Abstract: A twin laser camera unitary assembly for a robot processing tool is disclosed. The assembly has a housing having a front wall defining an upright U-shaped channel into which a tubular portion of the tool is laterally insertable. A mounting support attaches the housing relative to the tool in operative position. Twin laser range finders are respectively mounted in the housing on opposite sides of the U-shaped channel in a symmetrical in-line arrangement with respect to the tool. A controller mounted in the housing is configured to receive robot control signals, operate laser projectors and process image signals produced by imagers of the laser range finders so that joint and bead position and geometry signals are produced in a robot reference frame. The assembly is designed and protected for use in industrial processes such as robotic laser and arc welding and sealant dispensing.

Abstract: A protective nozzle for protecting a frontal optical portion of a laser camera has a body attachable to the laser camera, apertures extending through the body, a transparent plate extending crosswise to and blocking each aperture on a back side of the body, contouring air pockets recessed in the back side of the body, under the transparent plate and extending around the apertures with lips projecting around the apertures to define air gaps for escape of pressurized air from the contouring air pockets toward the apertures in a form of centripetal air jets along the transparent plate, and an air passage arrangement extending in the body from an air inlet located on a side of the body for receiving pressurized air to the contouring air pockets.

Abstract: A protective nozzle for protecting a frontal optical portion of a laser camera has a body attachable to the laser camera, apertures extending through the body, a transparent plate extending crosswise to and blocking each aperture on a back side of the body, contouring air pockets recessed in the back side of the body, under the transparent plate and extending around the apertures with lips projecting around the apertures to define air gaps for escape of pressurized air from the contouring air pockets toward the apertures in a form of centripetal air jets along the transparent plate, and an air passage arrangement extending in the body from an air inlet located on a side of the body for receiving pressurized air to the contouring air pockets.

Abstract: There are provided a laser joining head assembly and a laser joining method for simultaneously performing joint tracking and seam inspection of a joint while said joining head assembly is in relative motion along the joint. The laser joining head assembly comprises integrated tracking laser line projecting means and integrated inspection laser line projecting means for respectively projecting a tracking laser line and an inspection laser line on the joint, thereby allowing to respectively generate successive joint transverse profiles and seam transverse profiles. These profiles are processed to respectively provide joint data and seam data, thereby allowing to perform said joint tracking and said seam inspection of said joint during said motion.

Abstract: A hybrid compact sensing apparatus for generating signals usable for guiding a process robot as a function of an object detected in a scene. The apparatus comprises a laser light generator, two optical sensors, one or more ultrasound sensors, and a control unit, all integrated in a same housing. The laser light generator and the optical sensors form a detection arrangement having a limited detection range compared to that of the ultrasound sensors. The control unit has a processing circuit monitoring the distance of the object measured by the ultrasound sensors, and triggering on the laser light generator and triggering use of the depth profile signals produced by the optical sensors among the signals usable for guiding the process robot when the distance measured by the ultrasound sensors falls within the limited detection range. Integration of an audio and video sensing unit to the apparatus enables remote monitoring.

Abstract: A hybrid compact sensing apparatus for generating signals usable for guiding a process robot as a function of an object detected in a scene. The apparatus comprises a laser light generator, two optical sensors, one or more ultrasound sensors, and a control unit, all integrated in a same housing. The laser light generator and the optical sensors form a detection arrangement having a limited detection range compared to that of the ultrasound sensors. The control unit has a processing circuit monitoring the distance of the object measured by the ultrasound sensors, and triggering on the laser light generator and triggering use of the depth profile signals produced by the optical sensors among the signals usable for guiding the process robot when the distance measured by the ultrasound sensors falls within the limited detection range. Integration of an audio and video sensing unit to the apparatus enables remote monitoring.

Abstract: A sensing head for providing bi-dimensional and tri-dimensional data determinative of a position and an orientation of a target object is provided. The sensing head combines both a bi-dimensional and a tri-dimensional sensors. General illumination is associated to the bi-dimensional sensor to allow the acquisition of bi-dimensional data representative of the target object. A stripe-shaped laser light output is projected and diffused on the target object and is sensed by the tri-dimensional sensor. Tri-dimensional data is thus acquired. By proper processing of the bi-dimensional and tri-dimensional data, the position and orientation of the target object may be determined without moving the sensor head and without knowing its position and orientation.

Abstract: A sensing head for providing bi-dimensional and tri-dimensional data determinative of a position and an orientation of a target object is provided. The sensing head combines both a bi-dimensional and a tri-dimensional sensors. General illumination is associated to the bi-dimensional sensor to allow the acquisition of bi-dimensional data representative of the target object. A stripe-shaped laser light output is projected and diffused on the target object and is sensed by the tri-dimensional sensor. Tri-dimensional data is thus acquired. By proper processing of the bi-dimensional and tri-dimensional data, the position and orientation of the target object may be determined without moving the sensor head and without knowing its position and orientation.

Abstract: Motorized slides are inserted between the end of a robot arm and a robot tool/sensor arrangement to provide additional positioning ability. A control unit of the slides cooperates with the control unit of the sensor to maintain the tool correctly positioned over a feature while the robot arm moves following a programmed path. The control unit of the sensor has look-ahead and additional buffers from which corrected information is determined to compensate for robot teaching inaccuracies, calibration and robot arm response errors. A sensor with two distinct probing zones is used to get information about the position of the tool tip and of the feature to assist in calibrating the sensor/tool relation.

Abstract: The light pinpointing device is for producing a pinpointing light signal at an operative center point of a robot tool. The pinpointing light signal is useful to properly position the robot tool during the teaching phase. The light pinpointing device comprises a frame having first and second opposite ends, the first end being provided with a fastener for fastening the frame to an end of the robot tool. A light source assembly is provided to produce a pair of light beams inside the frame. A lens in front of the light source assembly is provided for directing the light beams through the second end of the frame in converging directions so that the light beams intersect with each other at a distance from the end of the robot tool corresponding to the operative center point thereof, thereby providing the pinpointing light signal.