US 12,076,826 B2
Machine vision robotic stud welder
James T. Benzing, Bethlehem, PA (US); William R. Haller, Bethlehem, PA (US); and Jacob B. Patterson, Austin, TX (US)
Assigned to Structural Services, Inc., Bethlehem, PA (US)
Filed by Structural Services, Inc., Bethlehem, PA (US)
Filed on Nov. 9, 2020, as Appl. No. 17/093,096.
Application 17/093,096 is a continuation of application No. 16/291,729, filed on Mar. 4, 2019, abandoned.
Application 16/291,729 is a continuation in part of application No. 15/674,926, filed on Aug. 11, 2017, granted, now 10,252,368, issued on Apr. 9, 2019.
Application 15/674,926 is a continuation of application No. 15/025,422, granted, now 9,764,411, issued on Sep. 19, 2017, previously published as PCT/US2014/059206, filed on Oct. 4, 2014.
Claims priority of provisional application 61/886,874, filed on Oct. 4, 2013.
Prior Publication US 2021/0078094 A1, Mar. 18, 2021
Int. Cl. B23K 9/20 (2006.01); B23K 9/095 (2006.01); B23K 26/08 (2014.01); B23K 26/14 (2014.01); B23K 26/144 (2014.01); B23K 26/34 (2014.01); B23K 37/02 (2006.01); B23K 103/04 (2006.01)
CPC B23K 9/20 (2013.01) [B23K 9/0953 (2013.01); B23K 9/0956 (2013.01); B23K 26/08 (2013.01); B23K 26/144 (2015.10); B23K 26/1476 (2013.01); B23K 26/34 (2013.01); B23K 37/0258 (2013.01); B23K 37/0282 (2013.01); B23K 2103/04 (2018.08)] 17 Claims
OG exemplary drawing
 
1. A method for aligning a stud in an orthogonal relationship to a top surface of a beam, the stud having a head, a bottom end distal to the head, and a shaft having a cylindrical sidewall extending from the head to the bottom end, the head having a larger diameter than the cylindrical sidewall, the method comprising:
charging an electromagnet assembly so that it has magnetic properties, the electromagnet assembly comprising an electromagnet and an engagement surface that engages with the cylindrical side wall of the stud;
moving the electromagnet assembly into contact with the cylindrical side wall of the stud so that the stud is attracted to the electromagnet assembly in an orientation in which the stud is oriented with the head above the shaft; and
moving the electromagnet assembly and attached stud so that the bottom end of the stud is placed in contact with the top surface in an orthogonal relationship to the top surface.