US 12,269,166 B2
Integration of plasma processing and robotic path planning
Garen Cakmak, Montreal (CA); Daniel Marcovici, Sao Paulo (BR); Jacques Barbe, Montreal (CA); and Emile Bouthillier, Montreal (CA)
Assigned to Hypertherm, Inc., Hanover, NH (US)
Filed by Hypertherm, Inc., Hanover, NH (US)
Filed on Mar. 8, 2022, as Appl. No. 17/689,267.
Claims priority of provisional application 63/158,794, filed on Mar. 9, 2021.
Claims priority of provisional application 63/158,799, filed on Mar. 9, 2021.
Prior Publication US 2022/0288779 A1, Sep. 15, 2022
Int. Cl. B25J 9/00 (2006.01); B23K 10/00 (2006.01); B23K 37/02 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B23K 10/00 (2013.01); B23K 37/0229 (2013.01); B25J 9/1661 (2013.01); B25J 9/1671 (2013.01); B25J 15/0019 (2013.01); G05B 2219/35012 (2013.01); G05B 2219/39001 (2013.01)] 40 Claims
OG exemplary drawing
 
1. A computer-implemented method of planning a processing path relative to a three-dimensional workpiece for a plasma arc cutting system coupled to a robotic arm, the method comprising:
receiving, by a computing device, input data from a user comprising (i) Computer-Aided Design (CAD) data for specifying at least one desired part to be processed from the three-dimensional workpiece, and (ii) one or more desired parameters for operating the plasma arc cutting system;
identifying, by the computing device, a plurality of features of the at least one desired part to be formed on the three-dimensional workpiece based on the CAD data;
dynamically filtering, by the computing device, a library of cut charts based on the plurality of features and the desired operating parameters to determine at least one recommended cut chart for processing the plurality of features, wherein the recommended cut chart comprises a set of recommended process settings for the plasma arc cutting system;
generating, by the computing device, the processing path based on the recommended cut chart and the plurality of features to be formed, wherein the processing path is configured to plan motion of a plasma are emitted from the plasma arc cutting system coupled to the robotic arm to process the plurality of features from the workpiece, the plasma are cutting system being modeled using a set of one or more consumables selected based on the recommended cut chart, and wherein the planned motion of the plasma are accounts for influences in plasma are dynamics introduced to the plasma are from operating the robotic arm in a three-dimensional environment; and
causing, by the computing device, actuation of at least one of the robotic arm or the plasma arc cutting system in accordance with the processing path to process the desired part on the workpiece.