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.

Abstract: The present invention provides a method and an apparatus for scanning an object to obtain data on the object and determine the configuration of the object. A gantry (12) allows movement along a first direction (A-A′). A set of platforms (14A, 14B) allows movement along a second direction (B-B′). A set of scanning heads (16A, 16B) provide additional degrees of freedom and also provide for scanning the object (10) to obtain information about the object. The freedom of movement provided by the gantry, the platforms, and the scanning heads allows the object to be completely scanned. In addition, once the initial scanning process has been completely, areas which require additional scanning, such as compartments (10D), are identified. The scanning heads are then positioned, such as directly above or inside a compartment, and then the compartment is scanned to obtain information about the compartment that could not be obtained from the initial scanning procedure.

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.

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.

Abstract: The present invention provides a method and an apparatus for scanning an object to obtain data on the object and determine the configuration of the object. A gantry (12) allows movement along a first direction (A-A′). A set of platforms (14A, 14B) allows movement along a second direction (B-B′). A set of scanning heads (16A, 16B) provide additional degrees of freedom and also provide for scanning the object (10) to obtain information about the object. The freedom of movement provided by the gantry, the platforms, and the scanning heads allows the object to be completely scanned. In addition, once the initial scanning process has been completely, areas which require additional scanning, such as compartments (10D), are identified. The scanning heads are then positioned, such as directly above or inside a compartment, and then the compartment is scanned to obtain information about the compartment that could not be obtained from the initial scanning procedure.

Abstract: The present invention provides a method and an apparatus for scanning an object to obtain data on the object and determine the configuration of the object. A gantry (12) allows movement along a first direction (A-A'). A set of platforms (14A, 14B) allows movement along a second direction (B-B'). A set of cameras (16A and 16B) provide additional degrees of freedom and also provide for scanning the object (10) to obtain information about the object. The freedom of movement provided by the gantry, the platforms, and the cameras allows the object to be completely scanned. In addition, once the initial scanning process has been completely, areas which require additional scanning, such as compartments (10D), are identified. The cameras are then positioned, such as directly above or inside a compartment, and then the compartment is scanned to obtain information about the compartment that could not be obtained from the initial scanning procedure.

Abstract: The present invention provides a method and an apparatus for scanning an object to obtain data on the object and determine the configuration of the object. A gantry (12) allows movement along a first direction (A-A'). A set of platforms (14A, 14B) allows movement along a second direction (B-B'). A set of cameras (16A and 16B) provide additional degrees of freedom and also provide for scanning the object (10) to obtain information about the object. The freedom of movement provided by the gantry, the platforms, and the cameras allows the object to be completely scanned. In addition, once the initial scanning process has been completely, areas which require additional scanning, such as compartments (10D), are identified. The cameras are then positioned, such as directly above or inside a compartment, and then the compartment is scanned to obtain information about the compartment that could not be obtained from the initial scanning procedure.

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.

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.

Abstract: A method of adjusting a wire feeder having a pusher system (12) and a puller system (14) to avoid birdnesting and collapse of the wire (11) in the wire guide or conduit (13) when the tip (15) of the wire feeder is blocked or a wire jam occurs. The pusher system (12) is adjusted by activating both the pusher system (12) and the puller system (14), adjusting the pusher system (12) to provide a desired wire feed speed when the tip (15) is not blocked, blocking the tip (15), and adjusting the pressure exerted by the rollers (22) of the pusher system (12) so that these rollers (22) slip on the wire (11) when the tip (15) is blocked. The puller system (14) is adjusted by disabling the pusher system (12), blocking the tip (15), activating the puller system (14), and adjusting the pressure exerted by the rollers (32) of the puller system (14) so that these rollers (32) do not slip on the wire (11).

Abstract: A pusher system (12) extracts a wire (11) from a reservoir (10) and feeds the wire through a wire guide (13) to a puller system (14). The puller system then feeds the wire (11) through a tip (15) to the welding operation represented by an arc (16) and a work piece (17). The pusher system (12) has a motor (20) adjusted so as to feed the wire (11) at the desired rate. A pair of rollers (22), which are driven by the motor (20), are designed to slip on the wire (11) if the wire becomes jammed or blocked. The puller system (14) has a limited torque motor (30). The limited torque motor (30) drives a pair of rollers (32) which firmly grip the wire (11) and do not slip on the wire (11). If the wire (11) becomes blocked or jammed then the motor (30) will stall. The combination of the pusher system (12) and the puller system (14) provides a wire feeder which does not damage the wire (11) and which does not cause birdnesting if the wire is jammed or blocked.

Abstract: A transformer (12) and power supply (10) for powering one or more welding stations (24). A spacing layered (12E) is inserted between the primary windings (12A, 12B, 12C) and the secondary windings (12F, 12G, 12H) so as to control the degree of coupling between these windings. In addition, impedances (11, 14, 17) may be used individually or collectively, alone or with the transformer (12), to achieve a desired output voltage-output current characteristic for the power supply (10). The output voltage at the connections (20, 21) of the power supply (10) drops off at a rate selected to minimize heating in the welding stations (24) while maintaining the quality of the weld being performed.

Abstract: A transistor failure selection circuit and structure for ease of maintenance. The disclosed circuit and structure reduce maintenance time and costs for a welding station. The circuit biases a specific selected transistor at a different operating point than any other transistor in a bank of transistors. Upon an overcurrent condition which exceeds the design current rating of the welding station the circuit causes the specific selected transistor to fail in preference to the failure of any other transistor located in the transistor bank. The selected transistor is mounted in a readily accessible location of the welding station and is easily replaced in the event of failure. This eliminates the need for the operator to remove the entire bank of transistors and/or other components or circuits typically found in a welding station in order to access and replace the failed transistor.

Abstract: A welding station for welding thin-walled copper-nickel pipe. An electronic welding station (10) has an output circuit (13) which provides arc welding power having the arc characteristics specified by a weld parameter selection circuit (12). A welding torch and feeder assembly (11) has a controller (20) which is responsive to a predetermined event, such as the passage of time since the start of the arc, or the average temperature of the pipe (25) as indicated by two temperature-measuring devices (30, 32). The controller (20) adjusts the wire feed speed, the pulse frequency, the pulse width, the welding voltage, the welding current and/or other parameters so as to cause the arc to have the parameters most desired for welding copper-nickel pipe. The present invention provides for a hotter arc for starting the welding operation, thereby obtaining good penetration and bonding, and a cooler arc for continuing the welding operation, thereby preventing burn-through of the pipe (25).

Abstract: A pulsed welding power supply with short circuit and overcurrent protection. A switching device (55) provides output voltage and output current to the output (17, 18, 19) of a pulse welding power supply. A welding parameter selection means (30, 32, 34, 37) provides a control signal to the switching device (55) which turns the switching device (55) on or off. A short circuit detector (72) monitors the output voltage and inhibits the control signal to the switching device (55) if the output voltage drops below a predetermined value. in order to allow the pulsed welding power supply to start operation, or restart after the short is removed, a resistor (45), connected in parallel with the switching device (55), access a limited current source means which provides a limited output current to the output when the switching device (55) is disabled.

Abstract: An apparatus and method are presented that optimize the output voltage and output current provided by an electronic welding station to a welding operation. A value for a specified welding operation parameter is selected and the values for other welding operation parameters that produce optimum welding results are recorded. These values are used to implement a control system which automatically varies these other parameters as a function of the adjustment of the selected parameter. Therefore, an operator need only adjust a single control parameter for a welding operation and the control system automatically selects the optimum values for the other parameters. This reduces the number of controls that an operator must adjust for a welding operation and results in higher operator efficiency and optimum welding results.

Abstract: An improved electronic welding station is disclosed. The welding station provides for an improved arc striking capability by providing a higher arc striking voltage and a large arc striking current and, once the arc is struck, automatically switches over to preselected parameters for conducting the welding operation. Also disclosed are a method for preventing transistor failure due to loads which tend to cause a very large instantaneous current flow and an apparatus for protecting the driver circuit and the remaining output transistors in the event that one of the output transistors should suffer a collector-to-base short. The welding station also describes a method of operating the cooling fan at a speed commensurate with the cooling requirements and periodically reversing the voltage to the cooling fan so as to extend the operating lifetime of the fan brushes.

Abstract: An improved welding system is shown. A single high capacity power supply (10) provides operating power for several weld selector stations (16). Each weld selector station (16) operates independently, is adjustable, and allows a welder to obtain the voltage and current characteristics desired for his particular welding operation. Each weld selector station (16) operates over a wide range of input voltages so that long runs of low-voltage interconnecting cable (14,15) can be used without adversely affecting the quality of the weld. Furthermore, the weld selector station (16) is small, lightweight and easily transportable. The result is a more efficient, less expensive, versatile welding system.

Abstract: An improved electronic welding station is disclosed. The welding station provides for an improved arc striking capability by providing a higher arc striking voltage and a large arc striking current and, once the arc is struck, automatically switches over to preselected parameters for conducting the welding operation. Also disclosed are a method for preventing transistor failure due to loads which tend to cause a very large instantaneous current flow and an apparatus for protecting the driver circuit and the remaining output transistors in the event that one of the output transistors should suffer a collector-to-base short. The welding station also describes a method of operating the cooling fan at a speed commensurate with the cooling requirements and periodically reversing the voltage to the cooling fan so as to extend the operating lifetime of the fan brushes.

Abstract: An electronic welding station suitable for use with a dedicated power supply or for use in a system wherein a plurality of electronic welding stations are powered from a central power supply. The welding station provides for a positive ground mode, a negative ground mode, and two AC output modes of operation. Most components are used for all modes of operation. The main transistor bank (57) and an auxiliary transistor bank (64) are used in an emitter follower configuration for negative ground mode, a common emitter configuration for positive ground mode, and, in conjunction with an inductor/transformer (67), in a push-pull configuration for both AC output modes of operation. The inductor/transformer (67) is configured as an inductor for DC output operation and, by the insertion of a plug (67E), as a transformer for AC output operation. Selection of the positive ground mode, the negative ground mode, or an AC output mode is achieved by the use of a multi-pole switch (25) and a jumper (90).