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1. 发明公开

US20230142821A1 Method for Precise, Intuitive Positioning of Robotic Welding Machine 审中-公开
公开(公告)号：US20230142821A1
公开(公告)日：2023-05-11
申请号：US17587946
申请日：2022-01-28
申请人： James Walter Beard, III , Stephen Lee Canfield , Stephen Giovanni Zuccaro , Nicholas Canfield
发明人： James Walter Beard, III , Stephen Lee Canfield , Stephen Giovanni Zuccaro , Nicholas Canfield
IPC分类号： B25J9/00 , B25J13/08
CPC分类号： B25J9/0081 , B25J13/08
摘要： This patent defines a method for making robot programming more intuitive for tasks such as welding. The method further is an enhancement of manual guiding methods of robot positioning and can improve situations in which finer resolution or control of the robot end-effector is required. A motion sensor is mounted in series with the n−1 joint and in parallel with the nth joint, where n is the number of degrees of freedom or number of joints of the serial manipulator. The motion sensor is further mounted directly in-line with the nth joint and becomes part the opposing portion of the nth joint. The motion sensor further is uniquely adapted to apply to non-spherical wrist robots. The motion sensor senses input movements by a robot operator and controls the output tool motion in a controlled manner with resolution defined by user input at the motion sensor.

2. 发明授权

US10518830B2 Climbing vehicle using suction with variable adaptive suspension seal 有权
公开(公告)号：US10518830B2
公开(公告)日：2019-12-31
申请号：US15368530
申请日：2016-12-02
申请人： James Walter Beard, III , Stephen Lee Canfield , David Andrew Bryant , Steve Glovsky
发明人： James Walter Beard, III , Stephen Lee Canfield , David Andrew Bryant , Steve Glovsky
IPC分类号： B62D57/024
摘要： A climbing vehicle with wheel or endless-track type propulsion using suction for generating adhering forces is adapted to climbing non-planar surfaces such as intersecting walls, pipes or other structural members. The suction chamber is relatively fixed to the vehicle chassis and moves with the vehicle chassis. A seal is created around the suction chamber through an adaptive sealing mechanism. The adaptive sealing mechanism consists of a series of links that adapt to the climbing surface geometry and forms a seal at the climbing surface. The links in the adaptive sealing mechanism span a portion of the suction chamber along the longitudinal sides of the vehicle and are elastically sprung to maintain contact with the surface. The adaptive sealing mechanism links also span the lateral sides of the vehicle to fully enclose the suction chamber. Thus, the suction chamber is maintained even as the mobile vehicle passes over significant geometry changes in the climbing surface, for example transitioning between surfaces that are orthogonally opposed.

3. 发明申请

US20210276641A1 Tethered Mobile Climbing Robot for Inspecting Tanks in Confined Environments 有权
公开(公告)号：US20210276641A1
公开(公告)日：2021-09-09
申请号：US17191629
申请日：2021-03-03
申请人： James Walter Beard, III , David Andrew Bryant , Stephen Lee Canfield
发明人： James Walter Beard, III , David Andrew Bryant , Stephen Lee Canfield
IPC分类号： B62D57/024 , B25J5/00 , B25J19/02
摘要： A Mobile Climbing Robot (MCR) with wheel or endless-track type propulsion using magnetic attraction for generating adhering forces is adapted to climbing non-planar surfaces such as intersecting walls, pipes or other structural members. A tether is connected to the MCR through a tether linkage that causes the tether to bend with a radius that keeps it from protruding outside of the MCR wheels. The purpose of this is to increase the mobility when passing over variations of the climbing surface such as edges or corners. The purpose is to further protect the tether from wear caused by rubbing with the climbing surface.

4. 发明申请

US20210260750A1 Method to Modify a Program for Robotic Welding 有权
公开(公告)号：US20210260750A1
公开(公告)日：2021-08-26
申请号：US17180734
申请日：2021-02-20
申请人： James Walter Beard, III , Stephen Lee Canfield , Stephen Giovanni Zuccaro
发明人： James Walter Beard, III , Stephen Lee Canfield , Stephen Giovanni Zuccaro
IPC分类号： B25J9/00 , B25J9/16 , B25J13/02 , B25J13/08
摘要： Abstract of the Disclosure The Invention describes a method to train and edit robot programs without the need to directly interact with the robot program or code. A new program is created by guiding the robot to desired locations in the program and then teaching those program positions with a button or similar input. An existing program is edited by moving the robot end-effector to a position in its workspace that is near the desired location of the program to be edited. An algorithm then is used to find the nearest program point in the existing program to the current robot end effector position. The algorithm then drives the robot to this nearest location. The operator can then visually confirm that this is the correct point in the program to edit, or move the robot again and repeat the algorithm search. Once the operator is satisfied that the robot is at the location of the program to edit, the operator can delete that point by pressing an appropriately labeled button. The operator could also add positions by first finding an edit point in the program using the manual move near the edit point and then running the search algorithm. The operator will then move the robot to the new position and press a button or input to add this new program position to the program. This process can be repeated as needed to edit the program. In this manner, the weld technician is not required to interact with code that defines the robot program but rather work with the end effector to spatially position the end-effector and edit the program.

5. 发明申请

US20140339004A1 Climbing vehicle with suspension mechanism 审中-公开
标题翻译：攀爬车悬挂机构
公开(公告)号：US20140339004A1
公开(公告)日：2014-11-20
申请号：US14179464
申请日：2014-02-12
申请人： James Walter Beard , Stephen Lee Canfield , David Andrew Bryant
发明人： James Walter Beard , Stephen Lee Canfield , David Andrew Bryant
IPC分类号： B62D63/04 , B62D55/02
CPC分类号： B62D55/02 , B62D55/075 , B62D55/104 , B62D55/265
摘要： This patent discloses a climbing vehicle capable of high payload to weight ratio and capable of climbing surfaces with geometric variations. The climbing vehicle makes contact with the climbing surface through a suspension that is able to conform to a large range of surface irregularities while providing push and pulling forces between the adhering members and the climbing vehicle chassis to uniformly distribute the climbing loads on the adhering members. The result is a climbing machine that can accommodate large surface irregularities while maximizing the climbing payload with a minimum number and size of adhering members.
摘要翻译：该专利公开了一种能够具有高有效载荷和重量比的攀爬车辆，并能够以几何变化的方式爬坡。爬坡车辆通过能够符合大范围的表面不规则性的悬架与攀登表面接触，同时在附着构件和攀爬车辆底盘之间提供推拉力，以均匀地将爬坡载荷分布在粘附构件上。结果是可以容纳大的表面不规则性的爬坡机，同时以最小数量和尺寸的附着构件最大化攀爬有效载荷。

6. 发明公开

US20230226682A1 Method for Teaching Torch Orientation for Robotic Welding 审中-公开
公开(公告)号：US20230226682A1
公开(公告)日：2023-07-20
申请号：US17588001
申请日：2022-01-28
申请人： James Walter Beard, III , Stephen Lee Canfield , Stephen Zuccaro
发明人： James Walter Beard, III , Stephen Lee Canfield , Stephen Zuccaro
IPC分类号： B25J9/00 , B25J11/00
CPC分类号： B25J9/0081 , B25J11/005 , B25J13/00
摘要： Robots are commonly used for automated MIG (Metal Inert Gas) or TIG (Tungsten Inert Gas) welding in many industries such as automotive manufacturing. A weld procedure is defined and the robot performs motion control of the weld torch along the weld seam, while starting and stopping the arc as desired along the weld seams. The robot controls the motion of the torch along the weld path. The motion is defined by a combination of the position and orientation of the torch which is attached to the robot end-effector. The weld specification will generally prescribe a portion or all of the desired orientation of the torch. This information can be used to reduce the complexity of programming a weld path for a robot.

7. 发明授权

US08413747B2 Suspension for an endless track climbing machine 有权
标题翻译：悬挂无尽的爬坡机
公开(公告)号：US08413747B2
公开(公告)日：2013-04-09
申请号：US13291890
申请日：2011-11-08
申请人： James Walter Beard , Stephen Lee Canfield , Steven Marc Glovsky
发明人： James Walter Beard , Stephen Lee Canfield , Steven Marc Glovsky
IPC分类号： B62D55/00
CPC分类号： B62D55/305 , B62D55/108 , B62D55/202 , B62D55/26
摘要： An endless-track type climbing vehicle containing a multi-link suspension apparatus to uniformly distribute the forces on the on the adhering members while traversing irregular climbing surfaces. The multi-links suspension apparatus is able to conform to large range of surface irregularities while providing push and pulling forces on the adhering members to uniformly distribute the climbing loads on the adhering members. The result is a climbing machine that can accommodate large surface irregularities while maximizing the climbing payload with a minimum number and size of adhering members.
摘要翻译：一种包括多连杆悬挂装置的环形轨道式攀爬车辆，用于在穿过不规则的爬坡表面时均匀地将力分布在粘附构件上。多连杆悬挂装置能够符合大范围的表面凹凸，同时在附着构件上提供推力和拉力，以均匀地将爬坡载荷分布在附着构件上。结果是可以容纳大的表面不规则性的爬坡机，同时以最小数量和尺寸的附着构件最大化攀爬有效载荷。

8. 发明授权

US09428231B2 Climbing vehicle with suspension mechanism 有权
标题翻译：攀爬车悬挂机构
公开(公告)号：US09428231B2
公开(公告)日：2016-08-30
申请号：US14179464
申请日：2014-02-12
申请人： James Walter Beard , Stephen Lee Canfield , David Andrew Bryant
发明人： James Walter Beard , Stephen Lee Canfield , David Andrew Bryant
IPC分类号： B62D55/00 , B62D55/02 , B62D55/075 , B62D55/104 , B62D55/265
CPC分类号： B62D55/02 , B62D55/075 , B62D55/104 , B62D55/265
摘要： A climbing vehicle capable of high payload to weight ratio and capable of climbing surfaces with geometric variations is enabled through a suspension mechanism consisting of a resilient runner chain. The resilient runners contain adhering members such as magnets that create forces directed toward a ferrous climbing surface. The resilient runner has flexibility and internal stiffness or additional springs that transfer these forces to the climbing vehicle chassis and payload to provide equilibrium during the climbing process. It is able to conform to a large range of surface irregularities while providing push and pulling forces between the adhering members and the climbing vehicle chassis to uniformly distribute the climbing loads on the adhering members. The result is a climbing machine that can accommodate large surface irregularities while maximizing the climbing payload with a minimum number and size of adhering members.
摘要翻译：能够通过由弹性流道链组成的悬架机构实现能够具有高有效载荷和重量比并能够爬升具有几何变化的表面的攀爬车辆。弹性流道装置包含诸如磁铁的附着构件，其形成朝向铁质攀岩表面的力。弹性流道具有柔性和内部刚度或附加的弹簧，其将这些力传递到攀爬车辆底盘和有效载荷，以在攀爬过程中提供平衡。能够在粘合部件与爬坡车辆底座之间提供推拉力的同时，能够适应大范围的表面凹凸，以均匀地将爬坡载荷分散在粘接部件上。结果是可以容纳大的表面不规则性的爬坡机，同时以最小数量和尺寸的附着构件最大化攀爬有效载荷。

9. 发明申请

US20150336625A1 One-dimensional climbing vehicle with resilient guide mechanism 审中-公开
标题翻译：具有弹性引导机构的一维攀爬车
公开(公告)号：US20150336625A1
公开(公告)日：2015-11-26
申请号：US14720430
申请日：2015-05-22
申请人： James Walter Beard, III , Stephen Lee Canfield , David Andrew Bryant
发明人： James Walter Beard, III , Stephen Lee Canfield , David Andrew Bryant
IPC分类号： B62D61/10 , B60B19/00
CPC分类号： B62D61/10 , B60B19/00 , B60B19/006 , B62D61/00 , F16L55/00 , F16L2101/30
摘要： This patent discloses a climbing vehicle capable of high payload to weight ratio and capable of climbing surfaces with geometric variations and traveling along a single dimension. More specifically, this invention applies to a vehicle well adapted to climbing non-planar surfaces such as pipes or other structural members while traveling along a single dimension, for example traveling parallel to the axis of the pipe. The climbing vehicle makes contact with the climbing surface through drive wheels and a trialing arm. The adhering members are aligned with the primary axis and are rigidly attached or contained in a suspension that is able to conform to a large range of surface irregularities while providing push and pulling forces between the adhering members and the climbing vehicle chassis to uniformly distribute the climbing loads on the adhering members. The result is a climbing machine that can accommodate large surface irregularities while maximizing the climbing payload with a minimum number and size of adhering members.
摘要翻译：该专利公开了一种具有高有效载荷和重量比的爬升式车辆，能够沿着具有几何变化并且沿着单一维度行进的表面。更具体地说，本发明适用于在沿单一尺寸行进时，例如平行于管道的轴线行进时适合于攀爬诸如管道或其它结构构件的非平面表面的车辆。爬坡车辆通过驱动轮和试车臂与攀登表面接触。附着构件与主轴对准并且刚性地附接或容纳在能够符合大范围的表面不规则性的悬架中，同时在附着构件和爬坡车辆底盘之间提供推拉力以均匀地分布攀爬负载在粘附部件上。结果是可以容纳大的表面不规则性的爬坡机，同时以最小数量和尺寸的附着构件最大化攀爬有效载荷。

10. 发明授权

US12109692B2 Method for teaching torch orientation for robotic welding 有权
公开(公告)号：US12109692B2
公开(公告)日：2024-10-08
申请号：US17588001
申请日：2022-01-28
申请人： James Walter Beard, III , Stephen Lee Canfield , Stephen Zuccaro
发明人： James Walter Beard, III , Stephen Lee Canfield , Stephen Zuccaro
IPC分类号： B25J13/00 , B25J9/00 , B25J11/00 , B23K37/02
CPC分类号： B25J9/0081 , B25J11/005 , B23K37/0229 , B25J13/00
摘要： Robots are commonly used for automated MIG (Metal Inert Gas) or TIG (Tungsten Inert Gas) welding in many industries such as automotive manufacturing. A weld procedure is defined and the robot performs motion control of the weld torch along the weld seam, while starting and stopping the arc as desired along the weld seams. The robot controls the motion of the torch along the weld path. The motion is defined by a combination of the position and orientation of the torch which is attached to the robot end-effector. The weld specification will generally prescribe a portion or all of the desired orientation of the torch. This information can be used to reduce the complexity of programming a weld path for a robot.

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