公开(公告)号：US20250153261A1

公开(公告)日：2025-05-15

申请号：US18506113

申请日：2023-11-09

Applicant: Path Robotics, Inc.

Inventor： Madhavun Candadai VASU ,  Siqi HUANG ,  Amrish BASKARAN ,  Colin BUNKER ,  Alexander James LONSBERRY

IPC: B23K9/095 ,  B25J9/16 ,  B25J11/00 ,  B25J19/02 ,  G06F30/10 ,  G06T7/00 ,  G06T7/70 ,  G06V10/141

Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, which provide for welding techniques for manufacturing robots, such as seam localization, gap measurement, or both. For example, the welding techniques may include, during illumination of one or more objects by a light source, controlling a camera to capture images of the one or more objects along at least a portion of a length of a seam formed by the one or more objects. The techniques further include differentiating, in the images, the seam from the one or more objects. In a first aspect, the techniques also include triangulating the differentiated seam to identify a position of the seam relative to a reference point. In a second aspect, the techniques also include determining, based on the differentiated seam, gap information along a portion of the seam. Other aspects and features are also claimed and described.

公开(公告)号：US20240009852A1

公开(公告)日：2024-01-11

申请号：US18347711

申请日：2023-07-06

Applicant: Path Robotics, Inc.

Inventor： Andrew Ryan LIEN ,  Alex KOENIG ,  Stephen CRIBB ,  Siqi HUANG ,  Jason ROBINSON ,  Derlin CHOW

IPC: B25J9/16 ,  B25J11/00 ,  B25J19/00 ,  B25J15/00 ,  B23K9/095

CPC classification number: B25J9/1697 ,  B25J11/005 ,  B25J19/0054 ,  B25J15/0019 ,  B23K9/0953

Abstract: A manufacturing cell for welding a workpiece includes a robotic arm extending between a base and a terminal end, a weld head coupled to the terminal end of the robotic arm such that the weld head is permitted to travel relative to the base of the robotic arm, wherein the weld head is configured to weld the workpiece, a sensor pod coupled to the weld head and including an outer pod housing defining an internal chamber extending between a front end and a rear end of the pod housing, and wherein the front end of the pod housing defines a receptacle, a sensor positioned in the internal chamber of the pod housing, the sensor configured to provide sensor feedback associated with the workpiece, and a consumable window including a transparent material is insertable into the receptacle such that a longitudinal axis of the sensor intersects the consumable window when the consumable window is inserted into the receptacle, and a controller coupled to the sensor pod and configured to operate at least one of the robotic arm and the weld head based on the sensor feedback provided by the sensor of the sensor pod.