Laser controlled internal welding machine for a pipeline
First Claim
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1. A system for aligning and welding together two segments of a pipe, comprising:
- a welding mechanism configured to apply a weld to a face joint of the two segments, the welding mechanism including an articulating torch, a laser sensor configured to read a profile of the face joint, and an electronic controller configured to receive information signals from the laser sensor to control a position or orientation, or both the position and orientation, of the torch; and
an external alignment mechanism configured to manipulate orientation of a longitudinal axis of at least one of the segments relative to the other,wherein the welding mechanism further includes a welding portion and a carriage, the carriage having an internal alignment mechanism,wherein the welding mechanism is movable within at least a first of the two segments such that the torch becomes aligned with the face joint between the two segments and so that the internal alignment mechanism then radially expands to engage an interior surface of the pipe to hold a longitudinal position of the welding mechanism in place,wherein the welding portion is configured to rotate relative to the carriage within the pipe about the longitudinal axis of at least one of the two segments, andwherein the torch and the laser sensor are rotatably supported by the welding portion such that during welding, the torch follows the laser sensor along the face joint.
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Abstract
The present invention is directed to a system for welding together segments of a pipeline. The system includes an external alignment mechanism for externally supporting and manipulating the orientation of pipe segments in order to align relative segments. The system also includes an internal welding mechanism for applying a weld to an interior face joint of the two abutted pipe segments. The internal welding mechanism including a torch for applying a weld, a laser for tracking the weld profile and guiding an articulating head of the torch, and a camera for visually inspecting the weld after the weld is applied.
217 Citations
20 Claims
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1. A system for aligning and welding together two segments of a pipe, comprising:
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a welding mechanism configured to apply a weld to a face joint of the two segments, the welding mechanism including an articulating torch, a laser sensor configured to read a profile of the face joint, and an electronic controller configured to receive information signals from the laser sensor to control a position or orientation, or both the position and orientation, of the torch; and an external alignment mechanism configured to manipulate orientation of a longitudinal axis of at least one of the segments relative to the other, wherein the welding mechanism further includes a welding portion and a carriage, the carriage having an internal alignment mechanism, wherein the welding mechanism is movable within at least a first of the two segments such that the torch becomes aligned with the face joint between the two segments and so that the internal alignment mechanism then radially expands to engage an interior surface of the pipe to hold a longitudinal position of the welding mechanism in place, wherein the welding portion is configured to rotate relative to the carriage within the pipe about the longitudinal axis of at least one of the two segments, and wherein the torch and the laser sensor are rotatably supported by the welding portion such that during welding, the torch follows the laser sensor along the face joint. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for aligning and welding together two segments of a pipe, comprising:
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a welding mechanism configured to apply a weld to a face joint of the two segments, the welding mechanism including; an articulating torch, a laser sensor configured to read a profile of the face joint, a carriage, a welding portion, a second internal alignment mechanism, and an electronic controller configured to receive information signals from the laser sensor to control a position or orientation, or both the position and orientation, of the torch, wherein the carriage is configured to hold a longitudinal position of the welding mechanism in the pipe, the carriage including a first internal alignment mechanism configured to radially expand at a first side of the torch to engage an interior surface of a first of the two segments, wherein the welding portion is configured to rotate relative to the carriage within the pipe, wherein the second internal alignment mechanism is configured to radially expand at a second side of the torch, opposite the first side, to engage an interior surface of a second of the two segments, and wherein the torch and the laser sensor are rotatably supported by the welding portion such that, during welding, the torch follows the laser sensor along the face joint as the torch rotates about a longitudinal axis. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system for aligning and welding together two segments of a pipe, comprising:
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a welding mechanism configured to apply a weld to a face joint of the two segments, the welding mechanism including an articulating torch, a laser sensor configured to read a profile of the face joint, and an electronic controller configured to receive information signals from the laser sensor to control a position or orientation, or both the position and orientation, of the torch; an alignment mechanism configured to manipulate an orientation of a longitudinal axis of at least one of the two segments relative to the other, wherein the electronic controller receives a signal from the laser sensor such that the alignment mechanism adjusts the relative positions of the two segments responsive to the signal, wherein the welding mechanism further includes a carriage for holding a longitudinal position of the welding mechanism in the pipe and a welding portion configured to rotate relative to the carriage within the pipe, and wherein the torch and the laser sensor are rotatably supported by the welding portion such that during welding, the torch follows the laser sensor along the face joint. - View Dependent Claims (19, 20)
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Specification