Gravity-based weld travel speed sensing system and method

• US 10,335,883 B2
• Filed: 06/05/2014
• Issued: 07/02/2019
• Est. Priority Date: 06/05/2014
• Status: Active Grant

• Current Assignee: Illinois Tool Works Inc.
• Original Assignee: Illinois Tool Works Inc.
• Inventors: Albrecht, Bruce Patrick, Watson, William Todd
• Primary Examiner(s): Chou, Jimmy
• Application Number:
  US14/297,380
• Publication Number:
  US 20150352653A1
• Time in Patent Office: 1,853 Days
• Field of Search: 219 602, 219 615, 219 7614, 2191244, 21913731, 2191372, 21912434, 434234, 34820899, 33301, 33365
• CPC Class Codes: B23K 2101/06 Tubes
• CPC Class Codes: B23K 2101/10 Pipe-lines
• CPC Class Codes: B23K 9/0026 specially adapted for particular articles or work
• CPC Class Codes: B23K 9/0286 with an electrode moving around the fixed tube during the welding operation
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical

Abstract

A welding system includes an orientation sensing system associated with a welding torch and is configured to sense a welding torch orientation relative to a direction of gravity. The welding system also includes a processing system communicatively couple to the orientation sensing system and configured to determine an angular position of the welding torch relative to a pipe based at least in part on the sense welding torch orientation.

Claims

1. A welding system, comprising:

an orientation sensor associated with a welding torch, wherein the orientation sensor is configured to sense a welding torch orientation relative to a direction of gravity; and

one or more processors communicatively coupled to the orientation sensor and configured to;

determine an angular position of the welding torch relative to a pipe based at least in part on the welding torch orientation sensed by the orientation sensor and a radius of the pipe; and

determine an angular travel distance travelled by the welding torch from an initial position to the angular position based at least in part on the radius of the pipe, wherein the angular travel distance comprises a distance traveled along at least a portion of a circumference of the pipe.

2. The welding system of claim 1, wherein the one or more processors is configured to determine a travel speed of the welding torch based at least in part on the determined angular position.

3. The welding system of claim 1, wherein the orientation sensor comprises at least one accelerometer.

4. The welding system of claim 3, wherein the orientation sensor comprises at least one gyroscope configured to measure angular changes of the welding torch.

5. The welding system of claim 1, wherein the one or more processors is configured to determine the angular travel distance based at least in part on a travel profile for an operator or a job.

6. The welding system of claim 5, wherein the travel profile comprises a learned profile input using a teaching mode or an input travel profile.

7. The welding system of claim 5, wherein the travel profile comprises compensation for gravitational effects on welding material during a welding operation.

8. The welding system of claim 1, wherein the one or more processors determines the angular position of the welding torch in relation to an initial position using an equation as follows:

d=r*ϕ

where d is the angular travel distance, r is a radius, and ϕ

is an angle between a torch axis at the initial position and a torch axis at the angular position.

9. The welding system of claim 1, comprising a weld area sensor located within a weld area, wherein the weld area sensor is configured to also sense orientation of the welding torch, and the one or more processors is configured to determine the angular position based at least in part on measurements corresponding to sensed orientations from the orientation sensor and measurements corresponding to sensed orientations from the weld area sensor.

10. The welding system of claim 1, wherein the one or more processors is configured to receive an indication of the radius from a job information database or manual input from a user.

11. A welding system, comprising:

an orientation sensor associated with a welding torch, wherein the orientation sensor is configured to sense a welding torch orientation relative to a direction of gravity; and

one or more processors communicatively coupled to the orientation sensor and configured to;

determine an angular change in orientation of the welding torch relative to a pipe based at least in part on the welding torch orientation sensed by the orientation sensor and a radius of the pipe; and

determine a travel speed of the welding torch based on a travel distance from an initial location to an angular location determined using the angular change and a radius of the pipe at a weld joint.

12. A welding system, comprising:

an orientation sensor associated with a welding torch, wherein the orientation sensor is configured to sense a welding torch orientation relative to a direction of gravity; and

one or more processors communicatively coupled to the orientation sensor and configured to;

determine an initial orientation of the welding torch at an initial location of a pipe;

determine an angular orientation of the welding torch at an angular location of the pipe;

determine an angular change in orientation between the initial orientation and the angular orientation; and

determine a travel speed of the welding torch based on the angular change from the initial location to the angular location.

13. The welding system of claim 12, wherein the one or more processors are further configured to determine a travel distance using an equation as follows:

d=r*φ

,

where d is the travel distance, r is a radius of the pipe, and φ

is an angle between a torch axis at the initial location and the torch axis at the angular position.

14. The welding system of claim 12, wherein the one or more processors are further configured to compensate for a pipe that is not parallel to a ground surface using an equation as follows to determine a minor diameter of an ellipse formed by a projection of a weld joint onto a plane perpendicular the ground surface:

d_minor=d_major*COS(θ

),

where d_minor is a minor diameter of an ellipse, d_major or is twice a radius of the pipe, and θ

is an inclination angle of the pipe.

15. The welding system of claim 14 wherein the one or more processors are further configured to determine the inclination angle by placing the welding torch on the pipe and determining an inclination orientation of the welding torch using the orientation sensor.

16. The welding system of claim 12, wherein the one or more processors are further configured to determine travel distance based on the travel speed.

17. The welding system of claim 12, wherein the one or more processors are further configured to generate an indication of the travel speed to an operator moving the welding torch by:

providing visual feedback via a display;

providing audible feedback;

or

providing haptic feedback.