# US 11,897,060 B2 · Systems and methods for welding torch weaving > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,060 B2 - Document ID: US11897060B2 - Status: Granted - Kind: B2 - Application number: 17/307,040 - Filed: 2021-05-04 - Published: 2021-08-19 - Granted: 2024-02-13 - Earliest claimed: 2017-11-29 - Assignees: Lincoln Global, Inc. - Applicants: Lincoln Global, Inc. - Inventors: Lance F. Guymon; Adewole A. Ayoade; Floyd M. Thompson, Jr.; Edward D. Hillen - Web page: https://patentgrep.com/patent/US11897060B2 ## CPC - B23K 9/0953: {using computing means} - B23K 9/0216: {Seam profiling, e.g. weaving, multilayer} - B23K 9/091: {characterised by the circuits} - B23K 31/125: {Weld quality monitoring} - B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM ## 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. ## Claims ### Claim 1 An automated electric arc welding system, comprising: a torch manipulator; a welding torch extending from the torch manipulator; a motion controller operatively connected to the torch manipulator to control movement of the welding torch along a weld path in a direction of a weld seam during a welding operation, and simultaneously weaving movements of the welding torch back and forth across the weld seam at a weave frequency and a weave period; and a welding power supply operatively connected to the welding torch to control a welding waveform, and operatively connected to the motion controller for communication therewith, wherein the welding waveform includes a pulse current portion, and a low current portion having a lower current level than the pulse current portion, and wherein 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 such that the sampling period equals the weave period, wherein the automated electric arc welding system includes through arc seam tracking logic that tracks the weld seam and calculates corrections to the weld path, wherein the through arc seam tracking logic calculates the corrections to the weld path from welding current data classified as corresponding to the pulse current portion of the welding waveform, and welding current data classified as corresponding to the low current portion of the welding waveform, provided by the welding power supply, and wherein when calculating the corrections to the weld path, the through arc seam tracking logic weighs said welding current data classified as corresponding to the pulse current portion of the welding waveform more heavily than said welding current data classified as corresponding to the low current portion of the welding waveform. ### Claim 2 (depends on 1) The automated electric arc welding system of claim 1, wherein the welding power supply receives the weave frequency from the motion controller. ### Claim 3 (depends on 1) The automated electric arc welding system of claim 1, wherein the welding power supply receives the weave period from the motion controller. ### Claim 4 (depends on 1) The automated electric arc welding system of claim 1, wherein the welding power supply receives torch position information from the motion controller during the welding operation. ### Claim 5 (depends on 4) The automated electric arc welding system of claim 4, wherein the welding power supply automatically adjusts the sampling period for forming the analysis packet based on the torch position information. ### Claim 6 (depends on 1) The automated electric arc welding system of claim 1, wherein the welding power supply records through arc seam tracking information corresponding to the weld quality score. ### Claim 7 An automated electric arc welding system, comprising: a torch manipulator; a welding torch extending from the torch manipulator; a motion controller operatively connected to the torch manipulator to control movement of the welding torch along a weld path in a direction of a weld seam during a welding operation, and simultaneously weaving movements of the welding torch back and forth across the weld seam at a weave frequency and a weave period; and a welding power supply operatively connected to the welding torch to control a welding waveform, and operatively connected to the motion controller for communication therewith, wherein the welding waveform includes a pulse current portion, and a low current portion having a lower current level than the pulse current portion, and wherein 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 receives torch position information and automatically adjusts the sampling period for forming the analysis packet based on the torch position information, wherein the automated electric arc welding system includes through arc seam tracking logic that tracks the weld seam and calculates corrections to the weld path, wherein the through arc seam tracking logic calculates the corrections to the weld path from welding current data classified as corresponding to the pulse current portion of the welding waveform, and welding current data classified as corresponding to the low current portion of the welding waveform, provided by the welding power supply, and wherein when calculating the corrections to the weld path, the through arc seam tracking logic weighs said welding current data classified as corresponding to the pulse current portion of the welding waveform more heavily than said welding current data classified as corresponding to the low current portion of the welding waveform. ### Claim 8 (depends on 7) The automated electric arc welding system of claim 7, wherein the sampling period for forming the analysis packet equals the weave period. ### Claim 9 (depends on 7) The automated electric arc welding system of claim 7, wherein the welding power supply receives the weave frequency from the motion controller. ### Claim 10 (depends on 7) The automated electric arc welding system of claim 7, wherein the welding power supply receives the weave period from the motion controller. ### Claim 11 (depends on 7) The automated electric arc welding system of claim 7, wherein the welding power supply records through arc seam tracking information corresponding to the weld quality score. ### Claim 12 An automated electric arc welding system, comprising: a torch manipulator; a welding torch extending from the torch manipulator; a motion controller operatively connected to the torch manipulator to control movement of the welding torch along a weld path in a direction of a weld seam during a welding operation, and simultaneously weaving movements of the welding torch back and forth across the weld seam; and a welding power supply operatively connected to the welding torch to control a welding waveform, and operatively connected to the motion controller for communication therewith, wherein the welding waveform includes a pulse current portion, and a low current portion having a lower current level than the pulse current portion, wherein the automated electric arc welding system includes through arc seam tracking logic that tracks the weld seam and calculates corrections to the weld path, wherein the through arc seam tracking logic calculates the corrections to the weld path from welding current data classified as corresponding to the pulse current portion of the welding waveform, and welding current data classified as corresponding to the low current portion of the welding waveform, provided by the welding power supply, and wherein when calculating the corrections to the weld path, the through arc seam tracking logic weighs said welding current data classified as corresponding to the pulse current portion of the welding waveform more heavily than said welding current data classified as corresponding to the low current portion of the welding waveform. ### Claim 13 (depends on 12) The automated electric arc welding system of claim 12, wherein the motion controller comprises the through arc seam tracking logic. ### Claim 14 (depends on 12) The automated electric arc welding system of claim 12, wherein the welding power supply comprises the through arc seam tracking logic. ### Claim 15 (depends on 12) The automated electric arc welding system of claim 12, wherein 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 a weave frequency or a weave period of the weaving movements and automatically adjusts the sampling period for forming the analysis packet based on the weave frequency or the weave period. ### Claim 16 (depends on 15) The automated electric arc welding system of claim 15, wherein the welding power supply records through arc seam tracking information corresponding to the weld quality score.