Systems and methods for automated root pass welding
AssigneeIllinois Tool Works Inc.
InventorsBruce Patrick Albrecht, Steven Edward Barhorst
Life of this patent
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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.
Claims26
A 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;
- and
- control circuitry configured to:
- control movement of the welding torch 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.
A system comprising:
- a welding torch configured to perform a root pass welding operation at a joint between a first pipe and a second pipe;
- 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 one or more of movement of the welding torch and the first pipe relative to one another, a rate at which a wire feeder supplies welding wire to the welding torch, or an amount of welding power a power supply supplies to the welding torch based at least in part on 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, wherein the first root condition is creation of a keyhole between the first and second pipes;
- 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.
A welding method comprising:
- applying a first energy welding phase of welding power using a welding torch 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, wherein the first root condition is creation of a keyhole between the first and second workpieces;
- 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 torch 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 workpieces.
Dependencies are inferred from the claim text.