button causes the moveable arm of the collaborative robot to move the TCP to the three-dimensional position of the highlighted selected welding point. In accordance with another aspect of the present invention, provided is a welding system that includes a collaborative robot having a movable arm, a robot controller operatively connected to the collaborative robot, a welding torch attached to the movable arm of the collaborative robot and having a distal end located at a tool center point (TCP) known by the robot controller, a welding power supply operatively connected to the welding torch to supply welding current to the welding torch, and a teach pendant in communication with at least one of the robot controller and the welding power supply. The teach pendant includes a user interface application configured for programming both a plurality of welding points and a plurality of welding parameters of a welding operation performed by the collaborative robot. The user interface application is configured to receive respective user inputs of a welding wire material type, a welding wire size, a shielding gas composition, and a workpiece thickness, and, based on the welding wire material type, the welding wire size, the shielding gas composition, and the workpiece thickness, automatically determine the plurality of welding parameters. The user interface application is configured to display the plurality of welding points in a list and the list includes a highlighted selected welding point, and wherein