Lift device with robotic welding attachment

Patent metadata

Field	Value
Publication number	US-12110218-B2
Application number	US-202318144111-A
Country	US
Kind code	B2
Filing date	May 5, 2023
Priority date	May 6, 2022
Publication date	Oct 8, 2024
Grant date	Oct 8, 2024

Abstract

A lift device includes a lift apparatus for raising and lowering a robotic attachment. The lift apparatus includes a base assembly, the base assembly including a prime mover to rotate one or more wheels. The robotic attachment includes a base, a primary robotic implement, and a secondary robotic implement, each moveable independent of the base. The robotic attachment further includes a stabilizer bar coupled to the base and configured to engage with an external support to provide a stabilizing force to the robotic attachment. At least one of the primary robotic implement and the secondary robotic implement are configured to move one or more end effectors to perform a welding operation, including a weld gun, a weld lead, and a needle scaler. The lift apparatus may also include a control system configured to position the robotic implements in a plurality of preset positions.

First claim

The invention claimed is:

1. A lift device comprising:
a lift apparatus configured to raise and lower a robotic attachment; and
a base assembly configured to support the lift apparatus, the base assembly including a prime mover configured to rotate one or more wheels coupled to the base assembly;
wherein the robotic attachment comprises:
a base;
a primary robotic implement supported by the base and a secondary robotic implement supported by the base, wherein the primary robotic implement and the secondary robotic implement are moveable independent of each other; and
a stabilizer bar coupled to the base and moveable independent of the base.

2. The lift device of claim 1 , wherein the robotic attachment further comprises at least one stabilizer bar actuator configured to move the stabilizer bar relative to the base.

3. The lift device of claim 2 , wherein the stabilizer bar is configured to move between a first position and second position, and wherein in the second position the stabilizer bar is configured to engage with an external support to generate a stabilizing force for the robotic attachment.

4. The lift device of claim 3 , wherein the stabilizer bar actuator is configured to adjust a position of the stabilizer bar to maintain the stabilizing force at or below a threshold value.

5. The lift device of claim 1 , wherein the stabilizer bar comprises a bumper made of at least one of plastic, rubber, silicone, polyurethane.

6. The lift device of claim 1 , wherein at least one of the lift apparatus or the base assembly include at least one of a power source or a pneumatic system, and wherein the robotic attachment is electrically or pneumatically coupled to the at least one of the power source or the pneumatic system, respectively.

7. The lift device of claim 1 , wherein the robotic attachment further comprise at least one visual indicator supported by the base, and wherein a processing circuit is further configured to control an aspect of the at least one visual indicator based on an operating mode of the robotic attachment.

8. The lift device of claim 1 , wherein the primary robotic implement comprises a plurality of rotatable members, wherein the plurality of rotatable members comprises a first rotatable member rotatably coupled to the base and at least one intermediate rotatable member rotatably coupled between the first rotatable member and a second rotatable member.

9. The lift device of claim 1 , wherein the primary robotic implement includes an end effector with six axes of movement relative to the lift apparatus.

10. The lift device of claim 1 , further comprising a control system communicably coupled with the primary robotic implement and the secondary robotic implement, wherein the control system comprises a processing circuit configured to position the primary robotic implement and the secondary robotic implement in a plurality of preset positions.

11. The lift device of claim 10 , wherein the plurality of preset positions comprise a stow position and a transportation position.

12. The lift device of claim 1 , wherein at least one of the primary robotic implement or the secondary robotic implement is detachably coupled to an end effector comprising at least one of a weld gun, a weld lead, or a needle scaler.

13. The lift device of claim 12 , wherein the weld lead is a detachable weld lead comprising a ground lead and a voltage sensor.

14. The lift device of claim 12 , further comprising:
a control system communicably coupled with at least one of the primary robotic implement or the secondary robotic implement, wherein the robotic attachment further comprises at least one sensor configured to determine a position of an external object, and
wherein the control system comprises a processing circuit configured to control at least one of the primary robotic implement or the secondary robotic implement to engage the end effector with the external object.

15. A robotic welding apparatus comprising:
a base including a plurality of detachable couplings configured to engage with an external device;
a first robotic arm supported by the base and a second robotic arm supported by the base, wherein the first robotic arm and the second robotic arm are moveable independent of each other; and
a stabilizer bar coupled to a front of the base and moveable independent of the base in a direction perpendicular to the front of the base.

16. The robotic welding apparatus of claim 15 , further comprising a plurality of end effectors supported by the base, wherein each of the first robotic arm and the second robotic arm are configured to detachably couple to at least one of the plurality of end effectors.

17. The robotic welding apparatus of claim 15 , wherein the robotic welding apparatus further comprises at least one position sensor configured to determine a position of an external object relative to the robotic welding apparatus.

18. The robotic welding apparatus of claim 15 , further comprising at least one stabilizer bar actuator configured to move the stabilizer bar relative to the base between a first position and a second position, wherein in the second position the stabilizer bar is configured to engage with an external support to generate a stabilizing force for the robotic attachment.

19. A lift device comprising:
a lift apparatus rotatably coupled to a robotic attachment, wherein the robotic attachment comprises:
a base;
a primary robotic implement supported by the base and a secondary robotic implement supported by the base, wherein the primary robotic implement and the secondary robotic implement are moveable independent of each other;
a plurality of end effectors comprising at least one of a weld gun, a weld lead, or a needle scaler;
a stabilizer bar coupled to the base;
a stabilizer bar actuator configured to move the stabilizer bar relative to the base; and
a controller comprising a processing circuit configured to position the primary robotic implement and the secondary robotic implement between a first preset position and a second preset position, the first preset position different than the second preset position.

20. The lift device of claim 19 , further comprising at least one position sensor configured to determine a position of an external object relative to the robotic attachment.

Assignees

• Oshkosh Corp

Inventors

• Brulo Gregory
• Puszkiewicz Ignacy
• Kraisinger J P

Classifications

• B66F17/006

  for working platforms · CPC title

• B25J19/0025

  Means for supplying energy to the end effector · CPC title

• B25J15/0019

  End effectors other than grippers · CPC title

• B25J13/089

  Determining the position of the robot with reference to its environment · CPC title

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title