Abstract: A tubular joint includes a tubular substrate extending along an axis. The substrate has a first inner diameter. A first tubular brace member is additively manufactured on the substrate and is connected thereto at a proximal end of the first tubular brace member. A second tubular brace member is additively manufactured on the substrate and is connected thereto at a proximal end of the second tubular brace member. At respective distal ends of the brace members, the first tubular brace member and the second tubular brace member have a circular cross-sectional shape having a distal wall thickness and a second inner diameter that is smaller than the first inner diameter. At the proximal ends the of brace members, the first tubular brace member and the second tubular brace member have respective proximal wall thicknesses that are greater than the distal wall thickness.

Abstract: A welding system includes a welding power supply, wire feeder, and welding circuit connecting the power supply to the wire feeder. The power supply and the wire feeder are configured for bidirectional communication over the welding circuit. The power supply includes a voltage sensor that measures a voltage level, and a current sensor that measures a current level, on the welding circuit. The power supply is configured to operate in a first welding mode to output a power voltage level to the welding circuit to power the wire feeder in response to a communication from the wire feeder over the welding circuit. The power supply generates periodic voltage dip pulses on the welding circuit, and automatically switches to a second welding mode different from the first welding mode based on the voltage level on the welding circuit falling below a threshold voltage level during a voltage dip pulse.

Abstract: A shielded metal arc welding system includes a stick electrode holder, a stick electrode clamped by the holder, and a welding power supply operatively connected to the holder and configured to supply a welding current to the electrode through the holder. The power supply includes a memory storing both of a short circuit threshold voltage level and an arcing threshold voltage level. A welding voltage level is detected during an initial shorting of the electrode to a workpiece for commencing a welding operation. Both of the short circuit threshold voltage level and the arcing threshold voltage level are adjusted based on the detected welding voltage level. A short circuit clearing routine is activated when the welding voltage level is equal to or less than the adjusted short circuit threshold voltage level, and deactivated when the welding voltage level is equal to or greater than the adjusted arcing threshold voltage level.

Abstract: An embodiment includes a method of determining a collision-free space for a robotic welding system. The method includes fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system. An arm of the robotic welding system is moved around the part within the 3D coordinate space. Data corresponding to positions and orientations of the arm in the 3D coordinate space are recorded as the arm is moved within the 3D coordinate space around the part. The data is translated to swept volumes of data within the 3D coordinate space. The swept volumes of data are merged to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.

Abstract: A method of programming multiple weld passes in a collaborative robot welding system to perform multi-pass welding is provided. A root pass is programmed for a first weld seam by manually positioning a welding torch and automatically recording root pass position and angle data. Secondary passes for the first weld seam are also programmed. The tip of the welding torch is positioned at a start point and a stop point for each secondary pass. The start and stop position data of the start point and the stop point are automatically recorded for each secondary pass. Numerical position and angle offset data are automatically calculated. The root pass position and angle data and the offset data are stored as a multi-pass template. The template is translated and applied to a weld reference frame of a second weld seam to aid in programming secondary passes for the second weld seam.

Abstract: A configuration and method for straightening a wire as the wire pays off from a bulk package. A bulk package hat is configured to be positioned over an opened bulk package containing wire bent in a helix shape. A bearing assembly is mounted inside the bulk package hat at a position where the wire exits the bulk package hat as the wire pays off from the bulk package. A wire straightening device has a plurality of rollers and only one single plane of straightening, and is configured to apply a counter bend to the wire as the wire pays off from the bulk package through the wire straightening device. The wire straightening device is operatively connected to the bearing assembly at an angle inside the bulk package hat. The bearing assembly and the single plane of straightening rotate, continually realigning with a current direction of the wire as it pays off.

Abstract: A method of correcting angles of a welding torch positioned by a user while training a robot of a robotic welding system is provided. Weldment depth data of a weldment and a corresponding weld seam is acquired and 3D point cloud data is generated. 3D plane and intersection data is generated from the 3D point cloud data, representing the weldment and weld seam. User-placed 3D torch position and orientation data for a recorded weld point along the weld seam is imported. A torch push angle and a torch work angle are calculated for the recorded weld point, with respect to the weldment and weld seam, based on the user-placed torch position and orientation data and the 3D plane and intersection data. The torch push angle and the torch work angle are corrected for the recorded weld point based on pre-stored ideal angles for the weld seam.