Abstract: A robotic electric arc welding system includes a welding torch, a welding robot configured to manipulate the welding torch during a welding operation, a robot controller operatively connected to the welding robot to control weaving movements of the welding torch along a weld seam and at a weave frequency and weave period, and a welding power supply operatively connected to the welding torch to control a welding waveform, and operatively connected to the robot controller for communication therewith. The welding power supply is configured to sample a plurality of weld parameters during a sampling period of the welding operation and form an analysis packet, and process the analysis packet to generate a weld quality score, wherein the welding power supply obtains the weave frequency or the weave period and automatically adjusts the sampling period for forming the analysis packet based on the weave frequency or the weave period.

Abstract: A thermal spray system may include a thermal spray torch configured to produce an emission of material, at least one camera configured to capture an image of the emission of material emitted by the thermal spray torch, a diagnostic device communicatively coupled to the at least one camera, and a controller communicatively coupled to the diagnostic device. The camera may be configured to transmit an image of the emission of material to a diagnostic device that may be configured to determine a characteristic of the emission of material based on the image. The diagnostic device may transmit the characteristic to a controller that may control a position of the thermal spray torch based on the characteristic.

Abstract: A travel speed sensing system includes an optical sensor configured to be coupled to a welding torch. The optical sensor is configured to sense light incident on the optical sensor, and the travel speed sensing system is configured to determine a travel speed of the welding torch, a direction of the welding torch, or both, based on the sensed light.

Abstract: A joint body includes first and second metal members and a joint portion including a welded portion where the first and second metal members are joined together, the welded portion having a line shape. The joint portion includes first and second longitudinal portions and a plurality of connecting portions. The first longitudinal portion has first intersecting portions arranged in a first direction and extends in the first direction. The second longitudinal portion has second intersecting portions arranged in the first direction and extends in the first direction. The welded portion intersects itself at the first and second intersecting portions. The connecting portions are arranged in the first direction. The connecting portions extend in a first direction and connect the first and second longitudinal portions.

Abstract: A gas, which flows between a welding device and work pieces while the work pieces are welded together, has large influence on the welding. A sensor device includes a sensor unit and a container that includes a housing case (i.e., housing portion) and a shielding member (i.e., shielding portion). The shielding member is attached to the housing case, and shields radiation heat directed toward the lower surface of the housing case among radiation heat generated while the work pieces W are welded together. The shielding member is inclined with respect to a flow direction of a gas passing through an outlet port for detection of a second gas flow channel so that the gas discharged from the outlet port for detection is blown to the shielding member and thus flows to a side opposite to the side where the work pieces W are to be welded together.

Abstract: A robotic electric arc welding system includes a welding torch, a welding robot configured to manipulate the welding torch during a welding operation, a robot controller operatively connected to the welding robot to control weaving movements of the welding torch along a weld seam and at a weave frequency and weave period, and a welding power supply operatively connected to the welding torch to control a welding waveform, and operatively connected to the robot controller for communication therewith. The welding power supply is configured to sample a plurality of weld parameters during a sampling period of the welding operation and form an analysis packet, and process the analysis packet to generate a weld quality score, wherein the welding power supply obtains the weave frequency or the weave period and automatically adjusts the sampling period for forming the analysis packet based on the weave frequency or the weave period.

Abstract: An apparatus may include a power supply to generate an output current. The apparatus may further include a plasma torch to apply the output current across a gap and a user interface to receive a selection for enabling a pierce current mode. The apparatus may further include a controller to temporarily increase an output current setting at the plasma torch from a first level to a second level, responsive to the selection of pierce current mode.

Abstract: A control device estimates a position and pose of an imaging device relative to a robot based on an image of the robot captured by the imaging device. A simulation device arranges a robot model at a teaching point, and generates a simulation image of the robot model captured by a virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model in the virtual space coincide with the estimated position and pose of the imaging device. The control device determines an amount of correction of a position and pose of the robot for the teaching point so that the position and pose of the robot on the actual image captured after the robot has been driven according to a movement command to the teaching point approximate to the position and pose of the robot model on the simulation image.

Abstract: A sensor device includes a sensor to detect a light beam to measure states of work pieces or a distance to the work pieces, a case body housing the sensor, and a protective cover including a protective plate that transmits the detection light beam. The protective cover includes a gas flow channel that passes a gas to be blown to the protective plate, the gas flow channel having formed therein an outlet port that passes the detection light beam and discharges the gas having flowed through the gas flow channel. The gas flow channel includes an accumulator between the protective cover and the case body adapted to have accumulated therein the gas flowing through the gas flow channel, and the accumulator includes vent holes through which the gas is allowed to flow out toward the outlet port.

Abstract: A gas-dispersion apparatus for an additive-manufacturing apparatus includes a pipe defining an axis, an outlet, and a cooling tube coiled about the pipe. The pipe includes a passageway along the axis, and the pipe extends from a first end to a second end. The outlet is positioned to discharge gas into the passageway at the first end. The first end is attachable to a laser so that a beam emitted by the laser travels along the axis.

Abstract: Provided is an articulated welding robot that includes an articulated arm in which a plurality of arm parts are linked via a drive shaft. A welding wire is disposed along the articulated arm. In at least one of the arm parts a depression is formed that forms a hollow on the inner side of the arm. At least a portion of the welding wire is accommodated in the depression.

Abstract: Disclosed is a welding torch. The welding torch comprising a torch head, a cup, a handle and a connector removably. Further, the torch head comprising a first tube, a second tube and an extension member. Further, the first tube and the second tube joined together in parallel along the length of the first tube and the second tube. Further, the extension member coupled to a rear end of the second tube. Further, the cup removably coupled to a front end of the first tube. Further, the handle removably coupled to the rear end of the extension member. Further, the connector removably enclosed within the handle. Further, the connector connects to a gas supply hose, wherein the welding torch is generally parallel to the gas supply hose.

Abstract: A trajectory control device includes: a contact sensor that can contact side surfaces of a workpiece; an actuator that moves a trajectory tracking member and the contact sensor; and a trajectory controller that calculates XY coordinates of a trajectory on the workpiece that is placed in an arbitrary position, by transforming XY coordinates of the trajectory on the workpiece in a reference position, based on positional information about the side surfaces of the workpiece in the reference position and positional information about the side surfaces of the workpiece placed in the arbitrary position. The positional information about the side surfaces of the workpiece placed in the arbitrary position is obtained by the contact sensor.

Abstract: A post-heating treatment device includes a detecting device for a height variation of a surface of the rail at every, predetermined pitch along a length direction of the rail, a control unit for defining a position of the rail to be a starting point of the welded section when the height variation detected by the detecting device at every predetermined pitch exceeds a predetermined threshold for the number of a predetermined times consecutively and defining a position of the rail to be an end point of the welded section when the height variation detected by the detecting device at every predetermined pitch is below the predetermined threshold for the number of the predetermined times consecutively, and a heating unit for heat treatment based on a position of the welded section detected by the detecting device. A post-heating treatment method using the post-heating treatment device is provided.

Abstract: An arc welding display device is included in a welding apparatus having a weaving function of swinging a torch with respect to a welding direction. The arc welding display device displays, on a screen, at least one of a welding current and a welding voltage during the arc welding with a range sectioned by each fixed period including at least one weaving period.

Abstract: In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

Abstract: A system for generating training datasets is provided. The system uses base images to generate a large number of images that include non-defective and defective characteristics. The generated images are then used to train a model that may be used to predict defects in real world images of a manufacturing process.

Abstract: A machining system includes a laser irradiation device, a camera that captures an image of a workpiece, and a display that displays the image captured by the camera. The machining system includes a robot control device that controls the camera and the display. The camera captures the image of the workpiece before machining. The robot control device calculates a laser-beam irradiation position on the workpiece and virtually displays the laser-beam irradiation position on the display so as to overlap the workpiece image captured by the camera.

Abstract: A welding-type power supply includes a controller, a preregulator, a preregulator bus, and an output converter. The controller has a preregulator control output and an output converter control output. The controller has a converter control output connected to the control input, and a flux balancing module. The converter control output is responsive to the flux balancing module such that the flux in the transformer remains balanced.

Abstract: A welding system includes a welding torch, a power supply, one or more sensors, and a controller is provided. The welding torch advances an electrode toward a workpiece in a first direction. The power supply provides a flow of electricity to the electrode for generating a welding arc between the electrode and the workpiece. Generating the welding arc generates a weld puddle behind the welding arc as the electrode moves in the first direction. The sensor generates a voltage output signal based on the amount of light received from the weld puddle. The controller is communicatively coupled with the sensor to receive the voltage output signal, and the sensor controls a welding parameter of the welding system based the voltage output signal.

Abstract: A teaching device for teaching a motion of a robot, including an image projector which projects an image on a projection surface in a working space of the robot; an indicator position detector which detects a position of an indicator on the projection surface; an image generator which generates or updates the image based on the position of the indicator that is detected by the indicator position detector; and a processor which calculates a teaching point for teaching a motion of the robot based on the position of the indicator.

Abstract: A welding system includes one or more cameras and a controller coupled to the one or more cameras. The one or more cameras are configured to detect a plurality of sets of visual markers of a welding device, where each each set is oriented in a respective marker direction. The controller is configured to determine one or more marker directions of one or more respective sets of visual markers based on a detected set of visual markers, to select one of the sets of visual markers as a tracked set of visual markers based at least in part on a determined marker direction of the tracked set of visual markers, to associate a rigid body model to the tracked set of visual markers, and to determine a position and an orientation of the welding device based on the associated rigid body model of the tracked set of visual markers.

Abstract: A method and apparatus for providing welding-type power is disclosed and includes a means for communicating.

Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.

Abstract: Embodiments of robotic systems are disclosed. In one embodiment, a robotic system includes a tool used in a manufacture process on a workpiece, and an arm having an attachment point. The arm moves the tool, in multiple degrees of freedom during the manufacture process. A robot controller controls movement of the arm based on motion parameters to perform the manufacture process via the tool. A path planner component generates the motion parameters used to perform the manufacture process while avoiding robot collision conflicts. The path planner component includes a reach configuration component including data related to physical attributes, motion attributes, kinematics, and limitations of the robotic system. The path planner component also includes a collision avoidance evaluator to, using the reach configuration component, determine if an anticipated robot path results in any robot collision conflicts.

Abstract: A method and an apparatus of identifying welding seams of a welding object. The method includes identifying intersection lines between geometrical bodies of the welding object in a three-dimensional model for the welding object, based on geometry of the geometrical bodies to form a collection of welding seams for the welding object. The method also includes eliminating hidden seams from the collection of welding seams for the welding object based on overlapping relationship among the welding seams to form a candidate seam list. Welding seams can be identified automatically and efficiently, and the method or the apparatus makes the automatic programming of the welding robot possible and thus facilitates use of a robot in welding huge and complex structures manufactured in a small batch.

Abstract: A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.

Abstract: An arc welding system includes an arc welding portion that executes an arc welding, an arc welding power supply that supplies a weld voltage and a weld current to the arc welding portion, an analyzer including analyzer circuitry that performs a frequency analysis on a time series waveform of at least one of the weld voltage and the weld current and generates frequency spectral data, and a determiner including determiner circuitry that obtains a welding state of a welding work by the arc welding portion based on the frequency spectral data generated by the analyzer.

Abstract: A sampling system is provided. The sampling system includes a housing. Mounted to the housing is a Hall effect sensor. A probe configured to contact a sample is inserted into the housing. The probe includes an elongated portion and a restorative spring inserted onto the elongated portion of the probe. The restorative spring provides sufficient restorative force to return the probe to a relaxed position. The Hall effect sensor is configured to sense a field strength generated by the proximity of the restorative spring of the probe in the extended position.

Abstract: Disclosed are an adaptive control method and equipment of arc swing in narrow gap welding. The control equipment is composed of an infrared camera system, a computer image processing system, an arc swing parameter control system, a bent-conducting-rod-type swing arc torch and the like. The infrared camera system acquires, in an external triggering manner, an infrared image of welding area when an arc is deviated towards the left or the right side wall groove, extracts information about the width of the groove in real time after image processing by a computer, and calculates an arc swing angle target value. The arc swing parameter control system controls a motor drive mechanism to rotate a bent conducting rod, and drives the welding arc to conduct circular arc swing according to the swing angle target value, thereby realizing the adaptive control for the arc swing angle according to changes of the groove width.

Abstract: A welding system including a welding power source including power conversion circuitry adapted to receive primary power and to convert the primary power to a weld power output for use in a welding operation and a controller communicatively coupled to the welding power source are provided. The controller is adapted to determine a statistical signature of at least one parameter of a welding process and to utilize the statistical signature to determine at least one of an electrode type, an electrode diameter, and a shielding gas type during the welding operation.

Abstract: A target path is corrected using an imaging result of a workpiece and a moving distance of a control object for each control cycle is kept constant. The PLC generates a connected path for each control cycle so that a length of the corrected path for each control cycle substantially matches a length of a normative path for each control cycle.

Abstract: A laser welding method includes preliminarily heating an entire welding path by irradiating the entire welding path with a heating laser beam for a first predetermined time, the welding path being closed loop-shaped and formed at a boundary between two workpieces as welding objects, and performing scanning with a welding laser beam along the welding path while continuously performing the irradiation with the heating laser beam after the preliminary heating and terminating the irradiation with the welding laser beam after the welding laser beam goes around the welding path.

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

Abstract: A method is provided for automatic configuring of an external control system for open-loop and/or closed-loop control of a robot system. In the method, an external control system and a robot system, including at least one manipulator and a robot controller, are provided. In addition, a connection is made for exchanging data between the robot system and the external control system. Description data is transferred from the robot system to the external control system. A mathematical robot model is created by the external control system on the basis of the received description data, and a communication is established between the external control system and the robot controller on the basis of the received description data.

Abstract: A method to assist with the production of an assembly of two elements implemented by a remotely operated robot. The method includes an arm, hinged to the end of which is mounted a heat-supply member suitable for delivering heat to a heat-supply point; position sensors; guiding actuators; a video capture device; an interface; and a processing unit. The method involves the following steps: acquiring a type of assembly to be produced; calculating a reference path of the heat-supply point; defining a shell for guiding the heat-supply member; and controlling guiding actuators so as to prevent the heat-supply member from moving out of the guiding shell.

Abstract: A welding training system includes one or more welding operator device which provides positional feedback relevant to a quality weld. The positional feedback is analyzed and, when the positional feedback is outside of a predetermined range, a signal is provided to the welding operator. In one embodiment, tactile feedback is provided in a welding gun.

Abstract: A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.

Abstract: A method for producing a primary material for a cutting tool, for example a primary material for a saw blade or a saw band, in which a band-shaped carrier of a metal carrier material and a wire of high-speed steel are continuously brought together along a lateral edge of the band-shaped carrier and transported into a welding device and the band-shaped carrier is welded to the wire along the lateral edge of the carrier to produce a bimetal band. The band-shaped carrier and the edge wire are welded to one another by at least a first welding device, which is arranged on one side of the band-shaped carrier, and at least a second welding device, which is arranged on the opposite side of the band-shaped carrier.

Abstract: An arc welder produces a weave pattern between workpieces. Each weld run comprises a center portion including a joining region between the workpieces and edge regions spaced apart from the joining region. The welder includes a power source that provides a welding waveform to a welding electrode to generate an arc to achieve a desired heat for welding, a welding torch, and an oscillator for oscillating the torch between the welding edge regions. A controller causes the power source to operate in a first mode utilizing a first waveform during welding within the joining region, and in a second mode using a second waveform, having a greater positive component than the first waveform, during welding within the edge regions. The controller determines a stickout value based on the first waveform but not the second waveform, and performs seam tracking based the second waveform but not the first waveform.

Abstract: The present invention provides a method for detecting a shape of a butt joint of a welded steel pipe. A specific detection range including a butt joint of a welded steel pipe is scanned with a non-contact means to obtain geometric coordinate data. Coordinates of a start point and an end point of the specific detection range, a first selected point located between the start point and the butt joint, and a second selected point located between the butt joint and the end point are selected from the geometric coordinate data. A first approximate circle including the start point, the end point, and the first selected point, and a second approximate circle including the start point, the end point, and the second selected point are calculated. A deviation between the first and the second approximate circles is used as an index representing the shape of the butt joint.

Abstract: A shape measuring apparatus includes a probe head that changes its posture by rotational motion of a first drive axis and a second drive axis, and a coordinate measuring machine that three-dimensionally displaces a location of the probe head by three translation axes (a third drive axis, a fourth drive axis, and a fifth drive axis). The location of a measurement tip is given by coordinate values of the third to fifth drive axes, and the posture of a probe head is given by a first rotating angle ? and a second rotating angle ?. An intersection point between a first rotation axis and a second rotation axis is set as a rotation center Q. An interpolation point in each control period is calculated for each of the first to fifth drive axes.

Abstract: A system and method detect weld defects in real time. Cameras capture images of a weld pool as well as ripple shape and fillet geometry. A processor receives the images and communicates with a database that stores correlated potential weld defects with images of a mock weld molten pool and images of a mock weld ripple shape and fillet geometry. The processor computes an aggregate probability that a weld position corresponding to the images captured by the cameras contains a defect based on the potential defects correlated in the database.

Abstract: A machine and method of forming an article generally comprising extruding a molten bead of thermoplastic material along x, y and z axes in forming an article consisting of a strata of such material, and passing a roller over each applied portion of such molten bead to compress such bead portion, enhancing the fusion of engaging plies of such extruded material.

Abstract: A robot teaching device includes a processing unit for performing processing to warn or correct positional deviation of teaching points or teaching lines. The processing unit includes a teaching position acquisition unit for acquiring four or more teaching positions from a set of target teaching points or a set of target teaching lines, a normal vector calculation section which calculates a normal vector satisfying the set of teaching positions, a distance calculation section which calculates a distance between two teaching positions most distant in the normal vector direction from among the set of teaching positions, and a first warning command section which issues a command, based on a distance between the two teaching positions which are most distant, to warn that the teaching points or teaching lines corresponding to the teaching positions have deviated from an actual plane of a workpiece.

Abstract: A robot is configured to assist an end-user with creative tasks. While the end-user modifies the work piece, the robot observes the modifications made by the end-user and determines one or more objectives that the end-user may endeavor to accomplish. The robot then determines a set of actions to perform that assist the end-user with accomplishing the objectives.

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

Abstract: A part program generating device includes a CAD data memory storing CAD data of a work piece, a measurement condition definer receiving an input operation performed by a user and defining a measurement procedure, and a part program generator converting the measurement procedure defined by the measurement condition definer into a part program language. The measurement condition definer provides the user with, as a graphical user interface, an editing window capable of editing the measurement procedure in an editing language and a command icon providing a command to be used for defining the measurement procedure as an icon. The command icon includes a circumvention move command icon instructing to overcome a barrier when displacing a sensor from a start point to a target point.

Abstract: The present invention relates to a welding device which includes a welding power source provided with a power supply circuit; a wire feeder connected to the welding power supply to supply wire; a torch which pulls the wire supplied from the wire feeder and supplies the wire to a welding part; an IR thermal camera which captures the welding part; a vision module having built-in program which receives and processes a captured image of a IR thermal camera; and a slag removal device which removes slag detected in the welding part in real time in conjunction with the vision module. The welding device has an effect in which slag generated during welding can be removed before the slag is fixed on the molten pool.

Abstract: Embodiments of the present disclosure are drawn to additive manufacturing methods. An exemplary method may include determining x and y coordinates for a tool path of an additive manufacturing machine, and calculating an angle of the tool path. The method may also include determining a position of a compression roller relative to the angle of the tool path, and moving the compression roller to position the compression roller relative to the angle of the tool path.