公开(公告)号：US20210154773A1

公开(公告)日：2021-05-27

申请号：US16692430

申请日：2019-11-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Pei-chung WANG ,  Spyros P. MELLAS ,  Debejyo CHAKRABORTY ,  James Michael WARD ,  Diana M. WEGNER

IPC: B23K31/12 ,  B25J15/00 ,  B23K9/095 ,  B23K9/12 ,  B23K9/127 ,  B23K9/16

Abstract: A weld system includes: a robot control module configured to actuate a robot and move a welder along a joint of metal workpieces during welding, the welder being attached to the robot; a weld control module configured to, during the welding, apply power to the welder, supply a shield gas, and supply electrode material; a vision sensor configured to, during the welding, optically measure distances between the vision sensor and locations, respectively, on an outer surface of a weld bead created along the joint by the welder; and a weld module configured to: determine a strength of the weld bead at a location based on: the distances at the location along the joint; and at least one parameter from at least one of the robot control module during the welding, the weld control module during the welding, and a sensor configured to capture data of the welding during the welding.