Patent ID: 6964364

Claim:
A welding system comprising: a welding unit including a welding torch positioned in proximity to a weld path on a component for forming a weldment along the weld path; first means for moving the welding torch along the weld path; at least one ultrasonic sensing device operatively mounted with the welding unit for ultrasonically sensing the proximity of a surface and producing a sensor output in proportion to the proximity of the surface; second means for moving the welding torch relative to the weld path in directions normal to and transverse to the weld path; and control means for receiving the sensor output from the ultrasonic sensing device, generating a control output based on the sensor output, and sending the control output to the second moving means to maintain the welding torch over the weld path and at a predetermined distance from the weld path during movement of the welding torch along the weld path by the first moving means and at least a second ultrasonic sensing device operatively mounted with the welding unit for ultrasonically sensing the position of the welding unit along the weld path and producing a second sensor output in proportion to the position of the welding unit, wherein the control means comprises means for receiving the second sensor output from the second ultrasonic sensing device, generating a second control output, and sending the second control output to the first moving means.