Patent Grant
10170019
The invention relates generally to welding and, more particularly, to a welding system that may be used for training.
Welding is a process that has increasingly become utilized in various industries and applications. Such processes may be automated in certain contexts, although a large number of applications continue to exist for manual welding operations. In both cases, such welding operations rely on a variety of types of equipment to ensure the supply of welding consumables (e.g., wire feed, shielding gas, etc.) is provided to the weld in appropriate amounts at the desired time.
In preparation for performing manual welding operations, welding operators may be trained using a welding system (e.g., a welding training system). The welding system may be designed to train welding operators with the proper techniques for performing various welding operations. Certain welding systems may use various training methods. As may be appreciated, these training systems may be expensive to acquire and operate. Accordingly, welding training institutions may only acquire a limited number of such training systems. Furthermore, certain welding systems may not adequately train welding operators to perform high quality welds.
In one embodiment, a welding system includes a welding torch. The welding torch includes a sensor configured to detect a motion associated with the welding torch, a temperature associated with the welding torch, or some combination thereof. A display of the welding torch is activated, a determination is made that the welding torch has been involved in a high impact event, live welding using the welding torch is disabled, a software selection is made, or some combination thereof, based on the motion, the temperature, or some combination thereof.
In another embodiment, a method includes detecting a parameter corresponding to a welding operation using control circuitry. The method also includes determining whether the parameter is within a first predetermined range. The method includes vibrating the welding torch at a first pattern if the parameter is within the first predetermined range. The method also includes if the parameter is not within the first predetermined range, determining whether the parameter is within a second predetermined range. The method includes vibrating the welding torch at a second pattern if the parameter is within the second predetermined range. The second pattern is different than the first pattern.
In another embodiment, a method that includes detecting a parameter corresponding to a welding operation using control circuitry. The method also includes determining a representation of the parameter. The method includes vibrating the welding torch based on the representation of the parameter. The method also includes providing an audible indication based on the representation of the parameter while vibrating the welding torch.
These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:
The sensing device 16 is communicatively coupled to a computer 18. The sensing device 16 is configured to provide data (e.g., image data, sensed data, six degrees of freedom (6DOF) data, etc.) to the computer 18. Furthermore, the sensing device 16 may be configured to receive data (e.g., configuration data, setup data, commands, register settings, etc.) from the computer 18. The computer 18 includes one or more processors 20, memory devices 22, and storage devices 24. The processor(s) 20 may be used to execute software, such as welding software, image processing software, sensing device software, and so forth. Moreover, the processor(s) 20 may include one or more microprocessors, such as one or more “general-purpose” microprocessors, one or more special-purpose microprocessors and/or application specific integrated circuits (ASICS), or some combination thereof. For example, the processor(s) 20 may include one or more reduced instruction set (RISC) processors.
The storage device(s) 24 (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) 24 may store data (e.g., data corresponding to a welding operation, video and/or parameter data corresponding to a welding operation, etc.), instructions (e.g., software or firmware for the welding system, the sensing device 16, etc.), and any other suitable data. As will be appreciated, data that corresponds to a welding operation may include a video recording of the welding operation, a simulated video, an orientation of the welding torch 14, a position of the welding torch 14, a work angle, a travel angle, a distance between a contact tip of the welding torch 14 and a workpiece, a travel speed, a proximity, a voltage, a current, a traversed path, a discontinuity analysis, welding device settings, and so forth.
The memory device(s) 22 may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory device(s) 22 may store a variety of information and may be used for various purposes. For example, the memory device(s) 22 may store processor-executable instructions (e.g., firmware or software) for the processor(s) 20 to execute, such as instructions for a welding training simulation and/or for the sensing device 16. In addition, a variety of control regimes for various welding processes, along with associated settings and parameters may be stored in the storage device(s) 24 and/or memory device(s) 22, along with code configured to provide a specific output (e.g., initiate wire feed, enable gas flow, capture welding current data, detect short circuit parameters, determine amount of spatter, etc.) during operation. The welding power supply 28 may be used to provide welding power to a live-arc welding operation, and the wire feeder 30 may be used to provide welding wire to the live-arc welding operation.
The welding system 10 includes a display 32 for displaying data and/or screens associated with welding (e.g., to display data corresponding to a welding software). For example, the display 32 may provide a graphical user interface to a welding operator (e.g., welding instructor, welding student). The graphical user interface may provide various screens to enable the welding instructor to organize a class, provide assignments to the class, analyze assignments performed by the class, provide assignments to an individual, analyze assignments performed by the individual, add, change, and/or delete parameters for a welding assignment, and so forth. Furthermore, the graphical user interface may provide various screens to enable a welding operator (e.g., welding student) to perform a welding assignment, view results from prior welding assignments, and so forth. In certain embodiments, the display 32 may be a touch screen display configured to receive touch inputs, and to provide data corresponding to the touch inputs to the computer 18.
An external display 34 is coupled to the computer 18 to enable an individual located remotely from the welding system 10 to view data corresponding to the welding system 10. Furthermore, a network device 36 is coupled to the computer 18 to enable the computer 18 to communicate with other devices connected to the Internet or another network 38 (e.g., for providing test results to another device and/or for receiving test results from another device). For example, the network device 36 may enable the computer 18 to communicate with an external welding system 40, a production welding system 42, and/or a remote computer 44. As may be appreciated, the welding system 10 described herein may be used to train welding students in a cost effective manner. Furthermore, the welding system 10 is configured to integrate real welding with simulated welding in a manner that prepares welding students for high quality production welding.
The welding torch 14 includes a user interface 60 to enable a welding operator (e.g., welding student, welding instructor, etc.) to interact with the welding torch 14 and/or to provide inputs to the welding torch 14. For example, the user interface 60 may include buttons, switches, touch screens, touchpads, and so forth. The inputs provided to the welding torch 14 by the welding operator may be provided to the computer 18. For example, the inputs provided to the welding torch 14 may be used to control welding software being executed by the computer 18. As such, the welding operator may use the user interface 60 on the welding torch 14 to navigate the welding software screens, setup procedures, data analysis, welding courses, make selections within the welding software, configure the welding software, and so forth. Thus, the welding operator can use the welding torch 14 to control the welding software (e.g., the welding operator does not have to put down the welding torch 14 to use a different input device). The welding torch 14 also includes visual indicators 61, such as a display 62 and LEDs 64. The visual indicators 61 may be configured to indicate or display data and/or images corresponding to a weld, welding training, and/or welding software. For example, the visual indicators 61 may be configured to indicate a welding torch orientation, a welding torch travel speed, a welding torch position, a contact tip to workpiece distance, a proximity of the welding torch 14 in relation to the workpiece, an aim of the welding torch 14 (e.g., at what point the welding torch 14 is directed), training information for the welding operator, and so forth. Moreover, the visual indicators 61 may be configured to provide visual indications before a weld, during a weld, and/or after a weld. In certain embodiments, the LEDs 64 may illuminate to facilitate their detection by the sensing device 16. In such embodiments, the LEDs 64 may be positioned to enable the sensing device 16 to determine a position and/or an orientation of the welding torch 14 based on a spatial position of the LEDs 64.
In certain embodiments, the welding torch 14 includes power conversion circuitry 66 configured to receive power from the data reporting device 26 (e.g., or another device), and to convert the received power for powering the welding torch 14. In certain embodiments, the welding torch 14 may receive power that is already converted and/or does not utilize power conversion. Moreover, in some embodiments, the welding torch 14 may be powered by a battery or any suitable powering mechanism. The welding torch 14 also includes a communication interface 68 (e.g., RS-232 driver) to facilitate communication between the welding torch 14 and the data reporting device 26 (or another device). In the illustrated embodiment, the welding torch 14 may communicate with the computer 18 by providing data to the data reporting device 26 using the communication interfaces 50 and 68, then the data reporting device 26 communicates the data to the computer 18. Accordingly, inputs provided to the welding torch 14 may be provided to the computer 18. In certain embodiments, the welding torch 14 may provide inputs to the computer 18 by communicating directly with the computer 18.
The welding torch 14 includes a trigger 70 configured to mechanically actuate a trigger switch 72 between an open position (as illustrated) and a closed position. The trigger 70 provides a conductor 71 to carry a signal to the control circuitry 52 to indicate whether the trigger switch 72 is in the open position or the closed position. The wire feeder 30, the welding power supply 28, the computer 18, and/or the data reporting device 26 may determine whether there is continuity through the welding torch 14 across a first trigger conductor 74 and a second trigger conductor 76. The trigger switch 72 is electrically coupled between the first trigger conductor 74 and the second trigger conductor 76. Continuity across the first trigger conductor 74 and the second trigger conductor 76 may be determined by applying a voltage across the conductors 74 and 76, applying a current across the conductors 74 and 76, measuring a resistance across the conductors 74 and 76, and so forth. In certain embodiments, portions of the first trigger conductor 74 and/or portions of the second trigger conductor 76 may be disposed within a connector of the welding torch 14. Furthermore, in certain embodiments, the arrangement of switches and/or conductors within the welding torch 14 may be different than illustrated in
The welding power supply 28 may determine whether to enable welding power to flow through the welding torch 14 based on whether there is continuity across the conductors 74 and 76. For example, the welding power supply 28 may enable welding power to flow through the welding torch 14 while there is continuity across the conductors 74 and 76, and the welding power supply 28 may block welding power from flowing through the welding torch 14 while there is an open circuit across the conductors 74 and 76. Furthermore, the wire feeder 30 may provide welding wire to the welding torch 14 while there is continuity across the conductors 74 and 76, and may block welding wire from being provided to the welding torch 14 while there is an open circuit across the conductors 74 and 76. Moreover, the computer 18 may use the continuity across the conductors 74 and 76 and/or the position of the trigger 70 or trigger switch 72 to start and/or stop a welding operation, a welding simulation, data recording, and so forth.
With the trigger switch 72 in the open position, there is an open circuit across the conductors 74 and 76, thus, the open position of the trigger switch 72 blocks electron flow between the conductors 74 and 76. Accordingly, the welding power supply 28 may block welding power from flowing through the welding torch 14 and the wire feeder 30 may block welding wire from being provided to the welding torch 14. Pressing the trigger 70 directs the trigger switch 72 to the closed position where the trigger switch 72 remains as long as the trigger 70 is pressed. With the trigger switch 72 in the closed position, there is continuity between the first trigger conductor 74 and a conductor 77 electrically connected to the trigger switch 72 and a training switch 78.
The training switch 78 is electrically coupled between the first trigger conductor 74 and the second trigger conductor 76. Moreover, the training switch 78 is electrically controlled by the control circuitry 52 to an open position or to a closed position. In certain embodiments, the training switch 78 may be any suitable electrically controlled switch, such as a transistor, relay, etc. The control circuitry 52 may selectively control the training switch 78 to the open position or to the closed position. For example, while welding software of the welding system 10 is operating in a live-arc mode, the control circuitry 52 may be configured to control the training switch 78 to the closed position to enable a live welding arc while the trigger 70 is pressed. In contrast, while welding software of the welding system 10 is operating in any mode other than the live-arc mode (e.g., simulation, virtual reality, augmented reality, etc.), the control circuitry 52 may be configured to control the training switch 78 to the open position to block a live welding arc (by blocking electron flow between the conductors 74 and 76).
In certain embodiments, the training switch 78 may default to the open position, thereby establishing an open circuit across the conductors 74 and 76. As may be appreciated, while the training switch 78 is in the open position, there will be an open circuit across the conductors 74 and 76 regardless of the position of the trigger switch 72 (e.g., electron flow between the conductors 74 and 76 is blocked by the open position of the training switch 78). However, while the training switch 78 is controlled to the closed position, and the trigger switch 72 is in the closed position, conductivity is established between the conductors 74 and 76 (e.g., electron flow between the conductors 74 and 76 is enabled). Accordingly, the welding power supply 28 may enable welding power to flow through the welding torch 14 only while the training switch 78 is in the closed position and while the trigger switch 72 is in the closed position. For example, welding power may flow from the welding power supply 28, through a weld cable 80, the welding torch 14, a workpiece 82, and return to the welding power supply 28 via a work cable 84 (e.g., electrode-negative, or straight polarity). Conversely, welding power may flow from the welding power supply 28, through the work cable 84, the workpiece 82, the welding torch 14, and return to the welding power supply 28 via the weld cable 80 (e.g., electrode-positive, or reverse polarity).
As may be appreciated, the training switch 78 may be physically located in any suitable portion of the welding system 10, such as the data reporting device 26, the computer 18, and so forth. Furthermore, in certain embodiments, the functionality of the training switch 78 may be replaced by any suitable hardware and/or software in the welding system 10.
The welding surface 88 includes a first aperture 93 and a second aperture 94. The first and second apertures 93 and 94 may be used together to determine a position and/or an orientation of the welding surface 88. As may be appreciated, in certain embodiments at least three apertures may be used to determine the position and/or the orientation of the welding surface 88. In some embodiments, more than three apertures may be used to determine the position and/or the orientation of the welding surface 88. The first and second apertures 93 and 94 may be positioned at any suitable location on the welding surface 88, and may be any suitable size. In certain embodiments, the position and/or orientation of the welding surface 88 relative to the sensing device 16 may be calibrated using the first and second apertures 93 and 94. For example, as described in greater detail below, a calibration device configured to be sensed by the sensing device 16 may be inserted into the first aperture 93, or touched to the first aperture 93. While the calibration device is inserted into, or touching, the first aperture 93, a user input provided to the welding software (or other calibration software) may indicate that the calibration device is inserted into the first aperture 93. As a result, the welding software may establish a correlation between a first data set (e.g., calibration data) received from the sensing device 16 (e.g., position and/or orientation data) at a first time and the location of first aperture 93. The calibration device may next be inserted into the second aperture 94, or touched to the second aperture 94. While the calibration device is inserted into, or touching, the second aperture 94, a user input provided to the welding software may indicate that the calibration device is inserted into the second aperture 94. As a result, the welding software may establish a correlation between a second data set (e.g., calibration data) received from the sensing device 16 at a second time and the location of second aperture 94. Thus, the welding software may be able to calibrate the position and/or orientation of the welding surface 88 relative to the sensing device 16 using the first data set received at the first time and the second data set received at the second time.
The welding surface 88 also includes a first marker 95 and a second marker 96. The first and second markers 95 and 96 may be used together to determine a position and/or an orientation of the welding surface 88. As may be appreciated, in certain embodiments at least three markers may be used to determine the position and/or the orientation of the welding surface 88. In some embodiments, more than three markers may be used to determine the position and/or the orientation of the welding surface 88. The first and second markers 95 and 96 may be formed from any suitable material. Moreover, in certain embodiments, the first and second markers 95 and 96 may be built into the welding surface 88, while in other embodiments, the first and second markers 95 and 96 may be attached to the welding surface 88. For example, the first and second markers 95 and 96 may be attached to the welding surface 88 using an adhesive and/or the first and second markers 95 and 96 may be stickers. The first and second markers 95 and 96 may have any suitable shape, size, and/or color. Furthermore, in certain embodiments, the first and second markers 95 and 96 may be a reflector formed from a reflective material. The first and second markers 95 and 96 may be used by the welding system 10 to calibrate the position and/or orientation of the welding surface 88 relative to the sensing device 16 without a separate calibration device. Accordingly, the first and second markers 95 and 96 are configured to be detected by the sensing device 16. In certain embodiments, the first and second markers 95 and 96 may be positioned at predetermined locations on the welding surface 88. Furthermore, the welding software may be programmed to use the predetermined locations to determine the position and/or the orientation of the welding surface 88. In other embodiments, the location of the first and second markers 95 and 96 may be provided to the welding software during calibration. With the first and second markers 95 and 96 on the welding surface 88, the sensing device 16 may sense the position and/or orientation of the first and second markers 95 and 96 relative to the sensing device 16. Using this sensed data in conjunction with the location of the first and second markers 95 and 96 on the welding surface 88, the welding software may be able to calibrate the position and/or orientation of the welding surface 88 relative to the sensing device 16. In some embodiments, the welding surface 88 may be removable and/or reversible. In such embodiments, the welding surface 88 may be flipped over, such as if the welding surface 88 become worn.
In the illustrated embodiment, the workpiece 84 includes a first marker 98 and a second marker 99. The first and second markers 98 and 99 may be used together to determine a position and/or an orientation of the workpiece 84. As may be appreciated, at least two markers are used to determine the position and/or the orientation of the workpiece 84. In certain embodiments, more than two markers may be used to determine the position and/or the orientation of the workpiece 84. The first and second markers 98 and 99 may be formed from any suitable material. Moreover, in certain embodiments, the first and second markers 98 and 99 may be built into the workpiece 84, while in other embodiments, the first and second markers 98 and 99 may be attached to the workpiece 84. For example, the first and second markers 98 and 99 may be attached to the workpiece 84 using an adhesive and/or the first and second markers 98 and 99 may be stickers. As a further example, the first and second markers 98 and 99 may be clipped or clamped onto the workpiece 84. The first and second markers 98 and 99 may have any suitable shape, size, and/or color. Furthermore, in certain embodiments, the first and second markers 98 and 99 may be a reflector formed from a reflective material. The first and second markers 98 and 99 may be used by the welding system 10 to calibrate the position and/or orientation of the workpiece 84 relative to the sensing device 16 without a separate calibration device. Accordingly, the first and second markers 98 and 99 are configured to be detected by the sensing device 16. In certain embodiments, the first and second markers 98 and 99 may be positioned at predetermined locations on the workpiece 84. Furthermore, the welding software may be programmed to use the predetermined locations to determine the position and/or the orientation of the workpiece 84. In other embodiments, the location of the first and second markers 98 and 99 may be provided to the welding software during calibration. With the first and second markers 98 and 99 on the workpiece 84, the sensing device 16 may sense the position and/or orientation of the first and second markers 98 and 99 relative to the sensing device 16. Using this sensed data in conjunction with the location of the first and second markers 98 and 99 on the workpiece 84, the welding software may be able to calibrate the position and/or orientation of the workpiece 84 relative to the sensing device 16. While the markers 95, 96, 98, and 99 have been described herein as being detected by the sensing device 16, in certain embodiments, the markers 95, 96, 98, and 99 may indicate locations where a calibration device is to be touched for calibration using the calibration device, as described previously.
The stand 12 includes a first arm 100 extending vertically from the welding surface 88 and configured to provide support for the sensing device 16 and the display 32. A knob 101 is attached to the first arm 100 and may be used to adjust an orientation of the sensing device 16 relative to the first arm 100. For example, as the knob 101 is adjusted, mechanical components extending through the first arm 100 may adjust an angle of the sensing device 16. The display 32 includes a cover 102 to protect the display 32 from welding emissions that may occur during a live welding operation. The cover 102 may be made from any suitable material, such as a transparent material, a polymer, and so forth. By using a transparent material, a welding operator may view the display 32 while the cover 102 is positioned in front of the display 32, such as before, during, and/or after a welding operation. A camera 104 may be coupled to the first arm 100 for recording welding operations. In certain embodiments, the camera 104 may be a high dynamic range (HDR) camera. Furthermore, an emitter 105 may be coupled to the first arm 100. The emitter 105 may be used to calibrate the position and/or orientation of the welding surface 88 relative to the sensing device 16. For example, the emitter 105 may be configured to emit a visible pattern onto the welding surface 88. The visible pattern may be shown onto the welding surface 88. Furthermore, the visible pattern may be detected by the sensing device 16 to calibrate the position and/or the orientation of the welding surface 88 relative to the sensing device 16. For example, based on particular features of the visible pattern alignments and/or orientations may be determined by the sensing device 16 and/or the welding software. Moreover, the visible pattern emitted by the emitter 105 may be used to facilitate positioning of the workpiece 84 on the welding surface 88.
The stand 12 also includes a second arm 106 extending vertically from the welding surface 88 and configured to provide support for a welding plate 108 (e.g., vertical welding plate, horizontal welding plate, overhead welding plate, etc.). The second arm 106 may be adjustable to facilitate overhead welding at different heights. Moreover, the second arm 106 may be manufactured in a number of different ways to facilitate overhead welding at different heights. The welding plate 108 is coupled to the second arm 106 using a mounting assembly 110. The mounting assembly 110 facilitates rotation of the welding plate 108 as illustrated by arrow 111. For example, the welding plate 108 may be rotated from extending generally in the horizontal plane (e.g., for overhead welding), as illustrated, to extend generally in the vertical plane (e.g., for vertical welding). The welding plate 108 includes a welding surface 112. The welding surface 112 includes slots 114 that may aid a welding operator in positioning the workpiece 84 on the welding surface 112, similar to the slots 91 on the welding surface 88. In certain embodiments, the position of the workpiece 84 may be provided to welding software of the welding system 10 to calibrate the welding system 10. For example, a welding operator may provide an indication to the welding software identifying which slot 114 of the welding surface 112 the workpiece 84 is aligned with. Furthermore, a predefined welding assignment may direct the welding operator to align the workpiece 84 with a particular slot 114. In certain embodiments, the workpiece 84 may include an extension configured to extend into one or more of the slots 114 for alignment of the workpiece 84 with the one or more slots 114. As may be appreciated, each of the slots 114 may be positioned at a location corresponding to a respective location defined in the welding software.
The welding surface 112 also includes a first marker 116 and a second marker 118. The first and second markers 116 and 118 may be used together to determine a position and/or an orientation of the welding surface 112. As may be appreciated, at least two markers are used to determine the position and/or the orientation of the welding surface 112. In certain embodiments, more than two markers may be used to determine the position and/or the orientation of the welding surface 112. The first and second markers 116 and 118 may be formed from any suitable material. Moreover, in certain embodiments, the first and second markers 116 and 118 may be built into the welding surface 112 (or another part of the welding plate 108), while in other embodiments, the first and second markers 116 and 118 may be attached to the welding surface 112 (or another part of the welding plate 108). For example, the first and second markers 116 and 118 may be attached to the welding surface 112 using an adhesive and/or the first and second markers 116 and 118 may be stickers. As a further example, the first and second markers 116 and 118 may be clipped or clamped onto the welding surface 112. In some embodiments, the first and second markers 116 and 118 may be integrated into a holding clamp that is clamped onto a welding coupon. The first and second markers 116 and 118 may have any suitable shape, size, and/or color. Furthermore, in certain embodiments, the first and second markers 116 and 118 may be a reflector formed from a reflective material.
The first and second markers 116 and 118 may be used by the welding system 10 to calibrate the position and/or orientation of the welding surface 112 relative to the sensing device 16 without a separate calibration device. Accordingly, the first and second markers 116 and 118 are configured to be detected by the sensing device 16. In certain embodiments, the first and second markers 116 and 118 may be positioned at predetermined locations on the welding surface 112. Furthermore, the welding software may be programmed to use the predetermined locations to determine the position and/or the orientation of the welding surface 112. In other embodiments, the location of the first and second markers 116 and 118 may be provided to the welding software during calibration. With the first and second markers 116 and 118 on the welding surface 112, the sensing device 16 may sense the position and/or orientation of the first and second markers 116 and 118 relative to the sensing device 16. Using this sensed data in conjunction with the location of the first and second markers 116 and 118 on the welding surface 112, the welding software may be able to calibrate the position and/or orientation of the welding surface 112 relative to the sensing device 16. Furthermore, the sensing device 16 may sense and/or track the first and second markers 116 and 118 during a weld to account for any movement of the welding plate 108 that may occur during the weld. While the markers 116 and 118 have been described herein as being detected by the sensing device 16, in certain embodiments, the markers 116 and 118 may indicate locations where a calibration device is to be touched or inserted for calibration using the calibration device, as described previously.
During calibration, the sensing device 16 may sense a position of the calibration device 120 and/or an orientation of the calibration device 120. The position and/or orientation of the calibration device 120 may be used by the welding software to determine a position and/or orientation of one or more of the welding surfaces 88 and 112 relative to the sensing device 16, a position and/or orientation of the workpiece 84 relative to the sensing device 16, a position and/or orientation of a fixture relative to the sensing device 16, and so forth. Thus, the calibration device 120 may facilitate calibration of the welding system 10. In some embodiments, a tray may be positioned beneath the welding surface 88 for storing the calibration device 120. Moreover, in certain embodiments live welding may be disabled if the calibration device 120 is able to be tracked by the sensing device 16 (e.g., to block spatter from contacting the calibration device 120).
In the illustrated embodiment, the fixture assembly 132 is configured to secure a lower portion 138 of the workpiece 84 to an upper portion 140 of the workpiece 84 for performing a lap weld. In other embodiments, the fixture assembly 132 may be configured to secure portions of the workpiece 84 for performing a butt weld, a fillet weld, and so forth, to aid a welding operator in performing a weld. The fixture assembly 132 includes vertical arms 142 extending from a base 143. A cross bar 144 extends between the vertical arms 142, and is secured to the vertical arms 142. Adjustment mechanisms 146 (e.g., knobs) may be adjusted to direct locking devices 148 toward the workpiece 84 for securing the workpiece 84 between the locking devices 148 and the base 143 of the fixture assembly 132. Conversely, the adjustment mechanisms 146 may be adjusted to direct the locking devices 148 away from the workpiece 84 for removing the workpiece 84 from being between the locking devices 148 and the base 143. Accordingly, the workpiece 84 may be selectively secured to the fixture assembly 132.
Each of the physical marks 188, 190, 192, 194, 196, 198, 200, 202, and 204 indicates a location on the welding consumable 186 relative to either a first end 206, or a second end 208 of the welding consumable 186. For example, the physical mark 188 may indicate a distance from the first end 206, a distance from the second end 208, or some other location relative to the welding consumable 186. In certain embodiments, the physical marks 188, 190, 192, 194, 196, 198, 200, 202, and 204 may indicate a number that corresponds to the first end 206 and/or the second end 208. For example, the physical mark 188 may indicate a number “1” indicating that it is the first physical mark from the first end 206 and/or the physical mark 188 may indicate a number “9” indicating that it is the ninth physical mark from the second end 208. A processing device may use a lookup table to determine a distance from the first end 206 or the second end 208 based on the number indicated by the physical mark.
A camera-based detection system, which may include the sensing device 16, or another type of system is configured to detect the physical marks 188, 190, 192, 194, 196, 198, 200, 202, and 204 during live arc welding or a welding simulation. Moreover, the camera-based detection system is configured to determine a remaining length of the welding consumable 186, a consumed length of the welding consumable 186, a rate of use of the welding consumable 186, a dipping rate of the welding consumable 186, and so forth, based on the detected physical marks. Accordingly, data corresponding to use of the welding consumable 186 may be tracked by the welding system 10 for training and/or analysis.
Each of the physical marks 212, 214, 216, and 218 indicates a location on the welding wire 210 relative to either a first end 220, or a second end 222 of the welding wire 210. For example, the physical mark 212 may indicate a distance from the first end 220, a distance from the second end 222, or some other location relative to the welding wire 210. In certain embodiments, the physical marks 212, 214, 216, and 218 may indicate a number that corresponds to the first end 220 and/or the second end 222. For example, the physical mark 212 may indicate a number “1” indicating that it is the first physical mark from the first end 220 and/or the physical mark 212 may indicate a number “4” indicating that it is the fourth physical mark from the second end 222. A processing device may use a lookup table to determine a distance from the first end 220 or the second end 222 based on the number indicated by the physical mark.
A camera-based detection system, which may include the sensing device 16, or another type of system is configured to detect the physical marks 212, 214, 216, and 218 during live arc welding or a welding simulation. Moreover, the camera-based detection system is configured to determine a remaining length of the welding wire 210, a consumed length of the welding wire 210, a rate of use of the welding wire 210, a dipping rate of the welding wire 210, and so forth, based on the detected physical marks. Accordingly, data corresponding to use of the welding wire 210 may be tracked by the welding system 10 for training and/or analysis.
A cord 230 extends between the knob 101 and the sensing device 16. The cord 230 is routed through a pulley 232 to facilitate rotation of the sensing device 16. Thus, a welding operator may rotate the knob 101 to manually adjust the angle of the sensing device 16. As may be appreciated, the combination of the cord 230 and the pulley 232 is one example of a system for rotating the sensing device 16. It should be noted that any suitable system may be used to facilitate rotation of the sensing device 16. While one embodiment of a knob 101 is illustrated, it may be appreciated that any suitable knob may be used to adjust the angle of the sensing device 16. Furthermore, the angle of the sensing device 16 may be adjusted using a motor 234 coupled to the cord 230. Accordingly, a welding operator may operate the motor 234 to adjust the angle of the sensing device 16. Moreover, in certain embodiments, control circuitry may be coupled to the motor 234 and may control the angle of the sensing device 16 based on a desired field of view of the sensing device 16 and/or based on tracking of an object within the field of view of the sensing device 16.
The welding software 244 may receive signals from an audio input 254. The audio input 254 may be configured to enable a welding operator to operate the welding software 244 using audible commands (e.g., voice activation). Furthermore, the welding software 244 may be configured to provide an audio output 256 and/or a video output 258. For example, the welding software 244 may provide audible information to a welding operator using the audio output 256. Such audible information may include instructions for configuring (e.g., setting up) the welding system 10, real-time feedback provided to a welding operator during a welding operation, instructions to a welding operator before performing a welding operation, instructions to a welding operator after performing a welding operation, warnings, and so forth.
In certain embodiments, the welding operator may interact with the virtual objects without touching a physical object. For example, the sensing device 16 may detect movement of the welding operator and may result in similar movements occurring in the VR simulation 260 based on the welder operator's movements in the real world. In other embodiments, the welding operator may use a glove or the welding torch 14 to interact with the virtual objects. For example, the glove or the welding torch 14 may be detected by the sensing device 16, and/or the glove or the welding torch 14 may correspond to a virtual object in the VR simulation 260. Furthermore, the welding operator may be able to operate the welding software 244 within the VR simulation 260 using the virtual software configuration 270 and/or the virtual training data results 272. For example, the welding operator may use their hand, the glove, or the welding torch 14 to select items within the welding software 244 that are displayed virtually within the VR simulation 260. Moreover, the welding operator may perform other actions such as picking up wire cutters and cutting virtual welding wire extending from the virtual torch 266, all within the VR simulation 260.
The first set of welding data and/or the second set of welding data may include a welding torch orientation, a welding torch travel speed, a welding torch position, a contact tip to workpiece distance, a proximity of the welding torch in relation to the workpiece, an aim of the welding torch, a welding score, a welding grade, and so forth. Moreover, the first set of welding data and the second set of welding data may correspond to training performed by one welding operator and/or by a class of welding operators. Furthermore, the first welding assignment and the second welding assignment may correspond to training performed by one welding operator and/or by a class of welding operators. In certain embodiments, the first welding assignment may correspond to training performed by a first welding operator, and the second welding assignment may correspond to welding performed by a second welding operator. Moreover, the first assignment and the second assignment may correspond to the same welding scenario.
The certification status data 326 may include welding data of the welding operator (e.g., any data that is related to the assignments to certify the welding operator), any data related to an actual certification (e.g., certified, not certified, qualified, not qualified, etc.), a quantity of one or more welds performed by the welding operator, a timestamp for one or more welds performed by the welding operator, welding parameter data for one or more welds performed by the welding operator, a quality ranking of the welding operator, a quality level of the welding operator, a history of welds performed by the welding operator, a history of production welds performed by the welding operator, a first welding process (e.g., a metal inert gas (MIG) welding process, a tungsten inert gas (TIG) welding process, a stick welding process, etc.) certification status (e.g., the welding operator is certified for the first welding process, the welding operator is not certified for the first welding process), a second welding process certification status (e.g., the welding operator is certified for the second welding process, the welding operator is not certified for the second welding process), a first welding device (e.g., a wire feeder, a power supply, a model number, etc.) certification status (e.g., the welding operator is certified for the first welding device, the welding operator is not certified for the first welding device), and/or a second welding device certification status (e.g., the welding operator is certified for the second welding device, the welding operator is not certified for the second welding device).
The control circuitry 320 may be configured to receive a request for the first welding process certification status, the second welding process certification status, the first welding device certification status, and/or the second welding device certification status of the welding operator. Furthermore, the control circuitry 320 may be configured to provide a response to the request. The response to the request may include the first welding process certification status, the second welding process certification status, the first welding device certification status, and/or the second welding device certification status of the welding operator. In certain embodiments, the welding operator may be authorized to use a first welding process, a second welding process, a first welding device, and/or a second welding device based at least partly on the response. Furthermore, in some embodiments, the first welding process, the second welding process, the first welding device, and/or the second welding device of a welding system may be enabled or disabled based at least partly on the response. Moreover, in certain embodiments, the first welding process, the second welding process, the first welding device, and/or the second welding device of a welding system may be enabled or disabled automatically. Thus, a welding operator's certification data may be used to enable and/or disable that welding operator's ability to use a particular welding system, welding device, and/or welding process. For example, a welding operator may have a certification for a first welding process, but not for a second welding process. Accordingly, in certain embodiments, a welding operator may verify their identity at a welding system (e.g., by logging in or some other form of authentication). After the identity of the welding operator is verified, the welding system may check the welding operator's certification status. The welding system may enable the welding operator to perform operations using the first welding process based on the welding operator's certification status, but may block the welding operator from performing the second welding process based on the welding operator's certification status.
As illustrated, graphically illustrated parameters may include an indication 339 of a current value of a parameter (e.g., while performing a welding assignment). Furthermore, a graph 340 may show a history of the value of the parameter, and a score 341 may show an overall percentage that corresponds to how much time during the welding assignment that the welding operator was within a range of acceptable values. In certain embodiments, a video replay 342 of a welding assignment may be provided on the screen 327. The video replay 342 may show live video of a welding operator performing a real weld, live video of the welding operator performing a simulated weld, live video of the welding operator performing a virtual reality weld, live video of the welding operator performing an augmented reality weld, live video of a welding arc, live video of a weld puddle, and/or simulated video of a welding operation.
In certain embodiments, the welding system 10 may capture video data during a welding assignment, and store the video data on the storage device 24. Moreover, the welding software 244 may be configured to retrieve the video data from the storage device 24, to retrieve welding parameter data from the storage device 24, to synchronize the video data with the welding parameter data, and to provide the synchronized video and welding parameter data to the display 32.
The welding software 244 may analyze welding parameter data to determine a traversed path 344 that may be shown on the display 32. In some embodiments, a time 346 during a weld may be selected by a welding operator. By selecting the time 346, the welding operator may view the video replay 342 and/or the traversed path 344 in conjunction with the welding parameters as they were at the selected time 346 in order to establish a correlation between the welding parameters, the video replay 342, and/or the traversed path 344. The welding software 244 may be configured to recreate welding data based at least partly on welding parameter data, to synchronize the video replay 342 with the recreated welding data, and to provide the synchronized video replay 342 and recreated welding data to the display 32. In certain embodiments, the recreated welding data may be weld puddle data and/or a simulated weld.
In certain embodiments, the storage device 24 may be configured to store a first data set corresponding to multiple welds performed by a welding operator, and to store a second data set corresponding to multiple non-training welds performed by the welding operator. Furthermore, the control circuitry 320 may be configured to retrieve at least part of the first data set from the storage device 24, to retrieve at least part of the second data set from the storage device 24, to synchronize the at least part of the first data set with the at least part of the second data set, and to provide the synchronized at least part of the first data set and at least part of the second data set to the display 32.
The welding instructor screen 368 may be configured to enable a welding instructor to restrict training of a welding operator 376 (e.g., to one or more selected welding configurations), to restrict training of a class of welding operators 378 (e.g., to one or more selected welding configurations), and/or to restrict training of a portion of a class of welding operators 380 (e.g., to one or more selected welding configurations). Moreover, the welding instructor screen 368 may be configured to enable the welding instructor to assign selected training assignments to the welding operator 382, to assign selected training assignments to a class of welding operators 384, and/or to assign selected training assignments to a portion of a class of welding operators 386. Furthermore, the welding instructor screen 368 may be configured to enable the welding instructor to automatically advance the welding operator (or a class of welding operators) from a first assignment to a second assignment 388. For example, the welding operator may advance from a first assignment to a second assignment based at least partly on a quality of performing the first assignment.
If the augmented realty mode 252 has not been selected, the welding software 244 determines whether the live-arc mode 246 has been selected (block 402). If the live-arc mode 246 has been selected, the welding software 244 enters the live-arc mode 246 and the welding operator may perform the live-arc weld (block 404). If the live-arc mode 246 has not been selected and/or after executing block 404, the welding software 244 returns to block 390. Accordingly, the welding software 244 is configured to enable a welding operator to practice a weld in the augmented reality mode 252, to erase at least a portion of the virtual welding environment from the practice weld, and to perform a live weld in the live-arc mode 246. In certain embodiments, the welding operator may practice the weld in the augmented reality mode 252 consecutively a multiple number of times.
If the augmented realty mode 252 has not been selected, the welding software 244 determines whether the live-arc mode 246 has been selected (block 420). If the live-arc mode 246 has been selected, the welding software 244 enters the live-arc mode 246 and the welding operator may perform the live-arc weld (block 422). If the live-arc mode 246 has not been selected and/or after executing block 422, the welding software 244 returns to block 408. Accordingly, the welding software 244 is configured to enable a welding operator to practice a weld in the augmented reality mode 252, to erase at least a portion of the virtual welding environment from the practice weld, and to perform a live weld in the live-arc mode 246. In certain embodiments, the welding operator may practice the weld in the augmented reality mode 252 consecutively a multiple number of times.
During operation, the welding torch 14 may be configured to use the temperature sensor 424 to detect a temperature associated with the welding torch 14 (e.g., a temperature of electronic components of the welding torch 14, a temperature of the display 62, a temperature of a light-emitting device, a temperature of the vibration device, a temperature of a body portion of the welding torch 14, etc.). The control circuitry 52 (or control circuitry of another device) may use the detected temperature to perform various events. For example, the control circuitry 52 may be configured to disable use of the live-arc mode 246 (e.g., live welding) by the welding torch 14 if the detected temperature reaches and/or surpasses a predetermined threshold (e.g., such as 85° C.). Moreover, the control circuitry 52 may also be configured to disable various heat producing devices of the welding torch 14, such as the vibration device 428, light-emitting devices, and so forth. The control circuitry 52 may also be configured to show a message on the display 62, such as “Waiting for torch to cool down. Sorry for the inconvenience.” In certain embodiments, the control circuitry 52 may be configured to disable certain components or features if the detected temperature reaches a first threshold and to disable additional components or features if the detected temperature reaches a second threshold.
Moreover, during operation, the welding torch 14 may be configured to use the motion sensor 426 to detect a motion (e.g., acceleration, etc.) associated with the welding torch 14. The control circuitry 52 (or control circuitry of another device) may use the detected acceleration to perform various events. For example, the control circuitry 52 may be configured to activate the display 62 (or another display) after the motion sensor 426 detects that the welding torch 14 has been moved. Accordingly, the control circuitry 52 may direct the display 62 to “wake up,” such as from a sleep mode and/or to exit a screen saver mode to facilitate a welding operator of the welding torch 14 using a graphical user interface (GUI) on the display 62.
In certain embodiments, the control circuitry 52 may be configured to determine that a high impact event (e.g., dropped, used as a hammer, etc.) to the welding torch 14 has occurred based at least partly on the detected motion. Upon determining that a high impact event has occurred, the control circuitry 52 may store (e.g., log) an indication that the welding torch 14 has been impacted. Along with the indication, the control circuitry 52 may store other corresponding data, such as a date, a time, an acceleration, a user name, welding torch identification data, and so forth. The control circuitry 52 may also be configured to show a notice on the display 62 to a welding operator requesting that the operator refrain from impacting the welding torch 14. In some embodiments, the control circuitry 52 may be configured to use the motion detected by the motion sensor 426 to enable the welding operator to navigate and/or make selections within a software user interface (e.g., welding software, welding training software, etc.). For example, the control circuitry 52 may be configured to receive the acceleration and to make a software selection if the acceleration matches a predetermined pattern (e.g., the acceleration indicates a jerky motion in a certain direction, the acceleration indicates that the welding torch 14 is being shaken, etc.).
The vibration device 428 is configured to provide feedback to a welding operator by directing the welding torch 14 to vibrate and/or shake (e.g., providing vibration or haptic feedback). The vibration device 428 may provide vibration feedback during live welding and/or during simulated welding. As may be appreciated, vibration feedback during live welding may be tuned to a specific frequency to enable a welding operator to differentiate between vibration that occurs due to live welding and the vibration feedback. For example, vibration feedback may be provided at approximately 3.5 Hz during live welding. Using such a frequency may enable a welding operator to detect when vibration feedback is occurring at the same time that natural vibration occur due to live welding. Conversely, vibration feedback may be provided at approximately 9 Hz during live welding. However, the 9 Hz frequency may be confused with natural vibration that occurs due to live welding.
If the parameter is within the first predetermined range, the control circuitry 52 vibrates the welding torch at a first pattern (block 436). The first pattern may be a first frequency, a first frequency modulation, a first amplitude, and so forth. Moreover, if the parameter is not within the first predetermined range, the control circuitry 52 determines whether the parameter is within a second predetermined range (block 438). The second predetermined range may be a range that is just outside of the first predetermined range. For example, continuing the example discussed above, the second predetermined range may be 55 to 60 degrees. Accordingly, in such an example, the control circuitry 52 determines whether the work angle is within the second predetermined range of 55 to 60 degrees. If the parameter is within the second predetermined range, the control circuitry 52 vibrates the welding torch at a second pattern (block 440). The second pattern may be a second frequency, a second frequency modulation, a second amplitude, and so forth. It should be noted that the second pattern is typically different than the first pattern. In certain embodiments, the first and second patterns may be the same. Furthermore, audible indications may be provided to the welding operator to indicate whether the parameter is within the first predetermined range or within the second predetermined range. In addition, audible indications may be used to indicate a parameter that is not within an acceptable range. In such embodiments, vibration may be used to indicate that a welding operator is doing something wrong, and audible indications may be used to identify what the welding operator is doing wrong and/or how to fix it. The parameter may be any suitable parameter, such as a work angle, a travel angle, a travel speed, a tip-to-work distance, and/or an aim.
As illustrated, a neck 470 extends from the housing 466 of the welding torch 14. Markers for tracking the welding torch 14 may be disposed on the neck 470. Specifically, a mounting bar 472 is used to couple markers 474 to the neck 470. The markers 474 are spherical markers in the illustrated embodiment; however, in other embodiments, the markers 474 may be any suitable shape (e.g., such as a shape of an LED). The markers 474 are used by the sensing device 16 for tracking the position and/or the orientation of the welding torch 14. As may be appreciated, three of the markers 474 are used to define a first plane. Moreover, the markers 474 are arranged such that a fourth marker 474 is in a second plane different than the first plane. Accordingly, the sensing device 16 may be used to track the position and/or the orientation of the welding torch 14 using the four markers 474. It should be noted that while the illustrated embodiment shows four markers 474, the mounting bar 472 may have any suitable number of markers 474.
In certain embodiments, the markers 474 may be reflective markers, while in other embodiments the markers 474 may be light-emitting markers (e.g., light-emitting diodes LEDs). In embodiments in which the markers 474 are light-emitting markers, the markers 474 may be powered by electrical components within the housing 466 of the welding torch 14. For example, the markers 474 may be powered by a connection 476 between the mounting bar 472 and the housing 466. Furthermore, the control circuitry 52 (or control circuitry of another device) may be used to control powering on and/or off (e.g., illuminating) the markers 474. In certain embodiments, the markers 474 may be individually powered on and/or off based on the position and/or the orientation of the welding torch 14. In other embodiments, the markers 474 may be powered on and/or off in groups based on the position and/or the orientation of the welding torch 14. It should be noted that in embodiments that do not include the mounting bar 472, the connection 476 may be replaced with another marker 468 on a separate plane than the illustrated markers 468.
For example, the welding operator may desire to begin the welding operation with a proper work angle. Accordingly, the welding operator may select “work angle” on the welding torch 14. After “work angle” is selected, the welding operator may position the welding torch 14 at a desired work angle. As the welding operator moves the welding torch 14, a current work angle is displayed in relation to a desired work angle. Thus, the welding operator may move the welding torch 14 around until the current work angle matches the desired work angle and/or is within a desired range of work angles. As may be appreciated, the display 62 may be turned off and/or darkened so that it is blank during a welding operation. However, a welding operator may select a desired welding parameter prior to performing the welding operation. Even with the display 62 blank, the control circuitry 52 may be configured to monitor the welding parameter and provide feedback to the welding operator during the welding operation (e.g., vibration feedback, audio feedback, etc.).
As may be appreciated, the sensing device 16 may be configured to detect whether the travel angle is a drag angle (e.g., the travel angle is ahead of the welding arc) or a push angle (e.g., the travel angle follows behind the welding arc). Accordingly, screen 494 illustrates a drag travel angle of 23 that is outside of a predetermined threshold range as indicated by an arrow extending outward from a central circle. Conversely, screen 496 illustrates a push travel angle of 15 that is within the predetermined threshold range as indicated by no arrow extending from the central circle. Furthermore, screen 498 illustrates a travel speed of 12 that is within of a predetermined threshold range as indicated by a vertical line aligned with the central circle. Conversely, screen 500 illustrates a travel speed of 18 that is outside of the predetermined threshold range as indicated by the vertical line to the right of the central circle.
Screen 502 illustrates a tip-to-work distance of 1.5 that is greater than a predetermined threshold range as indicated by a small circle within an outer band. Moreover, screen 504 illustrates the tip-to-work distance of 0.4 that is less than a predetermined threshold range as indicated by the circle outside of the outer band. Furthermore, screen 506 illustrates the tip-to-work distance of 1.1 that is within the predetermined threshold range as indicated by the circle substantially filling the area within the outer band. Moreover, screen 508 illustrates an aim of 0.02 that is within a predetermined threshold range as indicated by a horizontal line aligned with a central circle. Conversely, screen 510 illustrates an aim of 0.08 that is not within the predetermined threshold range as indicated by the horizontal line toward the top part of the central circle. While specific graphical representations have been shown on the display 62 in the illustrated embodiment for showing a welding parameter in relation to a threshold, other embodiments may use any suitable graphical representations for showing a welding parameter in relation to a threshold. Moreover, in certain embodiments individual parameter visual guides may be combined so that multiple parameters are visually displayed together.
Furthermore, in certain embodiments, the welding system 10 may detect if the welding torch 14 is near and/or far from a welding joint. Being near the welding joint is a function of the contact tip-to-work distance (CTWD) and aim parameters. When both the CTWD and aim parameters are within suitable predetermined ranges, the welding system 10 may consider the welding torch 14 near the welding joint. Moreover, when the welding torch 14 is near the welding joint, the visual guides may be displayed on the welding torch 14. When the welding torch 14 is near the welding joint and in the live welding mode, a message (e.g., warning message) may be displayed on a display indicating that proper welding equipment (e.g., welding helmet, etc.) should be in place as a safety precaution for onlookers. However, an external display may continue to display the real-time data at a safe distance from the welding operation. Moreover, in some embodiments, when the welding torch 14 is near the welding joint and in the live welding mode, the display of the welding torch 14 may be changed (e.g., to substantially blank and/or clear, to a non-distracting view, to a predetermined image, etc.) while a welding operator actuates the trigger of the welding torch 14. When the welding torch 14 is far from the welding joint, actuating the trigger of the welding torch 14 will not perform (e.g., begin) a test run. Furthermore, when the welding torch 14 is far from the welding joint, actuating the welding torch 14 will have no effect in a non-live welding mode, and may feed welding wire in the live welding mode without beginning a test run.
Moreover, the one or more cameras are used to detect a second position (e.g., second calibration point) of the curved weld joint (block 534). For example, the calibration tool and/or the welding torch 14 may be used to identify the second position of the curved weld joint to the one or more cameras. In addition, the one or more cameras may be used to track the calibration tool and/or the welding torch 14 to determine a position and/or an orientation of the calibration tool and/or the welding torch 14 for detecting the second position of the curved weld joint. Furthermore, the one or more cameras are used to detect a curved portion of the curved weld joint between the first and second positions of the curved weld joint (block 536). For example, the calibration tool and/or the welding torch 14 may be used to identify the curved weld joint between the first and second positions of the curved weld joint. In addition, the one or more cameras may be used to track the calibration tool and/or the welding torch 14 to determine a position and/or an orientation of the calibration tool and/or the welding torch 14 for detecting the curved portion of the curved weld joint. As may be appreciated, during operation, the first position may be detected, then the curved weld joint may be detected, and then the second position may be detected. However, the detection of the first position, the second position, and the curved weld joint may occur in any suitable order. In certain embodiments, a representation of the curved portion of the curved weld joint may be stored for determining a quality of a welding operation by comparing a position and/or an orientation of the welding torch 14 during the welding operation to the stored representation of the curved portion of the curved weld joint. As may be appreciated, in certain embodiments, the welding operation may be a multi-pass welding operation.
Moreover, calibration for some joints, such as circular weld joints (e.g., pipe joints) may be performed by touching the calibration tool to three different points around the circumference of the circular weld joint. A path of the circular weld joint may then be determined by calculating a best-fit circle that intersects all three points. The path of the circular weld joint may be stored and used to evaluate welding parameters of training welds. For a more complex geometry, the calibration tool might be dragged along the entire joint in order to indicate the joint to the system so that all of the parameters may be calculated.
Drawers 558 are attached to the welding stand 12 to enable storage of various components with the welding stand 12. Moreover, wheels 560 are coupled to the welding stand 12 to facilitate easily moving the welding stand 12. Adjacent to the drawers 558, a calibration tool holder 562 and a welding torch holder 564 enable storage of a calibration tool and the welding torch 14. In certain embodiments, the welding system 10 may be configured to detect that the calibration tool is in the calibration tool holder 562 at various times, such as before performing a welding operation. A support structure 566 extending vertically from the welding surface 88 is used to provide structure support to the sensing device 16 and the display 32. Moreover, a tray 568 is coupled to the support structure 566 to facilitate storage of various components.
The protective cover 102 is positioned over the display 32 to block certain environmental elements from contacting the display 32 (e.g., weld spatter, smoke, sparks, heat, etc.). A handle 570 is coupled to the protective cover 102 to facilitate rotation of the protective cover 102 from a first position (as illustrated) used to block certain environmental elements from contacting the display 32 to a second raised position away from the display 32, as illustrated by arrows 572. The second position is not configured to block the environmental elements from contacting the display 32. In certain embodiments, the protective cover 102 may be held in the first and/or the second position by a latching device, a shock, an actuator, a stop, and so forth.
A switch 573 is used to detect whether the protective cover 102 is in the first position or in the second position. Moreover, the switch 573 may be coupled to the control circuitry 52 (or control circuitry of another device) and configured to detect whether the protective cover 102 is in the first or the second position and to block or enable various operations (e.g., live welding, auxiliary power, etc.) while the switch 573 detects that the protective cover 102 is in the first and/or the second position. For example, if the switch 573 detects that the protective cover 102 is in the second position (e.g., not properly covering the display 32), the control circuitry 52 may block live welding and/or simulation welding (with the protective cover 102 in the second position the sensing device 16 may be unable to accurately detect markers). As another example, if the switch 573 detects that the protective cover 102 is in the second position, control circuitry of the welding stand 12 may block the availability of power provided to an outlet 574 of the welding stand 12. In certain embodiments, the display 32 may show an indication that the protective cover 102 is in the first and/or the second position. For example, while the protective cover 102 is in the second position, the display 32 may provide an indication to the welding operator that live welding and/or power at the outlet 574 are unavailable. The welding stand 12 includes speakers 575 to enable audio feedback to be provided to a welding operator using the welding stand 12. Furthermore, in certain embodiments, if the trigger of the welding torch 14 is actuated while the protective cover 102 is in the second position, the welding system 10 may provide visual and/or audio feedback to the operator (e.g., the welding system 10 may provide a visual message and an audible sound effect).
As illustrated, the support structure 566 includes a first arm 576 and a second arm 578. The first and second arms 576 and 578 are rotatable about the support structure 566 to enable the first and second arms 576 and 578 to be positioned at a selected height for vertical and/or overhead welding. In the illustrated embodiment, the first and second arms 576 and 578 are independently (e.g., separately) rotatable relative to one another so that the first arm 576 may be positioned at a first vertical position while the second arm 578 may be positioned at a second vertical position different from the first vertical position. In other embodiments, the first and second arms 576 and 578 are configured to rotate together. Moreover, in certain embodiments, the first and second arms 576 and 578 may be rotated independently and/or together based on a selection by a welding operator. As may be appreciated, in other embodiments, arms may not be coupled to the support structure 566, but instead may be positioned at other locations, such as being positioned to extend vertically above one or more front legs, etc. Furthermore, in some embodiments, a structure may be coupled to the welding stand 12 to facilitate a welding operator leaning and/or resting thereon (e.g., a leaning bar).
Each of the first and second arms 576 and 578 includes a shock 580 (or another supporting device) that facilitates holding the first and second arms 576 and 578 in selected vertical positions. Moreover, each of the first and second arms 576 and 578 includes a braking system 582 configured to lock the first and second arms 576 and 578 individually in selected positions. In certain embodiments, the braking system 582 is unlocked by applying a force to a handle, a switch, a pedal, and/or another device.
The workpiece 84 is coupled to the second arm 578 for overhead and/or vertical welding. Moreover, the first arm 576 includes the welding plate 108 for overhead, horizontal, and/or vertical welding. As may be appreciated, the workpiece 84, the welding plate 108, and/or a clamp used to hold the welding plate 108 may include multiple markers (e.g., reflective and/or light emitting) to facilitate tracking by the sensing device 16. For example, in certain embodiments, the workpiece 84, the welding plate 108, and/or the clamp may include three markers on one surface (e.g., in one plane), and a fourth marker on another surface (e.g., in a different plane) to facilitate tracking by the sensing device 16. As illustrated, a brake release 584 is attached to each of the first and second arms 576 and 578 for unlocking each braking system 582. In certain embodiments, a pull chain may extend downward from each brake release 584 to facilitate unlocking and/or lowering the first and second arms 576 and 578, such as while the brake release 584 of the first and second arms 576 and 578 are vertically above the reach of a welding operator. Thus, the welding operator may pull a handle of the pull chain to unlock the braking system 582 and/or to lower the first and second arms 576 and 578.
As illustrated, the second arm 578 includes a clamp assembly 588 for coupling the workpiece 84 to the second arm 578. Moreover, the clamp assembly 588 includes multiple T-handles 590 for adjusting, tightening, securing, and/or loosening clamps and other portions of the clamp assembly 588. In certain embodiments, the first arm 576 may also include various T-handles 590 for adjusting, tightening, securing, and/or loosening the welding plate 108. As may be appreciated, the clamp assembly 588 may include multiple markers (e.g., reflective and/or light emitting) to facilitate tracking by the sensing device 16. For example, in certain embodiments, the clamp assembly 588 may include three markers on one surface (e.g., in one plane), and a fourth marker on another surface (e.g., in a different plane) to facilitate tracking by the sensing device 16. It should be noted that the welding system 10 may include the clamp assembly 588 on one or both of the first and second arms 576 and 578.
The sensing device 16 includes a removable cover 592 disposed in front of one or more cameras of the sensing device 16 to block environmental elements (e.g., spatter, smoke, heat, etc.) or other objects from contacting the sensing device 16. The removable cover 592 is disposed in slots 594 configured to hold the removable cover 592 in front of the sensing device 16. In certain embodiments, the removable cover 592 may be inserted, removed, and/or replaced without the use of tools. As explained in detail below, the removable cover 592 may be disposed in front of the sensing device 16 at an angle to facilitate infrared light passing therethrough.
As illustrated, a linking assembly 596 may be coupled between the first and/or second arms 576 and 578 and the sensing device 16 to facilitate rotation of the sensing device 16 as the first and/or second arms 576 and 578 are rotated. Accordingly, as the first and/or second arms 576 and 578 are rotated, the sensing device 16 may also rotate such that one or more cameras of the sensing device 16 are positioned to track a selected welding surface. For example, if the first and/or second arms 576 and 578 are positioned in a lowered position, the sensing device 16 may be configured to track welding operations that occur on the welding surface 88. On the other hand, if the first and/or second arms 576 and 578 are positioned in a raised position, the sensing device 16 may be configured to track vertical, horizontal, and/or overhead welding operations. In some embodiments, the first and/or second arms 576 and 578 and the sensing device 16 may not be mechanically linked, yet rotation of the first and/or second arms 576 and 578 may facilitate rotation of the sensing device 16. For example, markers on the first and/or second arms 576 and 578 may be detected by the sensing device 16 and the sensing device 16 may move (e.g., using a motor) based on the sensed position of the first and/or second arms 576 and 578.
The handle 612 is coupled to a light-transmissive cover 616. Moreover, a gasket 618 is coupled to one end of the light-transmissive cover 616, while an end cap 620 is coupled to an opposite end of the light-transmissive cover 616. During operation, as a downward force is applied to the calibration tool 610 using the handle 612, a distance 622 between the tip 613 and the gasket 618 decreases.
In certain embodiments, the welding system 10 uses the calibration tool 610 to detect calibration points using a predetermined algorithm. For example, the third distance 646 between the tip 614 and the closest marker to the tip 614 (e.g., the first marker 630) is measured. The third distance 646 is stored in memory. The second distance 644 between two fixed markers (e.g., the first marker 630 and the second marker 632) is measured. The second distance 644 is also stored in memory. Furthermore, a compressed distance between the markers (e.g., the second and third markers 632 and 638) with the spring 640 disposed therebetween is measured. A line is calculated between the two fixed markers using their x, y, z locations. The line is used to project a vector along that line with a length of the third distance 646 starting at the first marker 630 closest to the tip 614. The direction of the vector may be selected to be away from the compressed markers. Accordingly, the three dimensional location of the tip may be calculated using the markers. In some embodiments, only two markers may be used by the calibration tool 610. In such embodiments, an assumption may be made that the marker closest to the tip 614 is the marker closest to the work surface (e.g., table or clamp). Although the calibration tool 610 in the illustrated embodiment uses compression to indicate a calibration point, the calibration tool 610 may indicate a calibration point in any suitable manner, such as by uncovering a marker, covering a marker, turning on an LED (e.g., IR LED), turning off an LED (e.g., IR LED), enabling and/or disabling a wireless transmission to a computer, and so forth.
The first, second, and third markers 630, 632, and 638 are spherical, as illustrated; however, in other embodiments, the first, second, and third markers 630, 632, and 638 may be any suitable shape. Moreover, the first, second, and third markers 630, 632, and 638 have a reflective outer surface and/or include a light-emitting device. Accordingly, the first, second, and third markers 630, 632, and 638 may be detected by the sensing device 16. Therefore, the sensing device 16 is configured to detect the first, second, and third distances 642, 644, and 646. As the first distance 642 decreases below a predetermined threshold, the computer 18 is configured to identify a calibration point. As may be appreciated, the first, second, and third distances 642, 644, and 646 are all different to enable the sensing device 16 and/or the computer 18 to determine a location of the tip 614 using the location of first, second, and third markers 630, 632, and 638.
To calibrate a workpiece, the workpiece may first be clamped to the welding surface 88. After the workpiece is clamped to the welding surface 88, a welding operator may provide input to the welding system 10 to signify that the workpiece is ready to be calibrated. In certain embodiments, the clamp used to secure the workpiece to the welding surface 88 may include markers that facilitate the welding system 10 detecting that the workpiece is clamped to the welding surface 88. After the welding system 10 receives an indication that the workpiece is clamped to the welding surface 88, the welding operator uses the calibration tool 610 to identify two calibration points. Specifically, in the illustrated embodiment, the welding operator touches the tip 614 to a first calibration point and applies downward force using the handle 612 until the welding system 10 detects a sufficient change in distance between adjacent markers, thereby indicating the first calibration point. Furthermore, the welding operator touches the tip 614 to a second calibration point and applies downward force using the handle 612 until the welding system 10 detects a sufficient change in distance between adjacent markers, thereby indicating the second calibration point. In certain embodiments, the welding system 10 will only detect a calibration point if the calibration tool 610 is pressed and held at the calibration point for a predetermine period of time (e.g., 0.1, 0.3, 0.5, 1.0, 2.0 seconds, and so forth). The welding system 10 may be configured to capture multiple calibration points (e.g., 50, 100, etc.) over the predetermined period of time and average them together. If movement of the multiple calibration points greater than a predetermined threshold is detected, the calibration may be rejected and done over. Furthermore, if a first point is successfully calibrated, a second point may be required to be a minimum distance away from the first point (e.g., 2, 4, 6 inches, etc.). If the second point is not the minimum distance away from the first point, calibration of the second point may be rejected and done over. The welding system 10 uses the two calibration points to calibrate the workpiece.
In certain embodiments, the welding system 10 may determine a virtual line between the first and second calibration points. The virtual line may be infinitely long and extend beyond the first and second calibration points. The virtual line represents a weld joint. Various welding parameters (e.g., work angle, travel angle, contact tip-to-work distance (CTWD), aim, travel speed, etc.) may be in reference to this virtual line. Accordingly, the virtual line may be important for calculating the various welding parameters.
It should be noted that in certain embodiments the first, second, and third markers 630, 632, and 638 are all disposed vertically above the handle 612, while in other embodiments, one or more of the first, second, and third markers 630, 632, and 638 are disposed vertically below the handle 612 to enable a greater distance between adjacent markers. In certain embodiments, the first portion 624 may be removed from the calibration tool 610 and coupled to a contact tip of the welding torch 14 for calibrating the welding torch 14. As may be appreciated, the tip 614 of the calibration tool 610 may be any suitable shape.
Specifically,
The welding system 10 determines a position of a calibration point if the first distance or the second distance is within the predetermined distance range (e.g., signifying a compressed distance) (block 662). In addition, the welding system 10 determines a location of a calibration tip of the calibration tool 610 relative to at least one of the first, second, and third markers to determine the spatial position of the calibration point (block 664).
For example, in certain embodiments, the welding system 10 determines whether the welding operation receives a passing score by determining whether: a distance of the path of the welding operation is greater than a predetermined lower threshold, the distance of the path of the welding operation is less than the predetermined lower threshold, the distance of the path of the welding operation is greater than a predetermined upper threshold, the distance of the path of the welding operation is less than the predetermined upper threshold, the path of the welding operation deviates substantially from a predetermined path of the welding operation, the path of the welding operation indicates that multiple welding passes occurred at a single location along a weld joint, a time of welding along the path of the welding operation is greater than a predetermined lower threshold, the time of welding along the path of the welding operation is less than the predetermined lower threshold, the time of welding along the path of the welding operation is greater than a predetermined upper threshold, and/or the time of welding along the path of the welding operation is less than the predetermined upper threshold.
Moreover, in some embodiments, for the welding system 10 to determine a score, the welding system 10 may disregard a first portion of the path adjacent to the initial position and a second portion of the path adjacent to the terminal position. For example, the first portion of the path and the second portion of the path may include a distance of approximately 0.5 inches. Moreover, in other embodiments, the first portion of the path and the second portion of the path may include portions of the path formed during a time of approximately 0.5 seconds.
Moreover, the control circuitry 52 may be configured to direct the welding torch 14 to vibrate any suitable number of times (e.g., predetermined number of times) to indicate a change to the live welding mode. As may be appreciated, the signal indicating the request to change the welding mode may be produced by pressing a button on the user interface of the welding torch 14. As such, the welding mode may be changed from the live welding mode by pressing and releasing the button (e.g., the button does not have to be held down for a predetermined period of time). In contrast, the welding mode may be changed from the simulation mode to the live welding mode by pressing and holding the button for a predetermined period of time. In certain embodiments, an audible sound may be produced after changing welding modes. Furthermore, in some embodiments an audible sound and a vibration may accompany any change between welding modes. In addition, a display of the welding torch 14 may show the welding mode after changing the welding mode. In some embodiments, the display may flash the welding mode on the display a predetermined number of times.
As may be appreciated, using the systems, devices, and techniques described herein, a welding system 10 may be provided for training welding operators. The welding system 10 may be cost efficient and may enable welding students to receive high quality hands on training.
As used herein, the term “predetermined range” may mean any of the following: a group of numbers bounded by a predetermined upper limit and a predetermined lower limit, a group of number greater than a predetermined limit, and a group of numbers less than a predetermined limit. Moreover, the range may include numbers equal to the one or more predetermined limits.
While only certain features of the invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.
| Number | Name | Date | Kind |
|---|---|---|---|
| 1340270 | Jahoda | May 1920 | A |
| 2045800 | Walther | Jun 1936 | A |
| 2045801 | Richter | Jun 1936 | A |
| 2045802 | Walther | Jun 1936 | A |
| 2333192 | Moberg | Nov 1943 | A |
| 2351910 | Blankenbuehler | Jun 1944 | A |
| 3391691 | Young | Jul 1968 | A |
| 3679865 | Jesnitzer | Jul 1972 | A |
| 3867769 | Schow | Feb 1975 | A |
| 4028522 | Chihoski | Jun 1977 | A |
| 4041615 | Whitehill | Aug 1977 | A |
| 4044377 | Bowerman | Aug 1977 | A |
| 4124944 | Blair | Nov 1978 | A |
| 4132014 | Schow | Jan 1979 | A |
| 4144766 | Wehrmeister | Mar 1979 | A |
| 4224501 | Lindbom | Sep 1980 | A |
| 4253648 | Meeks | Mar 1981 | A |
| 4294440 | Severt | Oct 1981 | A |
| 4375026 | Kearney | Feb 1983 | A |
| 4375165 | deSterke | Mar 1983 | A |
| 4389561 | Weman | Jun 1983 | A |
| 4396945 | DiMatteo | Aug 1983 | A |
| 4412121 | Kremers | Oct 1983 | A |
| 4452589 | Denison | Jun 1984 | A |
| 4459114 | Barwick | Jul 1984 | A |
| 4471207 | Hawkes | Sep 1984 | A |
| 4484059 | Lillquist | Nov 1984 | A |
| 4518361 | Conway | May 1985 | A |
| 4541055 | Wolfe | Sep 1985 | A |
| 4555614 | Morris | Nov 1985 | A |
| 4577499 | Silke | Mar 1986 | A |
| 4590356 | Povlick | May 1986 | A |
| 4591689 | Brown | May 1986 | A |
| 4594497 | Takahashi | Jun 1986 | A |
| 4595186 | Reed | Jun 1986 | A |
| 4595368 | Cole | Jun 1986 | A |
| 4595820 | Richardson | Jun 1986 | A |
| 4609806 | Grabkowski | Sep 1986 | A |
| 4628176 | Kojima | Dec 1986 | A |
| 4638146 | Koyama | Jan 1987 | A |
| 4641292 | Tunnell | Feb 1987 | A |
| 4677277 | Cook | Jun 1987 | A |
| 4680014 | Paton | Jul 1987 | A |
| 4689021 | Vasiliev | Aug 1987 | A |
| 4716273 | Paton | Dec 1987 | A |
| 4721947 | Brown | Jan 1988 | A |
| 4728768 | Cueman | Mar 1988 | A |
| 4739404 | Richardson | Apr 1988 | A |
| 4767109 | Raketich | Aug 1988 | A |
| 4829365 | Eichenlaub | May 1989 | A |
| 4830261 | Mello | May 1989 | A |
| 4867685 | Brush | Sep 1989 | A |
| 4868649 | Gaudin | Sep 1989 | A |
| 4877940 | Bangs | Oct 1989 | A |
| 4881678 | Gaudin | Nov 1989 | A |
| 4920249 | McLaughlin | Apr 1990 | A |
| 4931018 | Herbst | Jun 1990 | A |
| 4937427 | McVicker | Jun 1990 | A |
| 4943702 | Richardson | Jul 1990 | A |
| 4954690 | Kensrue | Sep 1990 | A |
| 4992881 | Tomasek | Feb 1991 | A |
| 4996409 | Paton | Feb 1991 | A |
| 5061841 | Richardson | Oct 1991 | A |
| 5103376 | Blonder | Apr 1992 | A |
| 5185561 | Good | Feb 1993 | A |
| 5208436 | Blankenship | May 1993 | A |
| 5211564 | Martinez | May 1993 | A |
| 5231928 | Phillips | Aug 1993 | A |
| 5243265 | Matsuura | Sep 1993 | A |
| 5281921 | Novak | Jan 1994 | A |
| 5283418 | Bellows | Feb 1994 | A |
| 5302799 | Kennedy | Apr 1994 | A |
| 5304774 | Durheim | Apr 1994 | A |
| 5306893 | Morris | Apr 1994 | A |
| 5320538 | Baum | Jun 1994 | A |
| 5343011 | Fujii | Aug 1994 | A |
| 5380978 | Pryor | Jan 1995 | A |
| 5397872 | Baker | Mar 1995 | A |
| 5404181 | Hung | Apr 1995 | A |
| 5426732 | Boies | Jun 1995 | A |
| 5430643 | Seraji | Jul 1995 | A |
| 5448405 | Clausen | Sep 1995 | A |
| 5464957 | Kidwell | Nov 1995 | A |
| 5508757 | Chen | Apr 1996 | A |
| 5514846 | Cecil | May 1996 | A |
| 5517420 | Kinsman | May 1996 | A |
| 5521843 | Hashima | May 1996 | A |
| 5533146 | Iwai | Jul 1996 | A |
| 5543863 | Lin | Aug 1996 | A |
| 5546476 | Mitaka | Aug 1996 | A |
| 5571431 | Lantieri | Nov 1996 | A |
| 5592241 | Kita | Jan 1997 | A |
| 5617335 | Hashima | Apr 1997 | A |
| 5659479 | Duley | Aug 1997 | A |
| 5668612 | Hung | Sep 1997 | A |
| 5674415 | Leong | Oct 1997 | A |
| 5675229 | Thorne | Oct 1997 | A |
| 5681490 | Chang | Oct 1997 | A |
| 5708253 | Bloch | Jan 1998 | A |
| 5709219 | Chen | Jan 1998 | A |
| 5747042 | Choquet | May 1998 | A |
| 5823785 | Matherne, Jr. | Oct 1998 | A |
| 5832139 | Batterman | Nov 1998 | A |
| 5845053 | Watanabe | Dec 1998 | A |
| 5856844 | Batterman | Jan 1999 | A |
| 5930093 | Morrissett | Jul 1999 | A |
| 5961859 | Chou | Oct 1999 | A |
| 5973677 | Gibbons | Oct 1999 | A |
| 5999909 | Rakshit | Dec 1999 | A |
| 6003052 | Yamagata | Dec 1999 | A |
| 6018729 | Zacharia | Jan 2000 | A |
| 6019359 | Fly | Feb 2000 | A |
| 6024273 | Ludewig | Feb 2000 | A |
| 6033226 | Bullen | Mar 2000 | A |
| 6039494 | Pearce | Mar 2000 | A |
| 6046754 | Stanek | Apr 2000 | A |
| 6049059 | Kim | Apr 2000 | A |
| 6051805 | Vaidya | Apr 2000 | A |
| 6101455 | Davis | Aug 2000 | A |
| 6107601 | Shimogama | Aug 2000 | A |
| 6115025 | Buxton et al. | Sep 2000 | A |
| 6130407 | Villafuerte | Oct 2000 | A |
| 6136946 | Yao | Oct 2000 | A |
| 6153848 | Nagae | Nov 2000 | A |
| 6155475 | Ekelof | Dec 2000 | A |
| 6163946 | Pryor | Dec 2000 | A |
| 6226395 | Gilliland | May 2001 | B1 |
| 6236017 | Smartt | May 2001 | B1 |
| 6242711 | Cooper | Jun 2001 | B1 |
| 6271500 | Hirayama | Aug 2001 | B1 |
| 6288359 | Koch | Sep 2001 | B1 |
| 6290740 | Schaefer | Sep 2001 | B1 |
| 6301763 | Pryor | Oct 2001 | B1 |
| 6315186 | Friedl | Nov 2001 | B1 |
| 6329635 | Leong | Dec 2001 | B1 |
| 6337458 | Lepeltier | Jan 2002 | B1 |
| 6371765 | Wall | Apr 2002 | B1 |
| 6417894 | Goff | Jul 2002 | B1 |
| 6441342 | Hsu | Aug 2002 | B1 |
| 6445964 | White | Sep 2002 | B1 |
| 6469752 | Ishikawa | Oct 2002 | B1 |
| 6476354 | Jank | Nov 2002 | B1 |
| 6479793 | Wittmann | Nov 2002 | B1 |
| 6506997 | Matsuyama | Jan 2003 | B2 |
| 6516300 | Rakshit | Feb 2003 | B1 |
| 6572379 | Sears | Jun 2003 | B1 |
| 6583386 | Ivkovich | Jun 2003 | B1 |
| 6596972 | Di Novo | Jul 2003 | B1 |
| 6614002 | Weber | Sep 2003 | B2 |
| 6621049 | Suzuki | Sep 2003 | B2 |
| 6622906 | Kushibe | Sep 2003 | B1 |
| 6647288 | Madill | Nov 2003 | B2 |
| 6670574 | Bates | Dec 2003 | B1 |
| 6697761 | Akatsuka | Feb 2004 | B2 |
| 6703585 | Suzuki | Mar 2004 | B2 |
| 6710298 | Eriksson | Mar 2004 | B2 |
| 6728582 | Wallack | Apr 2004 | B1 |
| 6734393 | Friedl | May 2004 | B1 |
| 6744011 | Hu | Jun 2004 | B1 |
| 6748249 | Eromaki | Jun 2004 | B1 |
| 6750428 | Okamoto | Jun 2004 | B2 |
| 6753909 | Westerman | Jun 2004 | B1 |
| 6768974 | Nanjundan | Jul 2004 | B1 |
| 6795068 | Marks | Sep 2004 | B1 |
| 6839049 | Koizumi | Jan 2005 | B1 |
| 6857553 | Hartman | Feb 2005 | B1 |
| 6868726 | Lemkin | Mar 2005 | B2 |
| 6910971 | Alsenz | Jun 2005 | B2 |
| 6927360 | Artelsmair | Aug 2005 | B2 |
| 6937329 | Esmiller | Aug 2005 | B2 |
| 6967635 | Hung | Nov 2005 | B2 |
| 6977357 | Hsu | Dec 2005 | B2 |
| 6995536 | Challoner | Feb 2006 | B2 |
| 7015419 | Hackl | Mar 2006 | B2 |
| 7025053 | Altamirano | Apr 2006 | B1 |
| 7032814 | Blankenship | Apr 2006 | B2 |
| 7045742 | Feichtinger | May 2006 | B2 |
| 7081888 | Cok | Jul 2006 | B2 |
| 7120473 | Hawkins | Oct 2006 | B1 |
| 7132617 | Lee | Nov 2006 | B2 |
| 7132623 | DeMiranda | Nov 2006 | B2 |
| 7150047 | Fergason | Dec 2006 | B2 |
| 7173215 | Kapoor | Feb 2007 | B1 |
| 7181413 | Hadden | Feb 2007 | B2 |
| 7226176 | Huang | Jun 2007 | B1 |
| 7261261 | Ligertwood | Aug 2007 | B2 |
| 7342210 | Fergason | Mar 2008 | B2 |
| 7358458 | Daniel | Apr 2008 | B2 |
| 7465230 | LeMay | Dec 2008 | B2 |
| 7474760 | Hertzman | Jan 2009 | B2 |
| 7523069 | Friedl | Apr 2009 | B1 |
| 7564005 | Cabanaw | Jul 2009 | B2 |
| 7574172 | Clark | Aug 2009 | B2 |
| 7577285 | Schwarz | Aug 2009 | B2 |
| D614217 | Peters | Apr 2010 | S |
| 7698094 | Aratani | Apr 2010 | B2 |
| D615573 | Peters | May 2010 | S |
| 7766213 | Henrikson | Aug 2010 | B2 |
| 7789811 | Cooper | Sep 2010 | B2 |
| 7813830 | Summers | Oct 2010 | B2 |
| 7826984 | Sjostrand | Nov 2010 | B2 |
| 7831098 | Melikian | Nov 2010 | B2 |
| 7839416 | Ebensberger | Nov 2010 | B2 |
| 7845560 | Emanuel | Dec 2010 | B2 |
| D631074 | Peters | Jan 2011 | S |
| 7899618 | Ledet | Mar 2011 | B2 |
| 8019144 | Sugihara | Sep 2011 | B2 |
| 8044942 | Leonhard | Oct 2011 | B1 |
| 8046178 | Dai | Oct 2011 | B2 |
| 8100694 | Portoghese | Jan 2012 | B2 |
| 8110774 | Huonker | Feb 2012 | B2 |
| 8235588 | Louban | Aug 2012 | B2 |
| 8248324 | Nangle | Aug 2012 | B2 |
| 8274013 | Wallace | Sep 2012 | B2 |
| 8393519 | Allehaux | Mar 2013 | B2 |
| 8406682 | Elesseily | Mar 2013 | B2 |
| 8431862 | Kachline | Apr 2013 | B2 |
| 8432476 | Ashforth | Apr 2013 | B2 |
| 8502866 | Becker | Aug 2013 | B2 |
| 8512043 | Choquet | Aug 2013 | B2 |
| 8541746 | Andres | Sep 2013 | B2 |
| 8657605 | Wallace | Feb 2014 | B2 |
| 8681178 | Tseng | Mar 2014 | B1 |
| 8686318 | Albrecht | Apr 2014 | B2 |
| 8692157 | Daniel | Apr 2014 | B2 |
| 8698843 | Tseng | Apr 2014 | B2 |
| 8747116 | Zboray | Jun 2014 | B2 |
| 8777629 | Kreindl | Jul 2014 | B2 |
| 8803908 | Van Osten | Aug 2014 | B2 |
| 8834168 | Peters | Sep 2014 | B2 |
| 8851896 | Wallace | Oct 2014 | B2 |
| 8860760 | Chen | Oct 2014 | B2 |
| 8911237 | Postlethwaite | Dec 2014 | B2 |
| 8915740 | Zboray | Dec 2014 | B2 |
| 8946595 | Ishida | Feb 2015 | B2 |
| 8953033 | Yamane | Feb 2015 | B2 |
| 8953909 | Guckenberger | Feb 2015 | B2 |
| RE45398 | Wallace | Mar 2015 | E |
| 8987628 | Daniel | Mar 2015 | B2 |
| 8990842 | Rowley | Mar 2015 | B2 |
| 9011154 | Kindig | Apr 2015 | B2 |
| 9012802 | Daniel | Apr 2015 | B2 |
| 9050678 | Daniel | Jun 2015 | B2 |
| 9050679 | Daniel | Jun 2015 | B2 |
| 9089921 | Daniel | Jul 2015 | B2 |
| 9101994 | Albrecht | Aug 2015 | B2 |
| 9196169 | Wallace | Nov 2015 | B2 |
| 9218745 | Choquet | Dec 2015 | B2 |
| 9230449 | Conrardy | Jan 2016 | B2 |
| 9269279 | Penrod | Feb 2016 | B2 |
| 9293056 | Zboray | Mar 2016 | B2 |
| 9293057 | Zboray | Mar 2016 | B2 |
| 9318026 | Peters | Apr 2016 | B2 |
| 9330575 | Peters | May 2016 | B2 |
| 9336686 | Peters | May 2016 | B2 |
| 9402122 | Richardson | Jul 2016 | B2 |
| 9573215 | Pfeifer | Feb 2017 | B2 |
| 9685099 | Boulware | Jun 2017 | B2 |
| 9724787 | Becker | Aug 2017 | B2 |
| 9789603 | Jacobsen | Oct 2017 | B2 |
| 20010026445 | Naghi | Oct 2001 | A1 |
| 20010032508 | Lemkin | Oct 2001 | A1 |
| 20020043607 | Tajima | Apr 2002 | A1 |
| 20020071550 | Pletikosa | Jun 2002 | A1 |
| 20020105797 | Navid | Aug 2002 | A1 |
| 20020114653 | Gatta | Aug 2002 | A1 |
| 20020148745 | Chang | Oct 2002 | A1 |
| 20020153354 | Norby | Oct 2002 | A1 |
| 20030011673 | Eriksson | Jan 2003 | A1 |
| 20030092496 | Alsenz | May 2003 | A1 |
| 20030172032 | Choquet | Sep 2003 | A1 |
| 20040058703 | Eromaki | Mar 2004 | A1 |
| 20040068335 | Ferla | Apr 2004 | A1 |
| 20040069754 | Bates | Apr 2004 | A1 |
| 20040099648 | Hu | May 2004 | A1 |
| 20040175684 | Kaasa | Sep 2004 | A1 |
| 20040223148 | Takemura | Nov 2004 | A1 |
| 20040227730 | Sugihara | Nov 2004 | A1 |
| 20040251910 | Smith | Dec 2004 | A1 |
| 20050006363 | Hsu | Jan 2005 | A1 |
| 20050012598 | Berquist | Jan 2005 | A1 |
| 20050016979 | Stein | Jan 2005 | A1 |
| 20050017152 | Fergason | Jan 2005 | A1 |
| 20050073506 | Durso | Apr 2005 | A1 |
| 20050127052 | Spencer | Jun 2005 | A1 |
| 20050133488 | Blankenship | Jun 2005 | A1 |
| 20050135682 | Abrams | Jun 2005 | A1 |
| 20050179654 | Hawkins | Aug 2005 | A1 |
| 20050197115 | Clark | Sep 2005 | A1 |
| 20050207102 | Russo | Sep 2005 | A1 |
| 20050227635 | Hawkins | Oct 2005 | A1 |
| 20050256611 | Pretlove | Nov 2005 | A1 |
| 20060010551 | Bishop | Jan 2006 | A1 |
| 20060081740 | Bellavance | Apr 2006 | A1 |
| 20060136183 | Choquet | Jun 2006 | A1 |
| 20060151446 | Schneider | Jul 2006 | A1 |
| 20060163228 | Daniel | Jul 2006 | A1 |
| 20060173619 | Brant | Aug 2006 | A1 |
| 20060212169 | Luthardt | Sep 2006 | A1 |
| 20060241432 | Herline | Oct 2006 | A1 |
| 20070038400 | Lee | Feb 2007 | A1 |
| 20070051711 | Kachline | Mar 2007 | A1 |
| 20070114215 | Bill | May 2007 | A1 |
| 20070115202 | Kiesenhofer | May 2007 | A1 |
| 20070164006 | Burgstaller | Jul 2007 | A1 |
| 20070187378 | Karakas | Aug 2007 | A1 |
| 20070188606 | Atkinson | Aug 2007 | A1 |
| 20070221636 | Monzyk | Sep 2007 | A1 |
| 20070247793 | Carnevali | Oct 2007 | A1 |
| 20070248261 | Zhou | Oct 2007 | A1 |
| 20070264620 | Maddix | Nov 2007 | A1 |
| 20070278196 | James | Dec 2007 | A1 |
| 20070291166 | Misawa | Dec 2007 | A1 |
| 20080030631 | Gallagher | Feb 2008 | A1 |
| 20080038702 | Choquet | Feb 2008 | A1 |
| 20080061113 | Seki | Mar 2008 | A9 |
| 20080077422 | Dooley | Mar 2008 | A1 |
| 20080124698 | Ebensberger | May 2008 | A1 |
| 20080128395 | Aigner | Jun 2008 | A1 |
| 20080128400 | Michels | Jun 2008 | A1 |
| 20080149602 | Lenzner | Jun 2008 | A1 |
| 20080149608 | Albrecht | Jun 2008 | A1 |
| 20080158502 | Becker | Jul 2008 | A1 |
| 20080168290 | Jobs | Jul 2008 | A1 |
| 20080169277 | Achtner | Jul 2008 | A1 |
| 20080234960 | Byington | Sep 2008 | A1 |
| 20080314887 | Stoger | Dec 2008 | A1 |
| 20090005728 | Weinert | Jan 2009 | A1 |
| 20090057285 | Bashore | Mar 2009 | A1 |
| 20090057286 | Ihara | Mar 2009 | A1 |
| 20090109128 | Nangle | Apr 2009 | A1 |
| 20090146359 | Canfield | Jun 2009 | A1 |
| 20090152251 | Dantinne | Jun 2009 | A1 |
| 20090161212 | Gough | Jun 2009 | A1 |
| 20090173726 | Davidson | Jul 2009 | A1 |
| 20090189974 | Deering | Jul 2009 | A1 |
| 20090190826 | Tate | Jul 2009 | A1 |
| 20090200281 | Hampton | Aug 2009 | A1 |
| 20090200282 | Hampton | Aug 2009 | A1 |
| 20090230107 | Ertmer | Sep 2009 | A1 |
| 20090231423 | Becker | Sep 2009 | A1 |
| 20090236325 | Moreno Gozalbo | Sep 2009 | A1 |
| 20090249606 | Diez | Oct 2009 | A1 |
| 20090283021 | Wong | Nov 2009 | A1 |
| 20090298024 | Batzler | Dec 2009 | A1 |
| 20090313549 | Casner | Dec 2009 | A1 |
| 20090323121 | Valkenburg | Dec 2009 | A1 |
| 20100020483 | Ma | Jan 2010 | A1 |
| 20100048273 | Wallace | Feb 2010 | A1 |
| 20100062405 | Zboray | Mar 2010 | A1 |
| 20100062406 | Zboray | Mar 2010 | A1 |
| 20100088793 | Ghisleni | Apr 2010 | A1 |
| 20100123664 | Shin | May 2010 | A1 |
| 20100133247 | Mazumder | Jun 2010 | A1 |
| 20100145520 | Gerio | Jun 2010 | A1 |
| 20100201803 | Melikian | Aug 2010 | A1 |
| 20100207620 | Gies | Aug 2010 | A1 |
| 20100224610 | Wallace | Sep 2010 | A1 |
| 20100238119 | Dubrovsky | Sep 2010 | A1 |
| 20100245273 | Hwang | Sep 2010 | A1 |
| 20100283588 | Gomez | Nov 2010 | A1 |
| 20100291313 | Ling | Nov 2010 | A1 |
| 20100314362 | Albrecht | Dec 2010 | A1 |
| 20110000892 | Mueller | Jan 2011 | A1 |
| 20110006047 | Penrod | Jan 2011 | A1 |
| 20110091846 | Kreindl | Apr 2011 | A1 |
| 20110092828 | Spohn | Apr 2011 | A1 |
| 20110114615 | Daniel | May 2011 | A1 |
| 20110117527 | Conrardy | May 2011 | A1 |
| 20110183304 | Wallace | Jul 2011 | A1 |
| 20110198329 | Davidson | Aug 2011 | A1 |
| 20110220616 | Mehn | Sep 2011 | A1 |
| 20110220619 | Mehn | Sep 2011 | A1 |
| 20110240605 | Takayama | Oct 2011 | A1 |
| 20110249090 | Moore | Oct 2011 | A1 |
| 20110284508 | Miura | Nov 2011 | A1 |
| 20110286005 | Yamamoto | Nov 2011 | A1 |
| 20110290765 | Albrecht | Dec 2011 | A1 |
| 20110313731 | Vock | Dec 2011 | A1 |
| 20120007748 | Forgues | Jan 2012 | A1 |
| 20120048838 | Ishida | Mar 2012 | A1 |
| 20120072021 | Walser | Mar 2012 | A1 |
| 20120077174 | DePaul | Mar 2012 | A1 |
| 20120105476 | Tseng | May 2012 | A1 |
| 20120113512 | Tsanev | May 2012 | A1 |
| 20120122062 | Yang | May 2012 | A1 |
| 20120175834 | Hamm | Jul 2012 | A1 |
| 20120180180 | Steve | Jul 2012 | A1 |
| 20120188365 | Stork | Jul 2012 | A1 |
| 20120189993 | Kindig | Jul 2012 | A1 |
| 20120205359 | Daniel | Aug 2012 | A1 |
| 20120231894 | Nicora | Sep 2012 | A1 |
| 20120248080 | Hutchison | Oct 2012 | A1 |
| 20120248083 | Garvey | Oct 2012 | A1 |
| 20120291172 | Wills | Nov 2012 | A1 |
| 20120298640 | Conrardy | Nov 2012 | A1 |
| 20120323496 | Burroughs | Dec 2012 | A1 |
| 20130040270 | Albrecht | Feb 2013 | A1 |
| 20130064427 | Picard et al. | Mar 2013 | A1 |
| 20130081293 | Delin | Apr 2013 | A1 |
| 20130119037 | Daniel | May 2013 | A1 |
| 20130178952 | Wersborg | Jul 2013 | A1 |
| 20130182070 | Peters | Jul 2013 | A1 |
| 20130183645 | Wallace | Jul 2013 | A1 |
| 20130189656 | Zboray | Jul 2013 | A1 |
| 20130189657 | Wallace | Jul 2013 | A1 |
| 20130189658 | Peters | Jul 2013 | A1 |
| 20130200882 | Almalki | Aug 2013 | A1 |
| 20130203029 | Choquet | Aug 2013 | A1 |
| 20130206741 | Pfeifer | Aug 2013 | A1 |
| 20130209976 | Postlethwaite | Aug 2013 | A1 |
| 20130252214 | Choquet | Sep 2013 | A1 |
| 20130256289 | Knoener | Oct 2013 | A1 |
| 20130262000 | Hutchison | Oct 2013 | A1 |
| 20130264315 | Hung | Oct 2013 | A1 |
| 20130264322 | Bornemann | Oct 2013 | A1 |
| 20130265416 | Enyedy | Oct 2013 | A1 |
| 20130288211 | Patterson | Oct 2013 | A1 |
| 20130326842 | Pearson | Dec 2013 | A1 |
| 20140008088 | Chellew | Jan 2014 | A1 |
| 20140017642 | Postlethwaite | Jan 2014 | A1 |
| 20140042135 | Daniel | Feb 2014 | A1 |
| 20140042137 | Daniel | Feb 2014 | A1 |
| 20140069899 | Mehn | Mar 2014 | A1 |
| 20140131337 | Williams | May 2014 | A1 |
| 20140134579 | Becker | May 2014 | A1 |
| 20140134580 | Becker | May 2014 | A1 |
| 20140184496 | Gribetz | Jul 2014 | A1 |
| 20140220522 | Peters | Aug 2014 | A1 |
| 20140234813 | Peters | Aug 2014 | A1 |
| 20140263224 | Becker | Sep 2014 | A1 |
| 20140263227 | Daniel | Sep 2014 | A1 |
| 20140267773 | Jeung | Sep 2014 | A1 |
| 20140272835 | Becker | Sep 2014 | A1 |
| 20140272836 | Becker | Sep 2014 | A1 |
| 20140272837 | Becker | Sep 2014 | A1 |
| 20140272838 | Becker | Sep 2014 | A1 |
| 20140315167 | Kreindl | Oct 2014 | A1 |
| 20140322684 | Wallace | Oct 2014 | A1 |
| 20140346158 | Matthews | Nov 2014 | A1 |
| 20140346163 | Rajagopalan | Nov 2014 | A1 |
| 20140346793 | DeStories | Nov 2014 | A1 |
| 20140374396 | Luo | Dec 2014 | A1 |
| 20150056584 | Boulware | Feb 2015 | A1 |
| 20150056585 | Boulware | Feb 2015 | A1 |
| 20150072323 | Postlethwaite | Mar 2015 | A1 |
| 20150122781 | Albrecht | May 2015 | A1 |
| 20150154884 | Salsich | Jun 2015 | A1 |
| 20150170539 | Barrera | Jun 2015 | A1 |
| 20150209887 | DeLisio | Jul 2015 | A1 |
| 20150235565 | Postlethwaite | Aug 2015 | A1 |
| 20150248845 | Postlethwaite | Sep 2015 | A1 |
| 20150325153 | Albrecht | Nov 2015 | A1 |
| 20150328710 | Kachline | Nov 2015 | A1 |
| 20160093233 | Boulware | Mar 2016 | A1 |
| 20160203734 | Boulware | Jul 2016 | A1 |
| 20160203735 | Boulware | Jul 2016 | A1 |
| 20160236303 | Matthews | Aug 2016 | A1 |
| 20160358503 | Batzler | Dec 2016 | A1 |
| 20170148352 | Becker | May 2017 | A1 |
| 20170169729 | Becker | Jun 2017 | A1 |
| Number | Date | Country |
|---|---|---|
| 2311685 | Dec 2001 | CA |
| 2517874 | Dec 2001 | CA |
| 2549553 | Jul 2004 | CA |
| 2554498 | Apr 2006 | CA |
| 1264822 | Aug 2000 | CN |
| 100371672 | Dec 2004 | CN |
| 1866317 | Nov 2006 | CN |
| 1909020 | Feb 2007 | CN |
| 101218060 | Jul 2008 | CN |
| 201181527 | Jan 2009 | CN |
| 101502906 | Aug 2009 | CN |
| 102049595 | May 2011 | CN |
| 102083580 | Jun 2011 | CN |
| 202200202 | Apr 2012 | CN |
| 102441737 | May 2012 | CN |
| 103038804 | Apr 2013 | CN |
| 202877704 | Apr 2013 | CN |
| 103071909 | May 2013 | CN |
| 103143810 | Jun 2013 | CN |
| 103392089 | Nov 2013 | CN |
| 203276641 | Nov 2013 | CN |
| 103831553 | Jun 2014 | CN |
| 203778997 | Aug 2014 | CN |
| 202010011064 | Oct 2010 | DE |
| 102010038902 | Feb 2012 | DE |
| 0323277 | Jul 1989 | EP |
| 0963744 | Dec 1999 | EP |
| 1029306 | Aug 2000 | EP |
| 1295195 | Mar 2003 | EP |
| 1573699 | Sep 2005 | EP |
| 1797545 | Jun 2007 | EP |
| 1864744 | Dec 2007 | EP |
| 2438440 | Jan 2014 | ES |
| 1456780 | Jul 1966 | FR |
| 0878263 | Nov 1998 | FR |
| 2827066 | Jan 2003 | FR |
| 2454232 | May 2009 | GB |
| H11146387 | May 1999 | JP |
| 2000298427 | Oct 2000 | JP |
| 2002317557 | Oct 2002 | JP |
| 2004181493 | Jul 2004 | JP |
| 2007021542 | Feb 2007 | JP |
| 2009125790 | Jun 2009 | JP |
| 100876425 | Dec 2008 | KR |
| 20110000152 | Jan 2011 | KR |
| 972552 | Nov 1982 | SU |
| 1324050 | Jul 1987 | SU |
| 1354234 | Nov 1987 | SU |
| 1489933 | Jun 1989 | SU |
| 1638145 | Mar 1991 | SU |
| 9958286 | Nov 1999 | WO |
| 03019349 | Mar 2003 | WO |
| 2004057554 | Jul 2004 | WO |
| 2005102230 | Nov 2005 | WO |
| 2005110658 | Nov 2005 | WO |
| 2006004427 | Jan 2006 | WO |
| 2006034571 | Apr 2006 | WO |
| 2007009131 | Jan 2007 | WO |
| 2007044135 | Apr 2007 | WO |
| 2008076777 | Jun 2008 | WO |
| 2009022443 | Feb 2009 | WO |
| 2009053829 | Apr 2009 | WO |
| 2009060231 | May 2009 | WO |
| 2009092944 | Jul 2009 | WO |
| 2009146359 | Dec 2009 | WO |
| 2010000003 | Jan 2010 | WO |
| 2010020867 | Feb 2010 | WO |
| 2010020869 | Feb 2010 | WO |
| 2010020870 | Feb 2010 | WO |
| 2010111722 | Oct 2010 | WO |
| 2011112493 | Sep 2011 | WO |
| 2011150165 | Dec 2011 | WO |
| 2012036710 | Mar 2012 | WO |
| 2012137060 | Oct 2012 | WO |
| 2013023012 | Feb 2013 | WO |
| 2013138831 | Sep 2013 | WO |
| 2013186413 | Dec 2013 | WO |
| 2014007830 | Jan 2014 | WO |
| 2014074296 | May 2014 | WO |
| 2014074297 | May 2014 | WO |
| 2014140719 | Sep 2014 | WO |
| Entry |
|---|
| Central Welding Supply http://www.welders-direct.com/ Feb. 29, 2000. |
| Cybernetics: Enhancing Human Performance found in the DTIC Review dated Mar. 2001, p. 186/19. See http://www.dtic.mil/dtic/tr/fulltext/u2/a385219.pdf. |
| Evaluating Two Novel Tactile Feedback Devices, by Thomas Hulin, Phillipp Kremer, Robert Scheibe, Simon Schaetzle and Carsten Preusche presented at the 4th International Conference on Enactive Interfaces, Grenoble, France, Nov. 19-22, 2007. |
| ftp://www.hitl.washington.edu/pub/scivw/publications/IDS-pdf/HAPTIC1.PDF, (University of Washington): Table 11, Tactile Feedback Actuator Technologies, p. 119, below the table is a. Based on Hasser (1995, 1996). |
| Haptic Feedback for Virtual Reality by Grigore C. Burdea dated 1996. |
| Hemez, Francois M., Scott W. Doebling, “Uncertainty, Validation of Computer Models an the Myth of Numerical Predictability,” Engineering Analysis Group (ESA-EA), Los Alamos National Laboratory, dated 2004. |
| Integrated Microelectromechanical Gyrosopes; Journal of Aerospace Engineering, Apr. 2003 pp. 65-75 (p. 65) by Huikai Xie and Garry K. Fedder. |
| Numerical Simulation F Arc Welding Process and its Application Dissertation for Ohio State University by Min Hyun Cho, M.S. 2006: See Internet as this document is security protected) ohttps://etd.ohiolink.edu/ap:0:0:APPLICATION_PROCESS=DOWNLOAD_ETD_SUB_DOC_ACCNUM:::F1501_ID:osu1155741113, attachment. |
| International Search Report for PCT application No. PCT/US2009/045436, dated Nov. 9, 2009, 3 pgs. |
| Ryu, Jonghyun, Jaehoon Jung, Seojoon Kim, and Seungmoon Choi, “Perceptually Transparent Vibration Rendering Using a Vibration Motor for Haptic Interaction,” 16 IEEE International Conference on Robot & Human Interactive Communication, Jeju, Korea, Aug. 26-29, 2007. |
| The Rutgers Master II—New Design Force-Feedback Glove by Mourad Bouzit, Member, IEEE,Grigore Burdea, Senior Member, IEEE, George Popescu, Member, IEEE, and Rares Bolan, Student Member, found in IEEE/ASME Transactions on Mechatronics, vol. 7, No. 2, Jun. 2002. |
| International Search Report for PCT application No. PCT/US2013/066037 dated Mar. 11, 2014, 10 pgs. |
| International Search Report for PCT application No. PCT/US2013/066040 dated Mar. 11, 2014, 12 pgs. |
| International Search Report for PCT application No. PCT/US2012/050059 dated Nov. 27, 2012, 16 pgs. |
| International Search Report for PCT application No. PCT/US2013/038371 dated Jul. 31, 2013, 8 pgs. |
| International Search Report for PCT application No. PCT/US2014/018107, dated Jun. 2, 2014, 3 pgs. |
| International Search Report for PCT application No. PCT/US2014/018109, dated Jun. 2, 2014, 4 pgs. |
| International Search Report for PCT application No. PCT/US2014/018113, dated Jun. 2, 2014, 3pgs. |
| International Search Report for PCT application No. PCT/US2014/018114, dated Jun. 2, 2014, 4 pgs. |
| Aiteanu, Dorin, and Axel Graser, “Computer-Aided Manual Welding Using an Augmented Reality Supervisor,” Sheet Metal Welding Conference XII, Livoinia, MI, May 9-12, 2006, pp. 1-14. |
| Echtler, Florian, Fabian Stuurm, Kay Kindermann, Gudrun Klinker, Joachim Stilla, Jorn Trilk, Hesam Najafi, “The Intelligent Welding Gun: Augmented Reality for Experimental Vehicle Construction,” Virtual and Augmented Reality Applications in Manufacturing, Ong S.K and Nee A.Y.C., eds., Springer Verlag, 2003, pp. 1-27. |
| Himperich, Frederick, “Applications in Augmented Reality in the Automotive Industry,” Fachgebiet Augmented Reality, Department of Informatics, Jul. 4, 2007, p. 1-21. |
| Sandor, Christian, Gudrun Klinker, “PAARTI: Development of an Intelligent Welding Gun for BMW,” PIA 2003, Tokyo, Japan, Technical University of Munich Department of Informatics, Oct. 7, 2003. |
| “Sheet Metal Conference XXII,” Conference Program, American Welding Society, May 2006, Detroit. |
| “Welding in Defense Industy,” American Welding Society conference schedule, 2004. https://app.aws.org/conferences/defense/live_index.html. |
| “Welding Technology Roadmap,” prepared by Energetics, Inc., Columbia, MD, in cooperation with the American Welding Society and the Edison Welding Institute, Sep. 2000. |
| Advance Program of American Welding Society Programs and Events, Nov. 11-14, 2007, Chicago. |
| Aiteanu, Dorian, and Axel Graeser; “Generation and Rendering of a Virtual Welding Seam in an Augmented Reality Training Environment,” Proceedings of the Sixth IASTED International Conference on Visualization, Imaging, and Image Processing, Aug. 28-30, 2006, Palma de Mallorca, Spain, ED. J.J. Villaneuva, ACTA Press, 2006. |
| Aiteanu, Dorin, et al., “A Step Forward in Manual Welding: Demonstration of Augmented Reality Helmet,” Institute of Automation, University of Bremen, Germany, 2003. |
| American Welding Society Forms: typical Procedure Qualification Record and Welding Procedure Specification forms. |
| ARVIKA Forum Vorstellung Projeckt PAARA, BMW Group Virtual Reality Center, Nuernberg, 2003. |
| Barckhoff, J.R.; “Total Welding Managemet,” American Welding Society, 2005. |
| Fast, Kenneth, Jerry Jones, and Valerie Rhoades; “Virtual Welding—A Cost Virtual Reality Welder Training System Phase II,” National Shipbuilding Research Program (NSRP), NSRP ASE Technology Investment Agreement No. 2010-357, Feb. 29, 2012, http://www.nsrp.org/3-RA-Panel_Final_Reports/FY08_Virtual_Welder_Final_Report.pdf. |
| Fite-Georgel, Pierre; “Is there a Reality in Industrial Augmented Reality?” 10th IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2011. |
| Hillers, B, and Axel Graeser, “Direct welding arc observation withouth harsh flicker,” FABTECH International and AWS Welding Show, 2007. |
| Hillers, B, and Axel Graeser, “Real time Arc-Welding Video Observation System,” 62nd International Conference of IIW, Jul. 12-17, 2009, Singapore, 2009. |
| Hillers, B., et al.; “Terebes: Welding Helmet with AR Capabilites,” Institute of Automation, University of Bremen, and Institute of Industrial Engineering and Ergonomics, RWTH Aachen Universty, 2004. |
| Impact Welding: miscellaneous examples from current and archived website, trade shows, etc. See, e.g., http://www.impactwelding.com. |
| International Search Report from PCT application No. PCT/US2014/065525, dated Jul. 23, 2015, 16 pgs. |
| International Search Report from PCT application No. PCT/US2015/039680, dated Sep. 23, 2015, 12 pgs. |
| Penrod, Matt; “New Welder Training Tools,” EWI PowerPoint presentation, 2008. |
| Sandor, Christian, Gudrun Klinker; “Lessons Learned in Designing Ubiquitous Augmented Reality User Interfaces,” Emerging Technologies of Augmented Reality Interfaces, Eds. Haller, M, Billinghurst, M., and Thomas, B., Idea Group Inc., 2006. |
| Terebes; miscellaneous examples from http://www.terebes.uni-bremen.de. |
| Tschurner, Petra, Hillers, Bernd, and Graeser, Axel; “A Concept for the Application of Augmented Realty in Manual Gas Metal Arc Welding,” Proceedings of the International Symposium on Mixed and Augmented Reality, 2002. |
| Welding Journal, American Welding Society, Nov. 2007, https://app.aws.org/wj/2007/11/WJ_2007_11.pdf. |
| International Search Report from PCT application No. PCT/US2015/037439, dated Nov. 3, 2015, 12 pgs. |
| International Search Report from PCT application No. PCT/US2015/037440, dated Nov. 3, 2015, 12 pgs. |
| International Search Report from PCT application No. PCT/US2015/037410, dated Nov. 6, 2015, 10 pgs. |
| International Search Report from PCT application No. PCT/US2015/043370, dated Dec. 4, 2015, 12 pgs. |
| White, S., et al., “Low-Cost Simulated MIG Welding for Advancement in Technical Training,” Virtual Reality, 15, 1, 69-81, Mar. 2011. ISSN:13594338 [Retrieved from EBSCOhost, Jun. 15, 2015]. |
| Hillers, Bernd, Dorin Aiteanu, Axel Graser, “Augmented Reality—Helmet for the Manual Welding Process,” Virtual and Augmented Reality Applications in Manufacturing, Institute of Automation, Universtity of Bremen, 2004. |
| International Search Report from PCT application No. PCT/US2014/065512, dated Jun. 8, 2015, 17 pgs. |
| International Search Report from PCT application No. PCT/US2014/065498, dated May 11, 2015, 13 pgs. |
| International Search Report from PCT application No. PCT/US2014/065506, dated Jun. 26, 2015, 16 pgs. |
| Byrd, Alex Preston, “Identifying the effects of human factors and training methods on a weld training program” (2014). Graduate Theses and Dissertations. Paper 13991. |
| Gundersen, O., et al. “The Use of an Integrated Multiple Neural Network Structure for Simultaneous Prediction of Weld Shape, Mechanical Properties, and Distortion in 6063-T6 and 6082-T6 Aluminum Assemblies”, Mathematical Modelling of Weld Phenomena, vol. 5, Maney Publishing, 2001. |
| ArcSentry Weld Monitoring System, Version 3, Users Manual, Native American Technologies, Golden, CO, Dec. 10, 1999. |
| NAMeS, Native American Technologies Weld Measuring Software, Users Guide, 2000. |
| Native American Technologies, “Process Improvement Products” web page, http://web.archive.org/web/20020608050736/http://www.natech-inc.com/products.html, published Jun. 8, 2002. |
| Native American Technologies, “Official NAMeS Web Site” web page, http://web.archive.org/web/20020903210256/http://www.natech-inc.com/names/names.html, published Sep. 3, 2002. |
| Native American Technologies, “ArcSentry Weld Quality Monitoring System” web page, http://web.archive.org/web/20020608124903/http://www.natech-inc.com/arcsentry1/index.html, published Jun. 8, 2002. |
| Native American Technologies, “P/NA.3 Process Modelling and Optimization” web pages, http://web.archive.org/web/20020608125619/http://www.natech-inc.com/pna3/index.html, published Jun. 8, 2002. |
| Native American Technologies, “ArcDirector Weld Controller” web page, http://web.archive.org/web/20020608125127/http://www.natech-inc.com/arcdirector/index.html, published Jun. 8, 2002. |
| International Search Report from PCT No. PCT/US2014/067951, dated Feb. 24, 2015, 10 pgs. |
| “Vision for Welding Industry,” American Welding Society, Apr. 22, 1999, http://www.aws.org/library/doclib/vision.pdf. |
| “NJC Technology Displayed at ShipTech 2005”, Welding Journal, vol. 84, No. 3, Mar. 2005, p. 54, https://app.aws.org/w/r/www/wj/2005/03/WJ_2005_03.pdf. |
| “Virtual Welding: A Low Cost Virtual Reality Welder Training System,” NSRP ASE, Feb. 19, 2009, http://www.nsrp.org/6-Presentations/WD/020409_Virtual_Welding_Wilbur.pdf. |
| “Low Cost Virtual Reality Welding Training System,” NSRP Joint Panel Meeting, Apr. 21, 2010, http://www.nsrp.org/6-Presentations/Joint/042110_Low_Cost_Virtual_Reality_Welder_Training_System_Fast.pdf. |
| “Virtual Reality Program to Train Welders for Shipbuilding”, American Welding Society, Navy Joining Center, https://app.aws.org/wj/2004/04/052/. |
| Stone, R. T., K. Watts, and P. Zhong, “Virtual Reality Integrated Welder Training, Welding Research,” Welding Journal, vol. 90, Jul. 2011, pp. 136-s-141-s, https://app.aws.org/wj/supplement/wj201107_s136.pdf. |
| “Virtual Reality Welder Training Initiatives: Virtual Welding Lab Pilot,” Paul D. Camp Community College, Advanced Science & Automation Corporation, Northrop Grumman Newport News, Nov. 22, 2006, http://www.nsrp.org/6-Presentations/WD/103106_Virtual_Reality_Welder.pdf. |
| Bender Shipbuilding and Repair, Co., “Virtual Welding—A Low Cost Virtual Reality Welder Training System”, Technical Proposal, Jan. 23, 2008. |
| “Virtual Welding—A Low Cost Virtual Reality Welder Training System”, Interim Status Report # 4, Technology Investment Agreement 2008-600, Feb. 18, 2009, http://www.nsrp.org/3-Key_Deliverables/FY08_Low-Cost_Virtual_Reality_Welder_Trainer/FY08_Low-Cost_Virtual_Reality_Welder_Trainer-Interim2.pdf. |
| http://www.123arc.com “Simulation and Certification”; 2000. |
| 123arc.com—“Weld into the future”; 2000. |
| Image from Sim Welder.com—R-V's Welder Training Goes Virtual, www.rvii.com/PDF/simwelder.pdf; Jan. 2010. |
| Lincoln Electric VRTEX Virtual Reality Arc Welding Trainer; http://www.lincolnelectric.com/en-us/equipment/training-equipment/pages/vrtex360.aspx; 1999. |
| Fronius International GmbH—Focus on Welding—Fronius Virtual Welding; http://www.fronius.com/cps/rde/xchg/SID-99869147-0110E322/fronius_intenational/hs.xsl/79_15490_Eng_HML.htm; 2006. |
| Porter, Nancy C., Edison Welding Institute; J.Allan Cote, General Dynamics Electric Boat; Timoty D. Gifford, VRSim; and Wim Lam, FCS Controls—Virtual Reality Welder Training—Session 5; Joining Technologies for Naval Applications; 2007. |
| Fast et al., Virtual Training for Welding, Proceedings fo the Third IEEE and ACM International Symposium on Mixed ad Augmented Reality (ISMAR 2004); 0-7695-2191-6/04; 2004. |
| Porter et al, EWI-CRP Summary Report SR0512, Jul. 2005—Virtual Reality Welder Training. |
| Porter, Nancy C., Edison Welding Institute; J. Allan Cote, General Dynamics Electrict Boat; Timothy D. Gifford, VRSim; and Wim Lam, FCS Controls—Virtual Reality Welder Training—Project No. S1051 Navy Man Tech Program; Project Review for Ship Tech 2005,—Mar. 1, 2005, Biloxi, MS. |
| Fridenfalk et al., Design and Validation of a Universal 6D Seam Tracking System in Robotic Welding Based on Laser Scanning, Industrial Robotics: Programming, Simulation, and Application, ISBN 3-86611-286-6, pp. 702, AWS/pIV, Germany, Dec. 2006, edited by Kin Huat. |
| Virtual Reality Training Manual Module 1—Training Overview—A Guide for Gas Metal Arc Welding—EWI 2006. |
| thefabricator.com—Arc Welding Article; Heston, Tim, Virtual welding—Training in a virtual environment gives welding students a leg up—Mar. 11, 2008. |
| Jo et al., Visualization of Virtual Weld Beads, VRST 2009, Kyoto, Japan, Nov. 18-20, 2009; Electronics and Telecommunications Research Institute (ETRI) ACM 978-1 60558-869-8/09/0011. |
| Choquet, Claude, ARC+ & ARC PC Welding Simulators: Teach Welders with Virtual Interactive 3D Technologies; Jul. 2010. |
| Choquet, Claude, ARC+: Today's Virtual Reality Solution for Welders, Jun. 1, 2008. |
| National Science Foundation—Where Discoveries Begin—Science and Engineering's Most Powerful Statements are Not Made From Words Alone—Entry Details for NSF International Science & Engineering Visualization Challenge, Public Voting ended on Mar. 9, 2012; Velu the welder by Muralitharan Vengadasalam—Sep. 30, 2011; https://nsf-scivis.skild.com/skild2/NationalScienceFoundation/viewEntryDetail.action?pid . . . . |
| GAWDA—Welding & Gases Today Online GAWDA Media Blog; Will Games Turn Welding into a Virtual Market? Friday, Dec. 2, 2011; http://www.weldingandgasestoday.org/blogs/Devin-OToole/index.php/ta. . . |
| American Welding Society's Virtual Weldng Trailer to Debut at FABTECH Careers in Welding Trailer Appeals to New Generation of Welders, Miami, Florida, Nov. 3, 2011. |
| NZ Manufacturer Game promotes welding trade careers; http://nzmanufacturer.co.nz/2011/11/gme-promotes-welding-trade-careers/ . . . Compentenz Industry Training; www.competenz.org.nz; Games promotes welding trade careers, Nov. 7, 2011. |
| Fronius Perfect Welding; 06,3082, EN v01 2010 aw05; Virtual Welding—The training method of the future; Feb. 20, 2012. |
| IMPACT Spring 2012 vol. 12, No. 2, Undergraduate Research in Information Technology Engineering, University of Virginia School of Engineering & Applied Science; 2012. |
| TCS News & Events: Press Release: TCS wins the “People Choice” award from National Science Foundation, USA, pp. 1-6; Press Release May 21, 2012; http://www.tsc.com/news_event s/press_releases/Pages/TCS_People_Choice_award_Natio . . . . |
| Quebec International, May 28, 2008 “Video Game” Technology to Fill Growing Ned; http://www.mri.gouv.qc.ca/portail/_scripts/actualities/viewnew.sap?NewID=5516&strldSit. |
| Fronius “The Ghost”: http://www.fronius.com/cps/rde/xchg/SID-3202EAB7-AE082518/fronius_interational/hs.xsl/79_15490_ENG_HTML.htm; 2006. |
| TeachWELD: Welding Simulator/Hands-On Learning for Welding: http://realityworks.com/products/teachweld-welding-simulator; 202. |
| OptiTrack: Motion Capture Systems: http://www.naturalpoint.com/optitrack/, Mar. 2005. |
| Vicon: Motion Capture Systems: http://vicon.com/, Dec. 1998. |
| PhaseSpace: Optical Motion Capture: http://phasespace.com/, 2009. |
| Polhemus: Innovation in Motion: http://polhemus.com/?page=researchandtechnology, 1992. |
| Ascensionn Technology Corporation: Tracking 3D Worlds: http://ascension-tech.com/, Dec. 1996. |
| MacCormick, John; How does the Kinect work?; http://users.dickinson.edu/˜jmac/selected-talks/kinect.pdf, Dec. 1, 2011. |
| Leap Motion; https://www.leapmotion.com/, May 2012. |
| Playstation; Move Motion Controller: http://us.playstation.com/ps3/playstation-move/, Mar. 2010. |
| Kiwinakiful; Holographic TV coming 2012 (as seen on BBC); http://www.youtube.com/watch?v=Ux6aD6vE9sk&feature=related, Jul. 2, 2011. |
| Kooima, Robert; Kinect +3D TV=Virtual Reality; http://www.youtube.com/watch?v=2MX1RinEXUM&feature=related, Feb. 26, 2011. |
| ShotOfFuel; Wii Head Tracking for 3D, http://www.youtube.com/watch?V=1x5ffF-0Wr4, Mar. 19, 2008. |
| Natural Point, Trackir; http://www.naturalpoint.com/trackir/, Dec. 2003. |
| “SOLDAMATIC: Augmented Training Technology for Welding,” Seabery Augmented Training Technology, Seabery Soluciones, 2011. |
| Hashimoto, Nobuyoshi et al., “Training System for Manual Arc Welding by Using Mixed Reality: Reduction of Position-Perception Error of Electrode Tip,” Journal of the Japan Society for Precision Engineering, vol. 72, pp. 249-253, 2006. |
| International Search Report from PCT application No. PCT/US2014/018103, dated Jun. 30, 2014, 13 pgs. |
| International Search Report from PCT application No. PCT/US2015/058567, dated May 6, 2016, 15 pgs. |
| International Search Report from PCT application No. PCT/US2015/058664, dated Apr. 25, 2016, 17 pgs. |
| Kobayashi, Kazuhiko et al., “Modified Training System for Manual Arc Welding by Using Mixed Reality and Investigation of Its Effectiveness,” Journal of the Japan Society for Precision Engineering, vol. 70, pp. 941-945, 2004. |
| Kobayashi, Kazuhiko et al., “Simulator of Manual Metal Arc Welding with Haptic Display,” Chiba University, ICAT 2001, Dec. 2001. |
| Kobayashi, Kazuhiko et al., “Skill Training System of Manual Arc Welding by Means of Face-Shield HMD and Virtual Electrode,” Chiba University, Japan, R. Nakatsu et al. (eds.), Entertainment Computing, Springer Science+Business Media, New York, 2003. |
| VRTEX 360, Lincoln Electric, Dec. 2009. |
| VRTEX 360 Operator's Manual, Lincoln Electric, Oct. 2012. |
| International Search Report for PCT application No. PCT/US2015/058563, dated Jan. 29, 2016, 13 pgs. |
| International Search Report from PCT application No. PCT/US2015/058569, dated Feb. 10, 2016, 12 pgs. |
| International Search Report from PCT application No. PCT/US2015/058660, dated Feb. 2, 2016, 14 pgs. |
| International Search Report from PCT application No. PCT/US2015/058666, dated Feb. 1, 2016, 11 pgs. |
| International Search Report from PCT application No. PCT/US2015/058667, dated Feb. 5, 2016, 14 pgs. |
| International Search Report from PCT application No. PCT/US2016/023612, dated Jul. 18, 2016, 11 pgs. |
| Hodgson, et al. “Virtual Reality in the Wild: A Self-Contained and Wearable Simulation System.” IEEE Virtual Reality, Mar. 4-8, 2012, Orange County, CA USA. |
| EWI, “EWI ArcCheck,” marketing brochure, Columbus, Ohio, 1 page. |
| EWI, “EWI SkillBuilder,” marketing brochure, Columbus, Ohio, 1 page. |
| Canadian Office Action Appln No. 2,961,806 dated Jan. 8, 2018 (3 pgs). |
| Canadian Office Action Appln No. 2,961,093 dated Mar. 5, 2018 (4 pgs). |
| Number | Date | Country | |
|---|---|---|---|
| 20150194072 A1 | Jul 2015 | US |
