US 12,330,298 B2
Weld angle correction device
Levi J. Mitchell, Windsor, CO (US); and Zachary A. Christy, Fort Collins, CO (US)
Assigned to LINCOLN GLOBAL, INC., Santa Fe Springs, CA (US)
Filed by Lincoln Global, Inc., Santa Fe Springs, CA (US)
Filed on Apr. 25, 2023, as Appl. No. 18/138,851.
Application 18/138,851 is a continuation in part of application No. 17/978,342, filed on Nov. 1, 2022, granted, now 12,208,530.
Claims priority of provisional application 63/349,180, filed on Jun. 6, 2022.
Prior Publication US 2023/0390918 A1, Dec. 7, 2023
Int. Cl. B25J 9/00 (2006.01); B23K 37/02 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/0081 (2013.01) [B23K 37/0229 (2013.01); G05B 19/4155 (2013.01); G05B 2219/45104 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A method of programming multiple weld passes in a collaborative robot welding system to perform multi-pass welding, the method comprising:
programming a root pass for a first weld seam into a collaborative robot welding system by manually positioning a tip of a welding torch, held by an arm of the collaborative robot welding system, at root pass points along the first weld seam, and automatically recording root pass position and angle data of the welding torch at the root pass points within the collaborative robot welding system;
programming a set of multiple secondary passes for the first weld seam into the collaborative robot welding system by:
manually positioning the tip of the welding torch at a start point and a stop point for each secondary pass of the set of multiple secondary passes, and automatically recording start and stop position data of the start point and the stop point for each secondary pass of the set of multiple secondary passes within the collaborative robot welding system, and
automatically calculating numerical position and angle offset data corresponding to the set of multiple secondary passes based on the recorded root pass position and angle data of the root pass of the first weld seam, and based on the recorded start and stop position data of the start point and the stop point for each secondary pass of the set of multiple secondary passes for the first weld seam;
storing the root pass position and angle data, as recorded, and the numerical position and angle offset data, as calculated, as a multi-pass template within the collaborative robot welding system; and
translating and applying the multi-pass template to a weld reference frame of a second weld seam to aid in programming a second set of multiple passes for the second weld seam, where the second weld seam is of a same type as the first weld seam.