Connected collaborative robots equipped with smart torches

Abstract

To provide a tethered collaborative robot with a smart torch.SOLUTION: The invention relates to a torch for use by a robot. The torch has a body that can be connected to an arm of the robot. A first actuator on the body can be activated by a user to initiate a recording cycle at a starting point of a desired welding or cutting path and to terminate the recording cycle at an ending point of the path. A second actuator on the body can be activated by the user to indicate way points from the starting point to the ending point as the user moves the torch along the path. The first actuator sends first information to a robot controller, operatively connected to and located remotely from the robot, in order to initiate and terminate the recording cycle at the controller. The second actuator device sends the way points as second information to the controller to be recorded at the controller during the recording cycle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS / INCORPORATION BY REFERENCE This United States patent application claims the priority and benefit of United States Provisional Patent Application No. 63 / 162,639, filed on March 18, 2021, the entire content of which is incorporated herein by reference.

[0002] Embodiments of the present invention relate to the use of collaborative robots (cobots) for welding or cutting. More specifically, embodiments of the present invention relate to systems and methods for using cobots in an unconventional manner with "smart" welding or cutting torches. [Background Art]

[0003] Remote welding (for example, welding in restricted compartments of a shipyard) cannot generally be performed using robots. Conventional robots are not collaborative, and have been tied to gantry devices due to their size and weight. Furthermore, it has proven difficult to program robots to operate in restricted and remote environments. Current robot designs require an operator to hold a dead man switch on a tablet-type teach pendant. The teach pendant must be used to record welding points along a welding path and initiate an arc. Holding the dead man switch on the teach pendant is extremely inconvenient, and may prevent the operator from using both hands during programming of the welding path. [Summary of the Invention] [Means for Solving the Problems]

[0004] A collaborative robot (cobot) mounted on a base (e.g., a magnetic base) is used, with all welding and control lines running from the device pouch to the base. The cobot can then be positioned away from the pouch and mounted in any number of locations (e.g., vertically or horizontally). The cobot uses a "smart" torch or welding gun, which helps to easily program the cobot to perform welding tasks in remote locations, especially in confined spaces. In this way, the user is given the flexibility to move the cobot to remote locations (away from the pouch) that would normally be inaccessible except with human intervention for manual or semi-automatic welding.

[0005] For example, in one embodiment, a cobot with a “smart” welding torch can be mounted to a concrete floor in a horizontal position while being mounted to the floor via lag bolts and positioned away from a porch containing the welding power supply and robot controller. In another embodiment, a cobot with a “smart” welding torch can be magnetically mounted to a metal surface in a horizontal or vertical position (to avoid mounting via lag bolts) while being positioned away from a porch containing the welding power supply and robot controller. According to one embodiment, the “smart” welding torch allows an operator to safely move the cobot’s arm and create a program by holding a deadman switch on the “smart” welding torch while recording welding points and arc start / end points, without having to hold a teach pendant tablet. The cobot is made easier for the operator to work with and program.

[0006] One embodiment of the present invention is a welding or cutting torch for use by a collaborative robot. The welding or cutting torch includes a torch body configured to be operably connected to a movable arm of the collaborative robot. The torch also includes a first actuator device on the torch body configured to be manually operated by a human user to start a recording cycle at a welding or cutting start point of a desired welding or cutting path and to end the recording cycle at a welding or cutting end point of a desired welding or cutting path in three-dimensional space. The torch further includes a second actuator device on the torch body configured to be manually operated by a human user to indicate welding or cutting passage points in three-dimensional space at the welding or cutting start point and welding or cutting end point, and between them, as the human user manually moves the welding or cutting torch, connected to the arm of the collaborative robot, along a desired welding or cutting path without actually welding or cutting. The first actuator device is configured to transmit first data or signals to a robot controller operably connected to and located away from the collaborative robot, so that the robot controller can start and end the recording cycle. The second actuator device is configured to transmit, as second data or signals, to the robot controller so that the welding or cutting pass points indicated along the desired welding or cutting path are recorded by the robot controller during the recording cycle, without actually welding or cutting. In one embodiment, the torch also includes a third actuator device on the torch body configured to be manually operated by a human user to allow the human user to manually move the arm of the collaborative robot to which the welding or cutting torch is attached in three-dimensional space. In one embodiment, the third actuator device is configured to communicate with the robot controller via a wired connection. In another embodiment, the third actuator device is configured to communicate with the robot controller wirelessly. In one embodiment, the first actuator device is configured to transmit first data or signals to the robot controller via a wired connection.In another embodiment, the first actuator device is configured to transmit first data or signals wirelessly to the robot controller. In one embodiment, the second actuator device is configured to transmit second data or signals wirelessly to the robot controller. In another embodiment, the second actuator device is configured to transmit second data or signals wirelessly to the robot controller. In one embodiment, the welding or cutting torch is either an arc welding torch or a plasma cutting torch.

[0007] One embodiment of the present invention is a system for welding or cutting. The system includes a collaborative robot having a movable arm and a robot controller operably connected to the collaborative robot. The system also includes a welding or cutting torch having a torch body configured to be operably connected to the movable arm of the collaborative robot. The welding or cutting torch includes a first actuator device on the torch body configured to be manually operated by a human user to start a recording cycle at a welding or cutting start point of a desired welding or cutting path and to end the recording cycle at a welding or cutting end point of a desired welding or cutting path in three-dimensional space. The welding or cutting torch also includes a second actuator device on the torch body configured to be manually operated by a human user to indicate welding or cutting passage points in three-dimensional space at the welding or cutting start point and welding or cutting end point, and between them, as the human user manually moves the welding or cutting torch connected to the arm of the collaborative robot along a desired welding or cutting path without actually welding or cutting. The robot controller is configured to receive first data or signals from the first actuator device to start and end the recording cycle. Furthermore, the robot controller is configured to receive and record, during the recording cycle, welding or cutting pass points indicated along the desired welding or cutting path as second data or signals received from the second actuator device, without actually welding or cutting. In one embodiment, the system further includes a third actuator device on the torch body configured to be manually positioned and held by a human user in an operating position so that the arm of a collaborative robot to which the welding or cutting torch is attached can be manually moved in three-dimensional space by the human user, and the arm cannot be moved once the human user releases the third actuator device. The third actuator device is configured to communicate with the robot controller. In one embodiment, the system also includes a welding or cutting power supply operably connected to the welding or cutting torch.In one embodiment, the system further includes an equipment pouch located away from the collaborative robot, and the robot controller and welding or cutting power supply are located in the equipment pouch. In one embodiment, the welding or cutting torch is an arc welding torch, and in another embodiment, the welding or cutting torch is a plasma cutting torch. In one embodiment, the robot controller is programmed to automatically control the collaborative robot to perform the actual welding or cutting along a desired welding or cutting path defined by the passage points, using the welding or cutting torch. According to various embodiments, the collaborative robot is configured to be attached to a concrete floor via lag bolts or to a metal surface via a magnetic base. In one embodiment, the collaborative robot is enclosed within a lifting frame and configured to be lifted by a forklift or crane.

[0008] Numerous aspects of the general inventive concept will be readily apparent from the following detailed description of exemplary embodiments, claims, and accompanying drawings.

[0009] The accompanying drawings incorporated herein and constituting part thereof illustrate various embodiments of this disclosure. It will be understood that the element boundaries shown in the drawings (e.g., boxes, groups of boxes, or other shapes) represent one embodiment of the boundary. In some embodiments, one element may be designed as multiple elements, or multiple elements may be designed as one element. In some embodiments, an element shown as an internal component of another element may be implemented as an external component, and vice versa. Furthermore, elements may not be drawn to a constant scale. [Brief explanation of the drawing]

[0010] [Figure 1] This document illustrates one embodiment of a welding system having a collaborative robot positioned away from an equipment pouch containing a welding power source and a robot controller. [Figure 2A]Figure 1 shows one embodiment of a welding system having a collaborative robot on a base configured to be attached to a concrete floor via lag bolts. [Figure 2B] Figure 1 shows one embodiment of a welding system having a collaborative robot configured to be attached to a metal surface via a magnetic base. [Figure 2C] Figure 1 shows one embodiment of a welding system that illustrates a collaborative robot configured to be enclosed within a lifting frame so that it can be lifted (for example, by a forklift or crane). [Figure 3] This document illustrates one embodiment of a "smart" welding torch configured for use by (or as part of) a collaborative robot. [Figure 4] The first figure shows one embodiment of a “smart” welding torch configured for use by a collaborative robot. [Figure 5] Figure 4 shows a second diagram of an embodiment of the "smart" welding torch. [Figure 6] Another embodiment of a “smart” welding torch configured for use by a collaborative robot is shown. [Figure 7] This shows yet another embodiment of a “smart” welding torch configured for use by a collaborative robot. [Figure 8] Figure 7 shows an enlarged view of a portion of the "Smart" welding torch, corresponding to the body of the welding torch. [Figure 9] For example, a block diagram of an exemplary embodiment of a controller that can be used in the welding system shown in Figure 1 is provided. [Modes for carrying out the invention]

[0011] Embodiments of the present invention may include a “smart” welding torch mounted on the arm of a collaborative robot, which can be moved along a desired welding path to program a desired welding path to the collaborative robot's controller via an actuator on the “smart” welding torch. In an alternative embodiment, the torch may be a “smart” cutting torch for performing cutting operations instead of welding operations. In one embodiment, the collaborative robot is mounted separately from an equipment pouch containing the welding power supply and robot controller. The collaborative robot does not require additional safety features such as physical guards used in conventional robots. The remotely mounted collaborative robot uses an umbilical cord for the cable to allow for the collaborative robot’s flexibility and to disconnect it from the pouch containing the welding power supply and robot controller. A protective sleeve may be used, for example, to protect the cable from damage in rough terrain. In one embodiment, magnetism may be used to mount the remotely located collaborative robot to any desired position (e.g., horizontal, vertical, or oblique). In one embodiment, the collaborative robot may be picked up and transported using, for example, either a forklift or a crane.

[0012] The examples and figures herein are illustrative only and do not limit the subject invention as defined by the scope and spirit of the claims. The drawings herein are used solely to illustrate, and not to limit, exemplary embodiments of the subject invention; Figure 1 shows one embodiment of welding system 100. Although most examples herein refer to welding systems, novel embodiments disclosed herein are equally applicable to cutting systems for cutting metal workpieces (e.g., plasma cutting systems).

[0013] Referring to Figure 1, the welding system 100 includes a collaborative robot (cobot) 200 located away from the equipment pouch 300. The collaborative robot allows for direct user interaction and contact with the cobot within a shared area. In this way, the collaborative robot and the user can work closely together. The equipment pouch 300 has a welding power supply 310 (e.g., an inverter-based power supply) supporting arc welding and a robot controller 320 located above it. According to another embodiment, the power supply may be a cutting power supply supporting plasma cutting. In this case as well, the equipment pouch 300 is located away from the collaborative robot 200. That is, the equipment pouch 300 and the collaborative robot 200 are separated from each other by several feet (e.g., 10 to 100 feet).

[0014] The collaborative robot 200 is configured to hold (via an attachment) a “smart” welding torch (also known as a “smart” welding gun) 220. The terms “torch” and “gun” are used interchangeably herein. The term “smart” is used herein to refer to certain programmable capabilities provided by the welding torch / gun 220, supported by the robot controller 320. The welding power supply 310 may be operably connected to the welding torch 220 directly or indirectly (e.g., via a wire feeder) via, for example, welding and / or control cables. The collaborative robot 200 may be operably connected to the robot controller via, for example, robot cables (e.g., control and communication cables).

[0015] The collaborative robot 200 also includes a servo mechanism device 230 configured to move the arm 210 of the collaborative robot 200 under the command of a robot controller 320 (for example, to support motion across multiple degrees of freedom). According to one embodiment, cables 330 (e.g., welding power / control / communication cable and robot power / control / communication cable) extend between the device pouch 300 and a distant location of the collaborative robot 200 to assist with arc welding and robot control. In one embodiment, the collaborative robot 200 includes a wire feeder (not shown) for feeding welding wire to a "smart" welding torch 220. In another embodiment, the device pouch 300 includes a wire feeder (not shown) for feeding welding wire to a "smart" welding torch 220.

[0016] Figure 2A shows one embodiment of the welding system 100 of Figure 1, having a collaborative robot 200 on a base 201 configured to be attached, for example, to a concrete floor via lag bolts. Figure 2B shows one embodiment of the welding system 100 of Figure 1, having a collaborative robot 200 configured to be attached to a metal surface via a magnetic base 205. Figure 2C shows one embodiment of the welding system 100 of Figure 1, showing a collaborative robot 200 configured to be surrounded by a lifting frame 240 that is lifted (for example, by a forklift or crane). It may be desirable to lift the collaborative robot 200 to help position the robot in a specific location for welding a workpiece.

[0017] Figure 3 shows one embodiment of a “smart” welding torch 220 configured for use by (or as part thereof) a collaborative robot 200. According to another embodiment, the torch may be a “smart” plasma cutting torch. In one embodiment, the “smart” welding torch 220 is configured to be operably connected (mounted) to the arm 210 of the collaborative robot 200. Such an attachment may take one of a number of possible forms, according to reasonable engineering judgment. For example, a quick connect / disconnect attachment means may be provided to be facilitated by pressing and releasing a quick connect / disconnect button 215 on the arm 210 of the robot 200. In another embodiment, the torch 220 is configured as an integral part of the movable arm 210. According to an alternative embodiment of the present invention, the quick connect / disconnect button 215 may be located on the body 226 of the torch 220 instead of the arm 210 of the robot 200. Such an alternative embodiment results in a connection configuration in which a particular mode of connection is incorporated into the torch 220 instead of the arm 210.

[0018] The "smart" welding torch 220 includes a first actuator device 222 (for example, a momentary push button device) and a second actuator device 224 (for example, a momentary push button device). The first actuator device 222 and the second actuator device 224 are each disposed on a torch body 226 (which is the portion of the torch shown substantially within the dotted oval in FIG. 3). The first actuator device 222 is configured to be manually actuated by a human user to start a recording cycle at a welding start point 227 and end the recording cycle at a welding end point 229 in three-dimensional space. The recording cycle corresponds to a time period during which welding passing points are recorded by a controller 320 as further described herein. Welding is performed along a desired welding path (for example, along a workpiece) by the collaborative robot 200 from the welding start point 227 to the welding end point 229 using the welding torch 220. According to one embodiment, the recording cycle is started when the first actuator device 222 is first pressed by the user. The recording cycle is ended when the first actuator device 222 is pressed a second time by the user.

[0019] The second actuator device 224 on the torch body 226 is configured to be manually actuated by a human user to start recording welding points (for example, welding passing points) in three-dimensional space along a desired welding path including the welding start point 227, an intermediate welding point 228, and the welding end point 229 as shown in FIG. 3. During the recording cycle, every time the second actuator device 224 is pressed by the user, a welding point (welding passing point) is recorded by the robot controller 320 as a point in three-dimensional space. In this manner, when the "smart" welding torch 220 is manually moved along a desired welding path by a human user (before actual welding is performed), and the user actuates the actuator devices 222 and 224 to start the recording cycle, record the welding points (227, 228 and 229), and end the recording cycle, the welding passing points representing the desired welding path are recorded in the robot controller 320.

[0020] The robot controller 320 receives first data or a signal (e.g., first information in digital and / or analog form) from the first actuator device 222, and receives second data or a signal (e.g., second information in digital and / or analog form) from the second actuator device 224. The data and / or the signal represent at least a control signal and a recorded welding passage point. Communication between the robot controller 320 and the actuator devices 222 and 224 may, according to various embodiments, be via wireless means (e.g., Bluetooth® or WiFi based on the IEEE 802.11 standard) or wired means (e.g., a control / communication cable supporting one or more wired communication protocols between the robot controller 320 and the welding torch 220 operably connected to the collaborative robot 200). Also herein, according to one embodiment, the robot controller 320 is located remotely (at a distance) from the collaborative robot 200 (e.g., at a distance of at least 10 feet from each other).

[0021] According to one embodiment, the first actuator device 222 and the second actuator device 224 each comprise a light-emitting diode. When the actuator device 222 or 224 is pressed, the corresponding light-emitting diode emits blinking green light. When the actuator device 222 or 224 is released, the corresponding light-emitting diode emits steady (non-blinking) green light. According to various embodiments, the actuator device may be a momentary push button device, a switch, or another type of actuator device.

[0022] Figure 4 shows a first diagram of one embodiment of a “smart” welding torch 400 configured for use by a collaborative robot 200. Figure 5 shows a second diagram of the embodiment of the “smart” welding torch 400 of Figure 4. The “smart” welding torch 400 is similar to the “smart” welding torch 220 of Figure 3 and operates similarly with respect to the first actuator device 222 and the second actuator device 224. However, the “smart” welding torch 400 also includes a third actuator device 410 (configured, for example, as a dead man's switch). The third actuator device 410 is also located on the torch body 226 (the portion of the torch shown substantially within the dotted ellipse in Figures 4 and 5).

[0023] The third actuator device 410 is configured to be operated by a human user (e.g., manually placed and held in the operating position) so that the arm 210 of the collaborative robot 200 to which the “smart” welding torch 400 is connected can be moved by the human user along a desired welding path to be subsequently welded by the collaborative robot 200 (e.g., the arm is unlocked). When the user releases the third actuator device 410, the robot arm 210 cannot be moved by the user (e.g., the arm is locked). The “smart” welding torch 400 allows the user to safely and manually move the arm 210 of the robot 200 to assist in creating a welding path program by recording welding points before welding is performed.

[0024] The user holds down the third actuator device 410 and moves the arm 210, while simultaneously establishing the arc start / end position (starting and ending the recording cycle using the first actuator device 222) and recording the welding location (using the second actuator device 224). For example, the user can use one hand to hold down the kill switch actuator device 410 and the other hand to operate the other two actuator devices 222 and 224. In this way, the user does not need to hold a teach pendant tablet, resulting in a more ergonomically friendly experience for the user. The first, second, and third actuator devices 222, 224, and 410 communicate directly or indirectly (e.g., via wired and / or wireless means) with the robot controller 320 to achieve the functions described herein. For example, indirect communication may be via wiring and / or circuits within the robot 200 itself (i.e., from the torch to the robot and controller). Direct communication may, for example, be via a cable directly between the torch and the robot controller 320 (see, for example, cable 715 in Figure 7). The robot controller 320 is programmed to automatically control the collaborative robot 200 to perform actual welding using the welding torch 400 along a desired welding path determined by recorded welding pass points.

[0025] Figure 6 shows another embodiment of the “smart” welding torch 600 configured for use by the collaborative robot 200. The “smart” welding torch 600 operates in a similar manner to the “smart” welding torch 400 in Figures 4 and 5, which has actuator devices 222 and 224. However, the “smart” welding torch 600 has a body 620 (the part of the torch shown substantially within the dashed ellipse in Figure 6) which is configured differently from the body 226 in the previous figure. The welding torch 600 also has a third actuator device 610 (dead man's switch) at a different location on the body 620 of the torch 600 than that of the “smart” welding torch 400 in Figure 4. The third actuator device 610 operates in a similar manner to the third actuator device 410 in Figures 4 and 5.

[0026] Figure 7 shows yet another embodiment of the “smart” welding torch 700 configured for use by the collaborative robot 200. The “smart” welding torch 700 operates in a similar manner to the “smart” welding torch 600 of Figure 6, which has actuators. However, the “smart” welding torch 700 has a body 720 (the part of the torch shown substantially within the dashed ellipse in Figure 7) that is configured slightly differently from the body 620 of Figure 6. The welding torch 700 also has a third actuator device 710 (dead man's switch) on the body 720 that is very similar to the third actuator device 610 on the body 620 of Figure 6. To obtain a better view of the actuator devices 222, 224 and 710 on the body 720 of Figure 7, Figure 8 shows an enlarged view of the portion of the “smart” welding torch 700 of Figure 7 corresponding to the body 720.

[0027] Other configurations of the first, second, and third actuator devices on the "smart" welding torch are also possible by other embodiments. Such configurations may depend on ergonomic considerations for a particular scenario or application.

[0028] Figure 9 shows a block diagram of an exemplary embodiment of a controller 900 that can be used, for example, in the welding system 100 of Figure 1. For example, the controller 900 can be used as a controller in the robot controller 320 and / or welding power supply 310. Referring to Figure 9, the controller 900 includes at least one processor 914 (e.g., a microprocessor, central processing unit, image processing unit) that communicates with a number of peripheral devices via a bus subsystem 912. These peripheral devices may include, for example, a storage subsystem 924 including a memory subsystem 928 and a file storage subsystem 926, a user interface input device 922, a user interface output device 920, and a network interface subsystem 916. The input and output devices enable user interaction with the controller 900. The network interface subsystem 916 provides an interface to an external network and is coupled to corresponding interface devices of other devices.

[0029] The user interface input device 922 may include pointing devices such as keyboards, mice, trackballs, touchpads or graphics tablets, scanners, touchscreens integrated into displays, audio input devices such as voice recognition systems, microphones, and / or other types of input devices. In general, the use of the term “input device” is intended to include all possible types of devices and methods for inputting information to the controller 900 or the communication network.

[0030] The user interface output device 920 may include a non-visual display such as a display subsystem, a printer, or an audio output device. The display subsystem may include a flat panel device such as a cathode ray tube (CRT), a liquid crystal display (LCD), a projection device, or other mechanism for generating visible images. The display subsystem may also provide a non-visual display, such as via an audio output device. In general, the use of the term “output device” is intended to include all possible types of devices and methods for outputting information from the controller 900 to a user or another machine or computer system.

[0031] The storage subsystem 924 stores programming and data constructs that provide some or all of the functions described herein. For example, computer-executable instructions and data are generally executed by the processor 914 alone or in combination with other processors. The memory 928 used by the storage subsystem 924 may include several memories, including a main random access memory (RAM) 930 for storing instructions and data during program execution, and a read-only memory (ROM) 932 for storing fixed instructions. The file storage subsystem 926 can provide persistent storage for program and data files and may include a floppy disk drive, CD-ROM drive, optical drive, or removable media cartridge along with a hard disk drive, solid-state drive, and associated removable media. Computer-executable instructions and data that implement the functions of a particular embodiment may be stored in the storage subsystem 924 by the file storage subsystem 926 and the memory subsystem 928, or in other machines accessible by the processor 914. For example, in one embodiment, welding passpoints (generated when a human user operates an actuator on the welding torch at the end of the robot arm as the welding torch moves along a desired welding path) are transmitted to the controller 900 and stored in the RAM 930 of the memory subsystem 928 of the storage subsystem 924. The welding passpoints are used by the controller 900 to form a welding program for controlling the robot to automatically move the welding torch along the desired welding path.

[0032] The bus subsystem 912 provides a mechanism for various components and subsystems of the controller 900 to communicate with each other as intended. Although the bus subsystem 912 is schematically shown as a single bus, alternative embodiments of the bus subsystem may use multiple buses.

[0033] The controller 900 can be of various types. Due to the ever-changing nature of computing devices and networks, the description of the controller 900 depicted in Figure 9 is intended only as a specific example for the purpose of illustrating several embodiments. Many other configurations of the controller are possible, having more or fewer components than the controller 900 depicted in Figure 9.

[0034] While the disclosed embodiments are shown and described in considerable detail, it is not intended to limit the scope of the appended claims to such detail or to restrict them in any way. Needless to say, it is impossible to describe all possible combinations of components or methodologies for the purpose of describing various aspects of the subject matter. Therefore, this disclosure is not limited to the specific details or examples shown and described. Accordingly, this disclosure is intended to encompass changes, modifications, and variations that fall within the scope of the appended claims and satisfy the statutory subject matter requirements of § 101 of the United States Patent Act. The above descriptions relating to specific embodiments are given as examples. From the given disclosure, a person skilled in the art will not only understand the general inventive concept and associated benefits but will also find various obvious changes and modifications to the disclosed structures and methods. Therefore, it is sought to cover all such changes and modifications that fall within the spirit and scope of the general inventive concept defined by the appended claims and their equivalents. [Explanation of symbols]

[0035] 100 welding systems 200 Collaborative Robots 201 Bass 205 Magnetic Base 210 Arm 215 Quick Connect / Detach Button 220 "Smart" Welding Torch 222 First Actuator Device 224 Second actuator device 226 Torch body 227 Welding start point 228 Intermediate welding point 229 Welding end point 230 Servo Mechanism Device 240 Lifting Frame 300 device pouches 310 Welding Power Supply 320 Robot Controller 330 Cable 400 "Smart" Welding Torches 410 Third actuator device 600 "Smart" Welding Torch 610 Third actuator device 620 Torch body 700 "Smart" Welding Torch 710 Third actuator device 715 Cable 720 Torch body 900 Controller 912 Bus Subsystem 914 Processor 916 Network Interface 920 User Interface Output Device 922 User Interface Input Device 924 Memory subsystem 926 File Storage Subsystem 928 Memory subsystem 930 RAM 932 ROM

Claims

1. A welding or cutting torch for use by a collaborative robot, A torch body configured to be operably connected to the movable arm of the aforementioned collaborative robot, A first actuator device on the torch body, configured to be initially manually operated by a human user to start a recording cycle at the starting point of the welding or cutting of a desired welding or cutting path, and to be manually operated a second time by the human user to end the recording cycle at the ending point of the welding or cutting of the desired welding or cutting path in three-dimensional space, The system includes a second actuator device on the torch body configured to be manually operated by the human user to indicate welding or cutting points in three-dimensional space, at the welding or cutting start point and the welding or cutting end point, and between them, when the human user manually moves the welding or cutting torch, which is connected to the movable arm of the collaborative robot, along the desired welding or cutting path, without actually welding or cutting, The first actuator device is configured to transmit first data or signals to a robot controller that is operably connected to the collaborative robot and located away from the collaborative robot, so that the robot controller can start and end the recording cycle. The second actuator device is configured to transmit, without actually performing welding or cutting, the welding or cutting points along the desired welding or cutting path during the recording cycle as second data or signals to the robot controller so that they may be recorded by the robot controller. The recording cycle corresponds to the time during which the welding or cutting pass point is recorded by the robot controller. Welding or cutting torch.

2. The welding or cutting torch according to claim 1, wherein the first actuator device is configured to transmit the first data or signal to the robot controller via a wired connection.

3. The welding or cutting torch according to claim 1, wherein the first actuator device is configured to transmit the first data or signal to the robot controller wirelessly.

4. The welding or cutting torch according to claim 1, wherein the second actuator device is configured to transmit the second data or signal to the robot controller via a wired connection.

5. The welding or cutting torch according to claim 1, wherein the second actuator device is configured to transmit the second data or signal to the robot controller wirelessly.

6. The welding or cutting torch according to claim 1, further comprising a third actuator device on the torch body configured to be manually operated by a human user in order to enable the human user to manually move the movable arm of the collaborative robot to which the welding or cutting torch is connected in three-dimensional space.

7. The welding or cutting torch according to claim 6, wherein the third actuator device is configured to communicate with the robot controller via a wired connection.

8. The welding or cutting torch according to claim 6, wherein the third actuator device is configured to communicate with the robot controller wirelessly.

9. The welding or cutting torch according to claim 1, wherein the welding or cutting torch is either an arc welding torch or a plasma cutting torch.

10. A system for welding or cutting, A collaborative robot with a movable arm, A robot controller operably connected to the aforementioned collaborative robot, A welding or cutting torch having a torch body configured to be operably connected to the movable arm of the collaborative robot, The welding or cutting torch is A first actuator device on the torch body, configured to be initially manually operated by a human user to start a recording cycle at the starting point of the welding or cutting of a desired welding or cutting path, and to be manually operated a second time by the human user to end the recording cycle at the ending point of the welding or cutting of the desired welding or cutting path in three-dimensional space, The system includes a second actuator device on the torch body configured to be manually operated by the human user to indicate welding or cutting points in three-dimensional space, at the welding or cutting start point and the welding or cutting end point, and between them, as the human user manually moves the welding or cutting torch, connected to the movable arm of the collaborative robot, along the desired welding or cutting path, without actually welding or cutting, The robot controller is configured to receive first data or signals from the first actuator device in order to start and end the recording cycle. The robot controller is configured to receive and record, without actually performing welding or cutting, the welding or cutting points indicated along the desired welding or cutting path during the recording cycle as second data or signals received from the second actuator device. The recording cycle corresponds to the time during which the welding or cutting pass point is recorded by the robot controller. A system for welding or cutting.

11. The system according to claim 10, further comprising a third actuator device on the torch body configured to be manually positioned and held by the human user in an operating position so as to enable the human user to manually move the movable arm of the collaborative robot to which the welding or cutting torch is connected in three-dimensional space, wherein the movable arm is immobile when the human user releases the third actuator device.

12. The system according to claim 11, wherein the third actuator device is configured to communicate with the robot controller.

13. The system according to claim 10, further comprising a welding or cutting power source operably connected to the welding or cutting torch.

14. The system according to claim 13, further comprising a device pouch positioned away from the collaborative robot, wherein the robot controller and the welding or cutting power supply are located in the device pouch.

15. The system according to claim 10, wherein the welding or cutting torch is an arc welding torch.

16. The system according to claim 10, wherein the welding or cutting torch is a plasma cutting torch.

17. The system according to claim 10, wherein the robot controller is programmed to automatically control the collaborative robot to perform actual welding or cutting along the desired welding or cutting path defined by the welding or cutting passage points, using the welding or cutting torch.

18. The system according to claim 10, wherein the collaborative robot is configured to be attached to a concrete floor via lag bolts.

19. The system according to claim 10, wherein the collaborative robot is configured to be attached to a metal surface via a magnetic base.

20. The system according to claim 10, wherein the collaborative robot is enclosed within a lifting frame and configured to be lifted by a forklift or crane.

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