Machine vision robotic stud welder

Abstract

The present disclosure teaches systems and methods for robotic welding of studs onto the surface of I-beams. These systems and methods will find industrial applicability in, for example, the steel erection industry.

1 .- 27 . (canceled) 
     
     
         28 . A method for aligning a stud in an orthogonal relationship to a planar top surface of a beam, the stud having a cylindrical shaft, the method comprising:
 charging an electromagnet assembly so that it has magnetic properties, the electromagnet assembly comprising an electromagnet and a half-tubular portion that mates with the cylindrical shaft of the stud;   moving the electromagnet assembly into contact with the cylindrical shaft of the stud so that the stud is attracted to the electromagnet assembly in an orientation in which the cylindrical shaft of the stud is aligned with the half-tubular portion; and   moving the electromagnet assembly and attached stud so that a bottom end of the cylindrical shaft of the stud is placed in contact with the planar top surface in an orthogonal relationship to the planar top surface.   
     
     
         29 . (canceled) 
     
     
         30 . An apparatus adapted to maintain a shaft of a stud in an orthogonal relationship with respect to a surface of a beam to which the stud will be welded, the apparatus comprising:
 an electromagnet that may be energized such that the stud is magnetically drawn towards the electromagnet; and   an insulator that is located between the electromagnet and the stud when the stud is magnetically drawn towards the electromagnet.   
     
     
         31 . The apparatus of  claim 30 , wherein the insulator has a shape profile that complements a shape profile of the shaft of the stud. 
     
     
         32 . The apparatus of  claim 31 , wherein the insulator has a half-tubular profile.