Patent Publication Number: US-11638968-B2

Title: Low energy, motion-assist, point-and-shoot welding torch

Description:
BACKGROUND 
     Welding operation can be classified as manual welding, semi-automatic welding, and automated welding. Most welding is still performed without automation. Semi-automatic welding conventionally describes the automation of consumable feeding or the motorized feeding of consumable electrodes in gas metal arc welding (GMAW) and flux-cored arc welding (FCAW) processes. Nevertheless, the movement of the arc or electrode is still performed by a human weld operator and is therefore dependent on the skills of the human weld operator. American Welding Society estimates there will be a shortage of 290,000 welding professionals by 2020 and, in particular, a shortage of skilled welders. Such trends are not limited to the United States and do not bode well for the production of quality welds in the future to meet the growing fabrication demand. 
     Automated welding, either robotic or fixed/hard automation, has been a viable solution to remove human weld operator from the delicate task of holding the weld tool with proper orientation with respect to joint and travel direction, and moving the weld tool along the weld seam at proper speeds. Typically, a welding robot motion has two types, air moves and weld moves. The air moves are intended to move the weld tool from one weld position to another without actual welding. The weld moves are intended to perform a welding operation with the weld tool held by the robot. It is extremely effective in high-volume, low-mix repetitive autonomous welding tasks in a confined work cell completely isolated from people for safety. However, automation solutions have proven to be costly and intimidating to new users, and further require a robot technician to maintain and program. In addition, automation solutions are difficult to weld in confined spaces, joints, and weld large workpieces, such as buildings, bridges or ships. They are difficult to adapt to part fit-up variations, and often do not replace the weld operator, but rather only substitute the weld operator with a robot operator. 
     Due to the shortage of skilled welders, skilled welders are usually reserved for structurally critical welds at a shipyard or construction site. Weldments are normally tack welded together before a structural weld is put in. Tack welds are temporary short welds that hold the components of a weldment in place before the structural weld is applied. Since the tack weld might not have to pass the rigor of a weld inspection of the finished weld, temporary workers without weld qualification (e.g., shipyard labor such as painters, electricians, outfitters, plumbers, etc.) may be employed instead of skilled welders to perform tack welds. However, poor tack weld quality can contribute to weld defects in the final structural weld. Further, tack welding can be ergonomically taxing on the human operator. For example, thousands of small tack welds must be placed in ship panel stiffeners during a work day in which the human operator must bend over or kneel down to perform the tack weld. Such ergonomic issues can also affect tack weld quality as fatigue sets in. 
     Besides tack welds, many structures are made solely by short stitch welds (also known as a series of stringer beads or skip welds) that are sufficient to carry the load and maintain structural integrity. Designers use short segmented stitch welds in lieu of a continuous long seam weld to reduce total heat input to the weldment, thereby reducing distortion, heat affected zone, residual stress, and burn-through, and realizing weld consumable savings. Stitch welding is sometimes used to arrest the zipper effect in crack propagation. Moreover, structures such as bicycle frames are made with short tube-to-tube welds. 
     Those who perform occasional welding such as hobbyists, farmers, and repair shop workers need an easy way to make welds without the lengthy training typically required to become an expert in manipulating the welding torch. 
     Heat during the welding operation is a further consideration. As the automotive industry begins to use aluminum alloys and ultra high strength steel in car designs which might cause the emergence of an auto collision repair market for welding and brazing equipment and processes that are qualified by auto original equipment manufacturers (OEMs) for these materials. Machines that integrate the wire feeder and the welding power supply in one unit can be provided which offer ease of use, simplicity, and low cost, thereby making the machines useful for light fabrication activities, such as auto repair and light-duty manual welding in welding shops. Auto OEMs can specify the pulse welding process to be used with aluminum and the braze process for thin gauge advanced high strength material for use in production and in repair. The pulse weld process in such machines have proven to be too hot or use too much heat input for welding aluminum and brazing thin gauge advanced high strength steel. Arc length and width can be adjusted to balance low heat input with a wide arc for capillary effect to wet out the weld toes. In some instances, an optimum arc length and width cannot be determined to satisfy good wetting and no burn-through, for example. Conventional pulse on such machines also suffer from wire burn-back when welding out of position. 
     Panasonic offers robotic stitch welding or the ability to quickly turn on and off the arc and wire while moving the torch by a set distance before the next weld. This creates a string of overlapping spot welds and a stacked dime appearance. The benefit is an overall reduction in heat input because the arc is completely turned off between each spot weld, yet each spot has sufficient wetting. However the process is only offered on a robot, it is very tedious to do this manually. The robot is relied upon to stack the overlapping spot welds together to form an ultralow heat input weld. This is very expensive, and robotic welding is not feasible in many applications and environments. 
     BRIEF SUMMARY 
     Methods and systems are provided for motion assistance with a point-and-shoot welding torch substantially as illustrated by and/or described in connection with at least one of the figures, as set forth more completely in the claims. 
     Some embodiments of the present disclosure provide a low cost automation that automates the welding operation itself, but leaves the “air moves” or the weld tool motion between weld locations to the manual operation of the human operator. The hand-held weld tool can perform welding itself without the operator even moving the tool. The hand-held weld tool can be moved manually by the operator from one weld location to another. 
     Some embodiments of the present disclosure provide that, after manually placing the portable weld tool to its welding position and triggering the start of the welding operation, the weld tool creates a string of overlapping spot welds. In some embodiments, the string of overlapping spot welds include spot welds that are evenly spaced even though the travel speed of the contact tip or the welding heating source of the welding torch is not necessarily constant. The wire feed speed and the weld current can be turned off and on or modulated to match the possibly varying travel speed of the contact tip or the welding heat source so that the string of overlapping spot welds are evenly spaced. As the contact tip or the welding heat source automatically or autonomously travels, the arc can start, dwell, and stop, and then wait a particular amount of time before starting the cycle of start, dwell, and stop again. Each cycle can produce a spot weld, for example, in a string of overlapping spot welds. In some embodiments, the dwell or wait between each spot weld can be made such that the spot weld is halfway through its solidification, or it can be substantially or completely frozen before the next spot weld is placed. 
     Some embodiments of the present disclosure provide an operator aid for making welding torch movements with respect to the joint to make a sound weld that is substantially independent of human operator skills in making temporary tack welds and short length finished welds. The welding torch movements can take into account, for example, wire placement (or aiming), a torch angle (e.g., with respect to a plane perpendicular to the weld axis, also known as a work angle), a travel angle (e.g., with respect to travel direction), and a torch speed. Advanced torch movements can include, for example, torch weaving patterns, back step motion, and other operator techniques used in all position welding or special joint configuration. 
     Some embodiments of the present disclosure provide a human operator aid for making an arc start. Human operators generally must feel the start location, offset the wire from the work piece without touching it, and strike the arc at the right place by a delicate movement. An inexperienced operator might flinch or be blinded when the arc comes on, thereby pulling back the gun and drawing a long arc and causing porosity (or holes) in the weld. Some embodiments of the present disclosure provide an aid for the positioning (or aiming) of the welding gun at an arc start such as, for example, holding down a gun torch and feeling the snug fit before triggering. 
     Some embodiments of the present disclosure improve the ergonomics of performing tack welds, for example, by performing tack welds in a natural standing position. 
     Some embodiments provide a hand-held welding tool that robotically or automatically performs welding, but is manually moved by human to place welds in various locations on a workpiece. Multiple operators can hold the tool and collaboratively weld on the same workpiece (e.g., a large ship panel) which is not possible with a fenced-in robot, for example. This “selective automation” sits in between full automated welding and manual welding where the weld motion itself is automated but the weld-to-weld motion without the heat source remains manual. It provides a cost-effective and flexible automation than traditional or fenced-in robot/automation, but the consistency, speed and quality surpassing manual welding and independent of human skill. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1 A  shows an embodiment of the motion-assist, point-and-shoot weld torch system from a first perspective according to the present disclosure. 
         FIG.  1 B  shows an embodiment of the motion-assist, point-and-shoot weld torch system from a second perspective according to the present disclosure. 
         FIG.  2    shows an embodiment of a tool head above the pistol grip handle and a tubular handle of the point-and-shoot weld tool according to the present disclosure. 
         FIG.  3    shows an exploded view of an embodiment of the tool according to the present disclosure. 
         FIG.  4 A  shows an embodiment of the tool according to the present disclosure. 
         FIG.  4 B  shows a first cross section of an embodiment of the tool in a center position of a weld according to the present disclosure. 
         FIG.  4 C  shows a second cross section of an embodiment of the tool in a center position of a weld according to the present disclosure. 
         FIG.  5    shows a cross section of an embodiment of the tool when the solenoid is energized or engaged according to the present disclosure. 
         FIG.  6    shows a cross section of an embodiment of the tool when the solenoid is de-energized or released according to the present disclosure. 
         FIG.  7    shows a flow chart of an embodiment of a point-and-shoot logic sequence according to the present disclosure. 
         FIG.  8 A  shows an embodiment of an assembly that can provide an up-and-down weave according to the present disclosure. 
         FIG.  8 B  shows an embodiment of an assembly that can provide a side-to-side motion according to the present disclosure. 
         FIG.  9 A  shows an embodiment of an assembly that can provide an up-and-down weave according to the present disclosure. 
         FIG.  9 B  shows an embodiment of an assembly that can provide a side-to-side motion according to the present disclosure. 
         FIG.  10    shows an embodiment of an assembly that can provide a side-to-side motion according to the present disclosure. 
         FIG.  11    shows an embodiment of an assembly that can provide control of a side-to-side motion according to the present disclosure. 
         FIG.  12 A  shows an embodiment of an assembly that can provide control of a side-to-side motion according to the present disclosure. 
         FIG.  12 B  shows an embodiment of an assembly that can provide control of a side-to-side motion according to the present disclosure. 
         FIG.  13    shows an embodiment of tube-to-tube welding accomplished by the tool according to the present disclosure. 
         FIG.  14 A  shows an embodiment of a graph of travel speed over time according to the present disclosure. 
         FIG.  14 B  shows an embodiment of a graph of wire feed speed or weld current over time according to the present disclosure. 
         FIG.  14 C  shows an embodiment of equally spaced overlapping spot welds according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     As utilized herein the terms “circuits” and “circuitry” refer to physical electronic components (i.e., hardware) and any software and/or firmware (“code”) which may configure the hardware, be executed by the hardware, and or otherwise be associated with the hardware. As used herein, for example, a particular processor and memory may comprise a first “circuit” when executing a first one or more lines of code and may comprise a second “circuit” when executing a second one or more lines of code. As utilized herein, “and/or” means any one or more of the items in the list joined by “and/or”. As an example, “x and/or y” means any element of the three-element set {(x), (y), (x, y)}. In other words, “x and/or y” means “one or both of x and y”. As another example, “x, y, and/or z” means any element of the seven-element set {(x), (y), (z), (x, y), (x, z), (y, z), (x, y, z)}. In other words, “x, y and/or z” means “one or more of x, y and z”. As utilized herein, the term “exemplary” means serving as a non-limiting example, instance, or illustration. As utilized herein, the terms “e.g.,” and “for example” set off lists of one or more non-limiting examples, instances, or illustrations. As utilized herein, circuitry is “operable” to perform a function whenever the circuitry comprises the necessary hardware and code (if any is necessary) to perform the function, regardless of whether performance of the function is disabled or not enabled (e.g., by a user-configurable setting, factory trim, etc.). 
     Some embodiments of the motion-assist, point-and-shoot weld torch system provide an improvement in the degree of automation in the “semi-automatic” classification of welding operation. The motion-assist, point-and-shoot weld torch system seeks to bridge the gap between full automation in which the human is completely taken out of the weld tool/torch movement and wire-feed automation or limited automation. In many applications such as, for example, welding a very large structure such as a ship fragment or the construction of a building or a bridge, it is not economical or feasible to use full automation. Some embodiments of the motion-assist, point-and-shoot weld torch system provide for automating the movement of welding wire, arc, and/or contact tip with respect to the joint and/or seam for a short length weld. 
     In some embodiments, the motion-assist, point-and-shoot weld torch system can be classified as an operator “motion assist” to distinguish it from full automation or semi-automatic welding, which implies automating only the wire feed. In some embodiments, the term “motion” refers to the motion during arc on time. In some embodiments, the term “motion” refers to the motion of a contact tip or a welding heating source, for example, during arc on and/or off times. In some embodiments, the motion during active welding (with arc lit) is automated, while the motion of the torch between each weld (from weld to weld) is manual (by hand). In some embodiments, the motion of the contact tip or the welding heat source during arc on and/or off times is automated when making a string of overlapping spot welds over a short length. Further, the wire feed speed and weld current are automatically controlled including when to turn them off and on to match the possibly variable speed of the motion. The motion of the torch between each string of overlapping spot welds (from string to string) is manual (by hand). In robot welding, the motion from weld to weld is called “air moves” (e.g., the robot arm is moving in the “air” without an arc.) Some embodiments of the motion-assist, point-and-shoot weld torch system are intended as a low cost, dedicated automation torch movement. 
       FIGS.  1 A-B  show an embodiment of the motion-assist, point-and-shoot weld torch system according to the present disclosure from two different perspectives. Referring to  FIGS.  1 A-B , the motion-assist, point-and-shoot weld torch system  100  includes, for example, a point-and-shoot weld tool  110 . Although not shown, the tool  110  is connected to a power source and/or a feeder, if necessary. Further, the tool  110  may be a motion-assist, point-and-shoot weld GMAW torch for use with short length welds and/or strings of overlapping spot welds, for example. However, the tool  110  can be used with other welding processes (e.g., FCAW, GTAW, PAW, SAW, laser, etc.). 
       FIGS.  1 A-B  also show the tool  110  being held in one hand of the human weld operator  120  at a pistol grip handle  33 . In some embodiments, the other hand of the human weld operator  120  can hold on to the tool  110  at a handle  27  (e.g., a tubular handle). In  FIGS.  1 A-B , the tool  110  is manually positioned to engage a workpiece. In particular, the tool  110  is manually positioned against a ship panel stiffener  130  of a workpiece. The tool  110  has a front end that fits into a particular joint (e.g., a matching fillet joint in  FIGS.  1 A-B ). Upon a press of a button, a pulling of a trigger, or an activation of a switch, for example, at the pistol grip handle  33  (or some other manual operator event), a welding heat source is started from an initial position. The tool  110  automatically causes the welding heat source and/or a contact tip  40  to move and/or to swing, resulting in the wire and/or the arc being moved in a controlled manner with respect to the workpiece, thereby making a linear or non-linear weld, for example. In some embodiments, the tool  110  includes, for example, one or more motion devices or mechanisms that are configured to move transmissive optics and/or reflective optics coupled to an optical source (e.g., a laser) with respect to the workpiece during welding. In some embodiments, the transmissive optics and/or reflective optics are moved to guide a laser beam with respect to the workpiece. The motion can be, for example, a superimposed weave motion on a motion along a weld length during welding. In some embodiments, the welding arc is moved by an electromagnet, for example. In some embodiments, no moving parts are used to control the welding arc. In some embodiments, the weld length can be a short weld between approximately 5 mm to approximately 100 mm, for example. In some embodiments, the weld is a string of overlapping spot welds, which might be equally spaced, which are created when the wire feed speed and/or the weld current are turned off and on according to the varying travel speed. In some embodiments, the weld is a short weld with curvature (e.g., tube-to-tube weld, circular weld, etc.). In some embodiments, the motion of the contact tip  40  and/or the welding heat source includes linear or substantially linear motion. In some embodiments, the motion of the contact tip  40  and/or the welding heat source includes single-axis or multiple-axes motion. In some embodiments, upon the pressing of the button again (or letting go of the button or trigger or switch), for example, at the pistol grip handle  33 , or some other manual operator event or condition (e.g., alarm, alert, weld completion, time out, etc.), the welding heat source and/or the contact tip  40  can be returned back to the initial position. 
       FIGS.  1 A-B  show an embodiment of the tool  110  similar to a weed whacker in which the weld operator operates the tool  110  in a standing position. In some embodiments, the tool  110  can come in a form factor similar to a hand drill with a handle  32 ,  33  configured so that the tool  110  may be moved around for short section welds above the floor level. The tool  110  can be outfitted with a bracket and a set of rollers, wheels and/or ball transfers on the bottom of the bracket that allow the tool  110  to be moved around easily. In some embodiments, the rollers, wheels and/or ball transfers allow the tool  110  to roll on the workpiece without lifting the tool  110  during or not during welding. In some embodiments, the rollers, wheels and/or ball transfers are motorized or powered so that the tool  110  can be self-propelled to move along the workpiece. 
     In some embodiments, the tool  110  can include, for example, position and/or pressure sensors to ensure engagement of the tool  110  with the fillet joint. The sensors can also be used to enable or disable the button, switch, or trigger, for example. In some embodiments, the sensors can be configured to detect disengagement of the tool  110  from the workpiece during welding and to shut down the welding heat source upon detection. In some embodiments, the tool  110  includes a built-in electromagnet or a mechanically actuated magnet to secure or release engagement of the tool  110  with the workpiece in response to the button, switch, or trigger or some other manual operator event. In some embodiments, the tool  110  includes one or more sensors or cameras that are configured to provide automated weld inspection post welding or a joint fit-up inspection prior to welding or lock-out. In some embodiments, the tool  110  can include one or more temperature sensors that provide an indication of an initial temperature of the workpiece prior to welding. The indication of the initial temperature can be checked against a particular preheat temperature, and a lock-out can be triggered if a temperature criteria is not met. 
     In some embodiments, the tool  110  can include, for example, a protective guard or enclosure to shield the operator  120  from various hazards such as, for example, the arc, spatter, splatter, laser radiation, radiated heat, etc. 
     Although illustrated as one tool  110  per workpiece, the present disclosure also contemplates that multiple operators can simultaneously employ multiple tools  110  on a single workpiece. 
       FIG.  2    shows an embodiment of the tool head above the pistol grip handle and the tubular handle according to the present disclosure.  FIG.  3    shows an exploded view of an embodiment of the tool according to the present disclosure. 
     Referring to  FIGS.  2  and  3   , the tool  110  includes a solenoid assembly that includes a solenoid body  1 , a solenoid plunger  2 , and a solenoid link  3 . The solenoid assembly is configured to pull in one direction during operation, thereby causing the contact tip to swing and/or to move to one side (see, e.g.,  FIG.  5   ). 
     The tool  110  also includes one or more handles  33 ,  27  by which the weld operator  120  can hold the tool  110 . Some embodiments contemplate using one or two handles  33 ,  27 . In some embodiments, one of the handles can be in the form of pistol grip handle  33 . The pistol grip handle  33  can be located at the tool head and can have a trigger, switch, or button that can be used to commence the automated welding process. The second handle can be in the form of tube handle  27  with a rubber grip  32  and can be perpendicular to the longitudinal axis of the tool  110 . 
     The tool  110  also includes a diffuser  36  (e.g., a gas diffuser) and a contact tip assembly. The contact tip assembly includes a nozzle assembly  39  and a contact tip  40 . The contact tip assembly is mounted in a pivot (e.g., lever/clamp  10 ,  11 ). The pivot  10 ,  11  is configured to swing back and forth, thereby making an arc movement. 
     The tool  110  can also include a spring  26  and a motion dampener  15 . In some embodiments, the travel speed can be controlled or set by the spring  26  and the motion dampener  15 . 
     In operation, the tool  110  is placed in position such as, for example, the front end of the tool  110  is fit into a particular joint (e.g., a matching fillet joint of  FIGS.  1 A-B ).  FIGS.  4 A-C  show cross sections of an embodiment of the tool  110  in a center position of the weld. The welding process can be triggered by the actuation of a trigger, a switch, or a button, for example, or by a condition being met. In some embodiments, the trigger is part of the pistol grip  33 . The trigger can also be configured with a manual lock. Referring to  FIG.  5   , the solenoid assembly  1 ,  2 ,  3  is energized and pulls on one end of the assembly. The energized solenoid compresses the spring  26 . This pulling causes the contact tip  40  to swing to one side so that the contact tip  40  is in the starting weld position. Referring to  FIG.  6   , the arc is initiated and then the solenoid assembly  1 ,  2 ,  3  is de-energized. The spring force causes contact tip  40  to swing back to the home position prior to the trigger pull. As the contact tip  40  swings to the other side, the contact tip  40  will move the wire and the arc to the other side making a linear weld in the process. When the contact tip  40  reaches the other side, it is in the ending weld position. 
     In operation, some embodiments provide for the making a string of spot welds as the contact tip  40  or the welding heat source automatically moves after actuating the trigger.  FIGS.  14 A-B  show a graph of travel speed over time and a corresponding graph of wire feed speed and/or weld current over time. In some embodiments, the travel speed is constant; however, the travel speed shown in  FIG.  14 A  starts at a particular speed and slows down over time. The wire feed speed and/or the weld current is turned off and on. To make evenly spaced spot welds as shown in  FIG.  14 C , the wire feed speed and/or the weld current can be turned off and on at regular intervals for a constant travel speed. To make evenly spaced spot welds when the travel speed is variable and, in this instance, slowing down, the spacing between the times when the wire feed speed and/or the weld current is on gradually gets longer. Each of the on periods corresponds to a spot weld. In some embodiments, the spot welds are overlapping and, in other embodiments, the spot welds are not overlapping. Thus, after actuating the trigger, the solenoid (or other motion device) is energized, and a loop occurs in which the arc starts, dwells, stops, and wait for a period of time before the loop repeats itself until a cycle count is met. In some embodiments, the wait can change gradually for each cycle to accommodate the slowing travel or weld speed along the weld path. The motion device returns home. The dwell and/or wait between each spot weld can be made such that the spot weld is halfway through its solidification or is substantially or completely frozen before the next spot weld is placed. This allows for a fine degree of heat control. 
     Some embodiments also provide that the power source (not shown) is programmed or configured to output a waveform sequence for the entire weld corresponding to the small variation in electrode extension and the travel angle due to the arc motion (or imperfect linear motion). In some embodiments, the power source (e.g., a welding power source) is configured to ramp current up and down in correspondence with a variable welding speed during welding to make a weld or a string of overlapping spot welds. When the other end is reached, the power source turns off the power and the weld or the string of overlapping spot welds is complete. Some embodiments provide for stopping the arc before the end of the stroke (e.g., stop on the fly), or start the arc after the beginning the stroke (e.g., start on the fly). Some embodiments provide for continuing welding for a given short time with reduced wire speed at the end of the stroke and performing a “crater fill” routine to build up volume and make a more appealing weld finish. More specifically, some embodiments of a low cost implementation of a motion mechanism using a solenoid can introduce travel speed variation during welding. For example, the travel speed may be very high at the beginning of the motion stroke and then slows down at the end of the motion stroke. In order to produce same size welding, it is desirable to synchronize travel speed and wire feed speed, for example, which can be at a higher wire speed at the beginning of the motion stroke, for example, then gradually slows down to match the slowing travel speed. Corresponding welding current change can also take place to match the varying wire speed. Additionally, the contact-tip-to-work (CTWD) distance can also vary due to an “arc” motion as opposed to a pure linear motion, and constant voltage control can automatically compensate for this arc motion. 
       FIG.  7    shows a flow chart of an embodiment of a logic sequence in operation according to the present disclosure. The process  700  starts at step  710 . In step  720 , the process  700  waits for a trigger input. In step  730 , once a trigger input is received, the solenoid assembly is turned on (e.g., energized or engaged) and the process waits a particular time X for the solenoid to settle. In step  740 , the output of the tool  110  is turned on and the process  700  waits for weld current feedback. In step  750 , the arc is established for a particular time X or a different time Y. In step  760 , the solenoid assembly is turned off and the output of the tool  110  is kept on for time X for weld travel. Some embodiments use time Y or time Z which can be different from time X in step  760 . In some embodiments, the output of the tool  110  is turned off and on during time X for weld travel to make a string of spot welds (e.g., a string of overlapping spot welds). Once the weld travel is complete, the output of the tool  110  is turned off in step  770 . The process then can be repeated at step  720 . In some embodiments, after step  770 , the tool  110  can be moved manually to a new weld position by the operator before the start of step  720 . 
     Some embodiments contemplate that one or more of the steps in  FIG.  7    or described in the present application can be performed by one or more processors that are located in the tool  110  or are coupled to the tool  110 . The processor executable instructions, processor executable code, and/or data can be stored in the one or more processors and/or in one or more non-transitory memories (e.g., flash drives, magnetic drives, ROM, RAM, hard drives, solid state drives, storage devices, disk drives, optical drives, optoelectronic drives, etc.). The one or more processors can be operatively coupled to the one or more non-transitory memories via one or more buses, for example. The one or more processors and the one or more non-transitory memories can be integrated on one or more integrated circuits or on a single integrated circuit chip, for example. Some embodiments contemplate that the steps in  FIG.  7    or described in the patent application can be performed by hardware, software, firmware, or some combination thereof. 
     In some embodiments, step  760  loops back to step  730  so that the sequence of steps  730 - 760  can be repeated a few times for multi-pass welding before step  770 . In some embodiments, step  770  loops back to step  730  so that each weld has arc on and off. In some embodiments, step  770  can be excluded from a loop so that a multi-pass weld can be done without extinguishing the arc in between layers of the weld. Another benefit of the multi-pass weld is that a 110V power supply, for example, suitable for smaller size welds can be used. This can make the tack welding system more conveniently powered by the ubiquitous 110V in the construction site rather than waiting for electrician to wire up 480V input power to the tack welding system. 
     In some embodiments,  FIG.  7    or other embodiments of  FIG.  7   , as discussed above, can be modified by replacing time X with time Y in step  750  and by replacing time X with time Z in step  760 . 
     In some embodiments, a bracket can be added to the tool  110  to ensure the work angle with respect to the joint. In some embodiments, a magnetometer (e.g., a three-dimensional magnetometer) and/or gyroscope can be added to the tool  110  to ensure work angle and to lock out the trigger, if necessary. 
       FIGS.  8 A-B  show an embodiment of an assembly that can provide an up-and-down weave in addition to the side-to-side swing motion so that a weave motion perpendicular to the weld axis can be incorporated into the motion along the weld axis. Referring to  FIGS.  8 A-B , a first stepper motor performs the side-to-side movement, and a second stepper motor performs the up-and-down weave. While some embodiments use stepper motors, other embodiments can use other methods or arrangements. For example, a sinusoidal support member for the swing arm to rest on can be used to create a pre-determined weave pattern that is perpendicular to the weld axis.  FIGS.  9 A-B  show an embodiment of an implementation in which a cam follower is added to a sinusoidal track that performs the weave up-and-down motion as the stepper motor performs the side-to-side motion. In some embodiments, the stepper motor for the side-to-side motion can be replaced with a solenoid, spring, and damper assembly. 
     Some embodiments provide that the side-to-side motion is implemented with a rotary damper, spring, and solenoid (made by Ledex) as shown in  FIG.  10   . Generally these parts are more costly than a linear solenoid, but may be needed to meet performance or form factor requirements in a final product. The rotary solenoid is a linear solenoid with an internal track with ball followers that translate the linear motion to a rotary motion. There is, however, some linear motion that must occur so the pivot  10  would have to be splined or keyed to allow for this relative motion. This would be extra cost and can also be an additional drag point. 
     Some embodiments provide that the side-to-side motion can be controlled almost entirely by a stepper motor as shown in  FIG.  11   . This arrangement could replace the linear solenoid, spring, and damper, while also allowing the tailoring of the torch speed profile. The stepper motor is more expensive than the other devices but allows for a more compact design and better control. 
     Some embodiments provide that the side-to-side motion can be controlled by the use of a gear motor with a cam and follower as shown in  FIGS.  12 A-B . This arrangement can be more cost effective than the linear solenoid due to the gear motor currently being used in a high volume wire feed application. The use of a cam allows for a more precise movement to be tailored. It can provide more of an active movement compared to the passive movement of the solenoid, spring and damper arrangement. 
     Some embodiments provide that the tool  110  can be configured to provide non-linear welds. For example, the shape of the tool  110  can be configured for tube-to-tube welding for bicycle frames, for example, as shown in  FIG.  13   . In some embodiments, the tool  110  can be modified to have a two-dimensional contoured move that matches with the desired tube-to-tube joint contour. The tool  110  can be configured to accommodate multiple “point and shoot” operations as needed to concatenate the short welds into a complete weld for tube-to-tube welding. 
     Various forms of the tool  110  may be designed for a myriad of joint applications. Some embodiments provide a hand tool  110  that automates the arc movement along the length of the weld so that the human operator only needs to hold down the tool against the work piece until the weld is complete. 
     Some embodiments of the tool  110  find application in arc welding with consumable electrode such as GMAW and FCAW. Some embodiments find application in non-consumable arc welding processes such as gas tungsten arc welding (GTAW) and plasma arc welding (PAW). Brazing with a metal inert gas (MIG) torch or cold wire tungsten inert gas (TIG) in which the wire feed and TIG torch are integrated and moved together are also contemplated by some embodiments. Some embodiments of the tool  110  find application in lower power laser welding. 
     Although the tool  110  is shown as a push-in tool  110  for a single, one shot, stationary fillet weld, some embodiments contemplate adding a roller, wheel, and/or ball transfer to the tool  110  for easy rolling to the next tack weld position. Some embodiments contemplate incorporating an encoder or a tachometer in the roller, wheel, and/or ball transfer so that the stitch weld can be automatically done repetitively with a prescribed gap between the welds, enforced by the distance the roller, wheel and/or ball transfer travels, and automatically triggered upon the arrival of the next weld position. 
     Although the fillet joint is shown in  FIGS.  1 A-B , some embodiments contemplate using the tool  110  for other joints such as, for example, butt welds, lap welds, tube-to-tube joints, etc. Some of these embodiments may benefit from a custom bracket (or wire frame) front end design matching with the joint. One such bracket is shown in  FIGS.  1 A-B  with a set of rollers attached to it that allows movement of the tool  110  from weld to weld. Some embodiments contemplate using a wire frame that might let spatter and smoke escape from the weld head instead of trapping it. However, it does create more arc exposure than an enclosed head. 
     Some of drawings may show a particular design for a linear weld; however, the actual movement of the contact tip is an “arc” or radial movement. During this movement, several welding parameters are not constant as it would be in a true linear movement. For example, CTWD is going from long-to-short-to-long. Travel speed goes from fast to slow. Travel angle goes from pull to straight to push. However these variations are predictable based on the specific weld head design. It is possible that other non-motion related parameters can be pre-programmed or optimized to “match up” or compensate for the predictable variations in the motion, such as current, voltage, wire speed, etc. 
     In some embodiments, if a constant voltage GMAW waveform is used, welding current then can be used for detection gap and seam position. Welding parameters then can be adapted to handle gaps. Additional degree of motion freedom may be needed to track the seam. More sophisticated sensing may be included in the tool  110  for adaptive welding such as, for example, machine vision cameras or scanning lasers. 
     Some embodiments contemplate using the tool  110  as part of a “short length welding system,” which might use more than just a torch. Some embodiments provide that a weld system package similar to a vacuum canister cleaner be used. In some embodiments, the welding power supply and the wire feeder can be in a canister on rollers, wheels, and/or ball transfers just like the vacuum canister, and the torch can be held in standup position like the vacuum stick. For 115V system, some embodiments provide for packaging the power supply and feeder in a backpack for the weld operator to wear. For the portability of a limited number of weld applications, some embodiments provide for the packaging of the equipment in a battery power system. Some embodiments contemplate providing a feeder portion in the torch with a small spool of wire or even a cartridge of stick electrodes or flux cored wire electrode lengths. 
     Some embodiments provide a more active control of the solenoid release by directly controlling the solenoid voltage. Rather than just on and off, the voltage signal can be modulated, for example. This would provide a more constant side-to-side motion than just the damper and spring can provide passively. It would better overcome any drag forces that may vary over the life of the torch. Using a sensing circuit, the solenoid position can also be determined by measuring the inductance or by using a pot or optical sensor. This would allow the weld operator to adjust the length of the weld with a selector knob, for example. Some embodiments provide that the weld length can be set by adjusting one or more screws  7  and nuts  24  in the housing  9  as shown in  FIG.  3   . These screws could also be replaced with a set of spring loaded detent indexed knobs as well. 
     Some embodiments provide for a motion-assist, point-and-shoot weld torch system that includes a handheld point-and-shoot torch in which a contact tip is moved from a first position to a second position which, in turn, causes a wire and an arc to move between two positions, thereby making a linear weld in the process. The contact tip can be moved by energizing and de-energizing a solenoid assembly. Some embodiments provide that the travel speed can be determined by a spring and a motion dampener in the torch. 
     Some embodiments provide for moving a contact tip and/or a welding heat source from a first position to a second position during which the wire feed speed and/or the weld current are turn on and off to make spot welds such as a string of overlapping spot welds. The time between on times can be gradually increased as the travel speed gradually decreases to make equally spaced spot welds (e.g., equally spaced overlapping spot welds). 
     Some embodiments provide for repeatedly turning the wire feed speed and/or the weld current on and off to make overlapping spot welds (e.g., a string of equally spaced overlapping spot welds) to lower the heat and to reduce the heat input during the welding operation. Such a pulsed weld technique is advantageous for welding aluminum (e.g., aluminum alloy) and/or brazing thin gauge advanced high strength steel. Accordingly, some aspects of the present disclosure find application in the automotive industry including production and repair, and can be characterized by good wetting without burn-through. 
     Some embodiments that employ the pulsed weld techniques provide substantial heat input reduction for heat sensitive applications like aluminum and thin advanced high strength steel sheets (e.g., 10× reduction to 20× reduction over conventional arc welding) at substantially lower costs (e.g., compared to laser or controlled short circuit (CSC)). 
     Some embodiments that employ the pulsed weld techniques provide gap bridging capability. A gap between two sheets can have a tendency to burn through because of the sharp reduction in heat sinking. A low heat spot weld according to the present disclosure introduces heat in very small amounts to avoid burn through, but incrementally along the weld path to make a longitudinal weld as if it is continuously welded in appearance. 
     Some embodiments contemplate reducing the filler metal cost since the silicon bronze and aluminum bronze wire with low melting points are very expensive in comparison with conventional steel wires. With ultralow heat input of the pulsed weld techniques, a conventional wire can be used to make stacked spot welds without burning through the thin sheets. 
     Some embodiments contemplate using CSC or reciprocating wire speed short circuiting process. A high dynamic performance motor, which adds substantial weight (e.g., motor weight) to the hand-held tool, might be used at increased cost. 
     Some embodiments contemplate using laser brazing, which can produce low heat input, but at a cost. 
     Some embodiments contemplate using friction welding or friction spot welding. Such processes might require backside access and might not be flexible in an auto repair job, for example, where adapting to high-mix is needed. 
     Some embodiments of the motion-assist, point-and-shoot weld torch system provide that the skills of the human weld operator are substantially rendered irrelevant because the arc movement is automated. Low skilled workers (e.g., workers with little to no welding experience) can be used to perform tack welding with very little training. 
     Some embodiments of the motion-assist, point-and-shoot weld torch system provide high productivity through torch movement automation. 
     Some embodiment of the motion-assist, point-and-shoot weld torch system provide for a large distance between face and hands of the operator and the arc. This is beneficial since the exposure is reduced by the square of the distance. The health care costs can be reduced as well as OSHA claims or recordables. Further, face and eye protection can be enhanced. 
     Some embodiments of the motion-assist, point-and-shoot weld torch system provide improved ergonomics and comfort of the human welder in a stand up position, thereby improving the productivity and safety of the workplace. The health care and labor costs associated with knee and back strains can be avoided. Further, less safety apparel might be needed, thereby resulting in a cooler work environment. 
     The present method and/or system may be realized in hardware, software, or a combination of hardware and software. The present methods and/or systems may be realized in a centralized fashion in at least one computing system, or in a distributed fashion where different elements are spread across several interconnected computing systems. Any kind of computing system or other apparatus adapted for carrying out the methods described herein is suited. A typical combination of hardware and software may be a general-purpose computing system with a program or other code that, when being loaded and executed, controls the computing system such that it carries out the methods described herein. Another typical implementation may comprise an application specific integrated circuit or chip. Some implementations may comprise a non-transitory machine-readable (e.g., computer readable) medium (e.g., FLASH drive, optical disk, magnetic storage disk, or the like) having stored thereon one or more lines of code executable by a machine, thereby causing the machine to perform processes as described herein. 
     While the present method and/or system has been described with reference to certain implementations, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the present method and/or system. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from its scope. Therefore, it is intended that the present method and/or system not be limited to the particular implementations disclosed, but that the present method and/or system will include all implementations falling within the scope of the appended claims.