Kenneth A Gilliland

US Patent:

62824600, Aug 28, 2001

Filed:

Jan 29, 2001

Appl. No.:

9/772034

Inventors:

Malcolm T. Gilliland - Marietta GA
Kenneth Alan Gilliland - Atlanta GA

International Classification:

G05B 1904
G05B 1918

US Classification:

700255

Abstract:

A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot. The present invention also provides a method for specifying a compartment entry point for a welding operation based upon data provided from a CAD program. The present invention also provides a method for automatically determining the starting and ending coordinates of a weld using a touch-sensing capability of the robot.

US Patent:

57986274, Aug 25, 1998

Filed:

Jan 4, 1995

Appl. No.:

8/368705

Inventors:

Malcolm T. Gilliland - Marietta GA
Kenneth Alan Gilliland - Atlanta GA

International Classification:

G06F 900

US Classification:

31856814

Abstract:

A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot. The peformance of two or more heat generating operations, such as welding operations, can cause excessive heating of an object if the operations are performed closely together in time or space. That excessive heating can result in distortion of the object.

US Patent:

62497189, Jun 19, 2001

Filed:

May 24, 1999

Appl. No.:

9/317417

Inventors:

Malcolm T. Gilliland - Marietta GA
Kenneth Alan Gilliland - Atlanta GA

International Classification:

G05B 1904
G05B 1918

US Classification:

700255

Abstract:

A method for automatically tracking the joint between a first component and a second component, or the edge of a component, a welding operation. A preliminary path is defined for the joint or edge (703), a welding torch (100) is moved along the preliminary path while an arc welding current is provided to the welding torch. The welding torch is moved slightly to a first side (705A) of the preliminary path and then to a second side (705B) of the preliminary path as the welding torch is being moved along the preliminary path. A first current measurement is obtained by measuring the arc welding current when the welding torch is to the first side, and a second current is obtained by measuring the arc welding current when the welding torch is to second side. The first current measurement and the second current measurement are compared and used to redefine the preliminary welding path by moving the welding torch slightly to the side having the preferred current measurement.

US Patent:

59067616, May 25, 1999

Filed:

Feb 11, 1998

Appl. No.:

9/021851

Inventors:

Malcolm T. Gilliland - Marietta GA
Kenneth Alan Gilliland - Atlanta GA

International Classification:

B23K 9127

US Classification:

21912434

Abstract:

A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot. The present invention also provides a method for specifying a compartment entry point for a welding operation based upon data provided from a CAD program. The present invention also provides a method for automatically determining the starting and ending coordinates of a weld using a touch-sensing capability of the robot.