Welding machine (1) comprising a resting plane (P) configured to support respectively a tail portion and a head portion of two metal sheets to be joined. The metal sheets are slidable along an advancement direction (A). The welding machine (1) also comprises sheet-metal pressing means (2) configured to lock in a set position the head and tail portions on the resting plane (P) and a plurality of welding torches (3) configured to join respective edges of the tail and head portions. The welding torches (3) are slidably movable along a transverse direction (B) to the advancement direction (A). The welding machine (1) is characterized in that it also comprises a plurality of grounding contacts (4) that is each electrically associated with a respective welding torch (3) and movable solidly constrained to the respective welding torch (3) along the transverse direction (B).

Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.

A torch for use by a robot. The torch has a body that can be connected to an arm of the robot. A first actuator on the body can be activated by a user to initiate a recording cycle at a starting point of a desired welding or cutting path and to terminate the recording cycle at an ending point of the path. A second actuator on the body can be activated by the user to indicate way points from the starting point to the ending point as the user moves the torch along the path. The first actuator sends first information to a robot controller, operatively connected to and located remotely from the robot, to initiate and to terminate the recording cycle at the controller. The second actuator device sends the way points as second information to the controller to be recorded at the controller during the recording cycle.

A torch for use by a robot. The torch has a body that can be connected to an arm of the robot. A first actuator on the body can be activated by a user to initiate a recording cycle at a starting point of a desired welding or cutting path and to terminate the recording cycle at an ending point of the path. A second actuator on the body can be activated by the user to indicate way points from the starting point to the ending point as the user moves the torch along the path. The first actuator sends first information to a robot controller, operatively connected to and located remotely from the robot, to initiate and to terminate the recording cycle at the controller. The second actuator device sends the way points as second information to the controller to be recorded at the controller during the recording cycle.

A pulse arc welding profile control method, a control device, a welding system, a welding program, and a welding power supply are provided in which, even when a pulse arc welding method is used, protruding change information is extractable at high accuracy without influence from a welding current or an arc voltage having a pulse shape. An electric change amount detected at the time of weaving includes, as a parameter, at least one among a welding current detection signal and an arc voltage detection signal, takes a predetermined period as one period, calculates an average value of the electric change amount in each one period, and extracts, on the basis of the average value, the protruding change information in a groove to follow a welding line.

A pulse arc welding profile control method, a control device, a welding system, a welding program, and a welding power supply are provided in which, even when a pulse arc welding method is used, protruding change information is extractable at high accuracy without influence from a welding current or an arc voltage having a pulse shape. An electric change amount detected at the time of weaving includes, as a parameter, at least one among a welding current detection signal and an arc voltage detection signal, takes a predetermined period as one period, calculates an average value of the electric change amount in each one period, and extracts, on the basis of the average value, the protruding change information in a groove to follow a welding line.

In an arc-tracking welding method and a welding device of the present invention, a deviation amount between a weaving center and a welding line is obtained based on a first relationship and a second relationship. The first relationship is a relationship between a weaving position and any one element of three electrical first to third elements related to Ohm's law, the relationship being obtained based on a physical model of an arc welding phenomenon and being associated with the deviation amount. The second relationship is a relationship between the weaving position and the element, the relationship being obtained based on the element in welding power.

In an arc-tracking welding method and a welding device of the present invention, a deviation amount between a weaving center and a welding line is obtained based on a first relationship and a second relationship. The first relationship is a relationship between a weaving position and any one element of three electrical first to third elements related to Ohm's law, the relationship being obtained based on a physical model of an arc welding phenomenon and being associated with the deviation amount. The second relationship is a relationship between the weaving position and the element, the relationship being obtained based on the element in welding power.

Briefly, the present disclosure relates generally to welding applications and, more particularly, to welding tracking and/or motion systems.

An apparatus includes a welding torch, a laser capable of projecting a beam towards a seam on a surface, a camera directed towards the surface, a memory, and a processor. The processor receives an image of the surface from the camera. Next, the processor determines, based on the reflection of the laser beam from the surface, a vertical distance from the torch to the seam. The processor adjusts the brightness and contrast of the image, applies a gamma correction, and applies at least one gradient filter to the image to produce a new image. Next, the processor determines a horizontal location of the seam in the new image, which it uses to determine a horizontal distance from the torch to the seam. Based on the vertical and horizontal distances from the torch to the seam, the processor adjusts a vertical and a horizontal position of the torch.