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 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 range finder device for monitoring a 3D position of a robot processing tool relative to a tracking device mounted adjacent to the robot processing tool is disclosed. A body attachable to the tracking device supports a laser unit and a camera unit. The laser unit projects a triangulation laser mark on a target area of the processing tool. The mark, a tool center point and a processing area are in a field of view of the camera unit. A control unit controls operation of the laser unit and has an image analyzer circuit for receiving an image signal produced by the camera unit, producing triangulation laser measurement data from the triangulation laser mark in the image signal, generating a signal indicative of the position of the robot processing tool as function of the triangulation laser measurement data, and transmitting the image signal produced by the camera unit.

Abstract: A process tracking laser camera with non-eye-safe and eye-safe operating modes is disclosed. The camera has an image sensor with a field of view covering a target area of a workpiece. The camera also has first and second laser units for projecting respectively non-eye-safe and eye-safe laser beams towards the target area. A control unit has laser drivers for driving the laser units, a cut-off circuit operatively connected to the laser driver of the first laser unit for disabling its operation depending on a control signal, and a control circuit for controlling the laser drivers depending on a cut-off condition of the cut-off circuit controlled by a switch device so that the first laser unit is enabled and the second laser unit is disabled in the non-eye-safe operating mode while the first laser unit is disabled and the second laser unit is enabled in the eye-safe operating mode.

Abstract: A process tracking laser camera with non-eye-safe and eye-safe operating modes is disclosed. The camera has an image sensor with a field of view covering a target area of a workpiece. The camera also has first and second laser units for projecting respectively non-eye-safe and eye-safe laser beams towards the target area. A control unit has laser drivers for driving the laser units, a cut-off circuit operatively connected to the laser driver of the first laser unit for disabling its operation depending on a control signal, and a control circuit for controlling the laser drivers depending on a cut-off condition of the cut-off circuit controlled by a switch device so that the first laser unit is enabled and the second laser unit is disabled in the non-eye-safe operating mode while the first laser unit is disabled and the second laser unit is enabled in the eye-safe operating mode.

Abstract: A range finder device for monitoring a 3D position of a robot processing tool relative to a tracking device mounted adjacent to the robot processing tool is disclosed. A body attachable to the tracking device supports a laser unit and a camera unit. The laser unit projects a triangulation laser mark on a target area of the processing tool. The mark, a tool center point and a processing area are in a field of view of the camera unit. A control unit controls operation of the laser unit and has an image analyzer circuit for receiving an image signal produced by the camera unit, producing triangulation laser measurement data from the triangulation laser mark in the image signal, generating a signal indicative of the position of the robot processing tool as function of the triangulation laser measurement data, and transmitting the image signal produced by the camera unit.

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: 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 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.

Abstract: The twin sensor laser probe and the method are for absolute depth measurement of two distinct points on an object surface. Two light beams emitted by a light source are directed toward the object surface at acute angles relative thereto, to illuminate two distinct points of the object surface having positions depending on depth thereof. The light beams extend on opposite sides of a plane separating the probe in two longitudinal portions and intersecting the object surface. Two optical sensors are positioned above the object surface and extend on the opposite sides of the plane respectively. The two illuminated points are imaged on the sensors by a lens and two parallel mirrors optically arranged to fold the fields of view of the optical sensors. The signals produced by the sensors provide information for the absolute depth measurement of the two points.

Abstract: A real time control system and process for controlling predetermined operating characteristics of a welding mechanism movable along a workpiece joint to be welded, the workpiece joint having two opposed edges. A thermal radiation sensing device is responsive to thermal radiation energy emanating from a heated workpiece joint. The sensing device is positioned along a travelling path of a welding element of the welding mechanism, ahead of and in close proximity to the welding element, the sensing device and welding element being disposed on a common side relative to the workpiece joint.

Abstract: A circuit for controlling the power supply to an electrode of the shielded type, such as that used in a shielded metal arc welding process (SMAW) whereby to protect a user from electric shocks. The control circuit is a protection circuit which serves to protect welders against electric shocks by decreasing the circuit voltage between the electrode tip and the workpiece to be welded. An AC or DC power supply may be used to feed the electrode. The control circuit is comprised of a high impedance voltage source applied to the electrode, a detection circuit for determining the level value of the impedance appearing between the electrode and the workpiece. The detection circuit compares the impedance thus detected with a threshold impedance and generates a control signal when the detected impedance is lower than the threshold impedance. The control signal operates a driver circuit which energizes a power feed device serially connected between the electrode power supply and the electrode itself.