Systems and methods for automated root pass welding
First Claim
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1. An automated root pass welding system comprising:
- a welding torch configured to perform a root pass welding operation at a joint between a first workpiece and a second workpiece;
a welding robot configured to move at least one of the welding torch and the first workpiece relative to one another; and
control circuitry configured to;
control movement of the welding robot and the first workpiece relative to one another;
apply a first energy welding phase via the welding torch to establish a first root condition;
detect that the first root condition has been established based on data associated with one or more parameters of the joint from a sensor; and
apply a second energy welding phase via the welding torch to establish a second root condition in response to detecting the first root condition has been established, wherein a first energy level associated with the first energy welding phase is greater than a second energy level associated with the second energy welding phase wherein the first root condition is creation of a keyhole between the first and second workpieces.
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Abstract
An automated welding system includes a welding robot and control circuitry. The welding bug robot includes a welding torch. The welding bug robot is configured to move on a track disposed around a circumference of a first pipe and perform a root pass welding operation at a joint between the first pipe and a second pipe. The control circuitry is configured to control movement of the welding bug robot around the circumference of the first pipe, apply a high energy welding phase via the welding torch to establish a first root condition, and apply a low energy welding phase via the welding torch to establish a second root condition.
204 Citations
32 Claims
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1. An automated root pass welding system comprising:
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a welding torch configured to perform a root pass welding operation at a joint between a first workpiece and a second workpiece; a welding robot configured to move at least one of the welding torch and the first workpiece relative to one another; and control circuitry configured to; control movement of the welding robot and the first workpiece relative to one another; apply a first energy welding phase via the welding torch to establish a first root condition; detect that the first root condition has been established based on data associated with one or more parameters of the joint from a sensor; and apply a second energy welding phase via the welding torch to establish a second root condition in response to detecting the first root condition has been established, wherein a first energy level associated with the first energy welding phase is greater than a second energy level associated with the second energy welding phase wherein the first root condition is creation of a keyhole between the first and second workpieces. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system comprising:
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a welding torch configured to perform a root pass welding operation at a joint between a first pipe and a second pipe; a welding robot configured to move at least one of the welding torch and the first pipe relative to one another; a sensor configured to detect one or more parameters indicative of first and second root conditions, and to output a root condition signal; and control circuitry configured to; receive the root condition signal from the sensor; control movement of the welding robot and the first pipe relative to one another based at least in part on the received root condition signal; control a rate at which a wire feeder supplies welding wire to the welding robot based at least in part on the received root condition signal; control an amount of welding power a power supply supplies to the welding robot in response to the received root condition signal; apply a first energy welding phase of the welding power until the root condition signal indicates establishment of the first root condition; and apply a second energy welding phase of the welding power in response to the first root condition, and continue to apply the second energy welding phase until the root condition signal indicates establishment of the second root condition, wherein a first energy level associated with the first energy welding phase is greater than a second energy level associated with the second energy welding phase wherein the first root condition is creation of a keyhole between the first and second pipes. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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25. A welding method comprising:
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applying a first energy welding phase of welding power, using a welding torch attached to a welding robot, to a joint formed between first and second sections of pipe; receiving, from a sensor disposed radially inside the first or second sections of pipe, a first root condition signal that indicates establishment of a first root condition; switching from the first energy welding phase of the welding power to the second energy welding phase of the welding power in response to the first root condition signal; applying a second energy welding phase of the welding power to the joint wherein a first energy level associated with the first energy welding phase is greater than a second energy level associated with the second energy welding phase; receiving, from the sensor, a second root condition signal that indicates establishment of a second root condition; switching from the second energy welding phase of the welding power to the first energy welding phase of the welding power in response to the second root condition signal; and moving the welding robot and the first section of pipe relative to one another wherein the first root condition is creation of a keyhole between the first and second sections of pipe. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32)
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Specification