RU2750760C2 - Systems and methods used for welding pipe segments in pipeline - Google Patents

Abstract

FIELD: pipe welding production.SUBSTANCE: invention relates to the field of pipe welding production. Variants of pipe welding systems are presented, which contain the first and second pipe clamps for coupling and fixing with the external surface of the corresponding pipe, a welding torch for forming a welded joint between the pipes, a control detector, a motor functionally connected to the control detector for directing the control beam along the welded joint, one or more processors, functionally connected to the control detector and designed to bring the control detector to scan the welded joint to determine the profile of the welded joint between the pipes, and a grinding device designed to grind at least part of the welded joint between the pipes based on the determined profile of the welded joint, while the grinding device can function independently of the welding torch, and the system can be equipped with a protective casing.EFFECT: use of the invention makes it possible to improve pipe joint quality.38 cl, 59 dwg

Description

FIELD OF TECHNOLOGY

[0001] This patent application relates to systems and methods used to weld pipes or pipe sections of a pipeline.

LEVEL OF TECHNOLOGY

[0002] Piping systems that contain extended stretches of pipe sections or lengths (eg, pipe lengths of several miles), containing steel pipes, stainless steel pipes, or pipes of other types of metals that are used to transport liquids such as water, oil and natural gas between two locations (eg, from a source of origin, which may be on land or in water, to an appropriate storage location). The design of piping systems, as a rule, contains pipe sections of the required diameter and longitudinal dimensions connected together by means of welded joints, for example, capable of providing a watertight seal of the connected pipe sections.

[0003] When forming a welded joint between two pipes or pipe sections (eg, two pipe sections having the same or similar cross-sectional dimensions), the end of one section or pipe section is in close proximity to or contacts the end of a second section or pipe section. The pipe sections are held relative to each other, and a weld joint is formed to connect the two ends of the pipe sections using a welding process. After welding and cleaning, the weld seam can be checked.

[0004] This patent application provides improvements over prior art systems and methods.

BRIEF DESCRIPTION OF THE INVENTION

[0005] One aspect of this patent application provides a system for welding two pipes. This system includes a first pipe clamp, a second pipe clamp, a welded torch, a control detector, a motor, one or more processors, and a grinder. The first pipe clamp is adapted to engage the outer surface of the first pipe, which allows the first pipe clamp to be fixed with respect to the first pipe. The second pipe clamp is configured to engage the outer surface of the second pipe, which allows the second pipe clamp to be secured relative to the second pipe. The welding torch is made with the possibility of creating a welded joint between the pipes in the area of the interface between the pipes. The control detector is configured to emit a control radiation beam. The motor is functionally connected to a control detector for directing the control radiation beam along the welded joint between the pipes. One or more processors are operatively associated with a test detector for determining the profile of a weld between pipes. The grinding device is configured to grind at least a portion of the welded joint between the pipes based on the profile of the welded joint between the pipes.

[0006] Another aspect of this patent application provides a system for welding two pipes. The system contains a pipe clamp assembly, a welding torch, and a shroud. The pipe clamp assembly includes a first pipe clamp and a second pipe clamp. The first pipe clamp is adapted to engage the outer surface of the first pipe, which allows the first pipe clamp to be fixed with respect to the first pipe. The second pipe clamp is configured to engage the outer surface of the second pipe, which allows the second pipe clamp to be secured relative to the second pipe. The welding torch is functionally connected to the pipe clamp assembly and is configured to form a welded joint between the pipes in the area of the interface between the pipes. The casing is functionally connected to the pipe clamp assembly, and is configured to enclose the welding torch and the interface area between the pipes.

[0007] Another aspect of this patent application provides a system for welding two pipes. The system comprises a first pipe clip adapted to engage with the outer surface of the first pipe to secure the first pipe clip with respect to the first pipe; a second pipe clip adapted to engage an outer surface of the second pipe to secure the second pipe clip with respect to the first pipe; a welding torch adapted to create a welded joint between the pipes in the area of the interface between the pipes; and a test detector configured to emit a test radiation beam.

[0008] These and other aspects of this patent application, as well as the methods of operations and functions of associated structural elements, as well as the combination of parts and organization of production, will become more apparent upon consideration of the following description and the accompanying claims with reference to the accompanying drawings, all of which are part of the present description, with like reference designating corresponding parts in different figures. In one embodiment of the present patent application, the structural components illustrated herein are drawn to scale. However, it should be clearly understood that these drawings are for illustrative and descriptive purposes and are not intended to define the scope of the present invention. It should also be understood that the design features of one embodiment of the invention set forth herein may be used in other embodiments of the invention set forth herein. Throughout this specification and claims, the singular also includes the plural, unless the context clearly dictates otherwise. In addition, in this specification and claims, the term "or" means "and / or" unless the context clearly dictates otherwise. It should also be understood that some of the components and characteristics described in this document may be described in relation to only one (separate) of such components, and that additional similar components that may be described in this document may be in order to reduce redundancy of information not described in detail. Just for the sake of example, where a single welding torch is described, a similar configuration can be used for additional welding torches provided in the same system (eg, external welding system) described in this document.

BRIEF DESCRIPTION OF THE GRAPHIC MATERIALS

[0009] FIG. 1 illustrates a perspective view of a system for welding two pipes in accordance with an embodiment of the present patent application;

[0010] FIG. 2 illustrates a perspective view of the system illustrated in FIG. 1, where the welding torch and welding torch mounting system are not shown for the sake of clarity;

[0011] FIG. 3 illustrates a perspective view of one of two pipe clamps of a system in accordance with an embodiment of the present invention when the clamp is in the closed position;

[0012] FIG. 4 is a perspective view of the pipe clamp illustrated in FIG. 3 when it is in the open position;

[0013] FIG. 5 and 6 are partial cross-sectional views of the pipe clamp illustrated in FIGS. 3 with the drive and the yoke shoes in their retracted positions in FIG. 5, and in their extended positions in FIG. 6;

[0014] FIG. 7 and 8 illustrate cross-sectional views of a locking mechanism configured to lock rotary / movable parts of a pipe clamp in accordance with an embodiment of the present patent application when the locking mechanism is in the released position illustrated in FIG. 7 and in the locked position illustrated in FIG. eight;

[0015] FIG. 9, 10 and 11 illustrate cross-sectional views of a locking mechanism configured to lock pivot / movable pipe clamp parts and pivot / movable actuator parts in accordance with another embodiment of the present patent application when the locking mechanism is in the released position illustrated in FIG. 9 and in the locked position illustrated in FIG. 10 and 11;

[0016] FIG. 12 illustrates a perspective view of one of two pipe clamps of a system in accordance with another embodiment of the present invention when the clamp is in the closed position;

[0017] FIG. 13 illustrates a perspective view of the pipe clamp illustrated in FIG. 12 when it is in the open position;

[0018] FIG. 14 and 15 are partial cross-sectional views of the pipe clamp illustrated in FIGS. 12 in which the drive and the yoke shoes are in their retracted positions in FIG. 14, and in their extended positions in FIG. fifteen;

[0019] FIG. 16 and 17 are partial cross-sectional views of the pipe clamp illustrated in FIGS. 12, where an interlocking mechanism between the shoes of a collar is illustrated in accordance with an embodiment of the present patent application;

[0020] FIG. 18 and 19 illustrate the welding torch mounting system, where it is illustrated in the closed position in FIGS. 18, and in the open position - in FIG. nineteen;

[0021] FIG. 20 is a partial perspective view of the welding torch mounting system illustrated in FIG. eighteen;

[0022] FIG. 21 illustrates a welding torch in a welding position in accordance with an embodiment of the present patent application;

[0023] FIG. 22 illustrates a welding torch radially positioned away from pipes in accordance with an embodiment of the present patent application;

[0024] FIG. 23 illustrates a welding torch in the leftmost axial position in accordance with an embodiment of the present patent application;

[0025] FIG. 24 illustrates a welding torch in a welding position in accordance with an embodiment of the present patent application;

[0026] FIG. 25 illustrates a welding torch in the rightmost axial position in accordance with an embodiment of the present patent application;

[0027] FIG. 26 illustrates a welding torch in a left tilted position in accordance with an embodiment of the present patent application;

[0028] FIG. 27 illustrates a welding torch in a welding position in accordance with an embodiment of the present patent application;

[0029] FIG. 28 illustrates a welding torch in a right angled position in accordance with an embodiment of the present patent application;

[0030] FIG. 29 is a partial cross-sectional view of a system depicting a welding module (welding torch module) in accordance with an embodiment of the present patent application, where some of the components of the system have not been shown for the sake of clarity;

[0031] FIG. 30 illustrates a perspective view of a system where the grinder is positioned in the initial welding position and the welding torch has partially completed the weld pass and where some of the system components are not displayed for clarity;

[0032] FIG. 31 is a perspective view of a system showing radial and axial positioning systems for a grinding device in accordance with an embodiment of the present patent application;

[0033] FIG. 32 is a perspective view of a system illustrating a radial positioning system for a grinding device in accordance with an embodiment of the present patent application;

[0034] FIG. 33 is a perspective view of a system illustrating an axial positioning system of a grinding device in accordance with an embodiment of the present patent application;

[0035] FIG. 34, 35 and 36 illustrate various abrasive materials that can be used in a grinding device in accordance with an embodiment of the present patent application;

[0036] FIG. 37 illustrates a perspective view of a casing adapted to enclose a welding torch, pipe clamps and a pipe interface region in accordance with an embodiment of the present patent application;

[0037] FIG. 38 illustrates a perspective view of a casing with its walls in at least a partially open position, in accordance with an embodiment of the present patent application;

[0038] FIG. 39 is a perspective view of a shroud with its walls at least partially open, with some components removed to show other parts of the shroud more clearly;

[0039] FIG. 39A is a partial perspective view of a shroud with some components removed to show more clearly other portions of the shroud;

[0040] FIG. 40 and 41 are perspective and partial cross-sectional views of a welded casing that is configured to enclose a welding torch and a welding module in accordance with an embodiment of the present patent application;

[0041] FIG. 42-45 illustrate various deployment systems that are used to deploy a system in accordance with an embodiment of the present patent application;

[0042] FIG. 46 illustrates a system for aligning pipe ends;

[0043] FIG. 47 illustrates a system for aligning pipe corners in accordance with an embodiment of the present patent application;

[0044] FIG. 48 and 49 illustrate angular displacement between pipe ends (at a welded joint) before and after using a pipe corner alignment system in accordance with an embodiment of the present patent application;

[0045] FIG. 50 illustrates switch triggers mounted on a guide path channel in accordance with an embodiment of the present patent application;

[0046] FIG. 51 and 52 illustrate pathway-mounted switch triggers and corresponding carriage-mounted limit switches in accordance with an embodiment of the present patent application, with FIG. 52 illustrates limit switches in engagement with switch flip-flops, and FIG. 51 illustrates limit switches not in engagement with switch flip-flops;

[0047] FIG. 53 and 54 illustrate a system of the present patent application where a test chamber is mounted in conjunction with a test detector such that the test chamber is aimed at the same point on the outer surface of the pipe as the test detector, in FIG. 53 and 54 also illustrate that the arc angle between the joint position measured with the reference detector and the joint position welded with a welding torch is constant; and

[0048] FIG. 55-59 illustrate shroud guides that hold the system centered over pipes when the shroud is lowered or raised in accordance with an embodiment of the present patent application.

DETAILED DESCRIPTION OF THE GRAPHIC MATERIALS

[0049] FIG. 1 and 2, a system 10 for welding two pipes 12 and 14 is illustrated. System 10 includes a first pipe clamp 16, a second pipe clamp 18, and a welding torch 20 (as illustrated in FIGS. 21-27). In one embodiment of the invention, as illustrated in FIG. 30-33, system 10 also includes a monitor detector 22, a motor 24, one or more processors 26, and a grinder 30.

[0050] In one embodiment, the first pipe clamp 16 is configured to engage the outer surface 32 of the first pipe 12, which allows the first clamp 16 to be secured relative to the first pipe 12. In one embodiment, the second pipe clamp 18 is configured to engage with the outer surface 34 of the second pipe 14, which allows the securing of the second pipe clamp 18 relative to the second pipe 14.

[0051] In one embodiment, the welding torch 20 is configured to form a weld joint 36 (FIGS. 21 and 24) between pipes at interface 38 (FIGS. 21 and 24) between pipes 12 and 14. In one embodiment of the invention, the test detector 22 is configured to emit a test radiation beam. In one embodiment, the motor 24 is operatively coupled to a test detector 22 for guiding a test beam of radiation along a weld 36 between pipes 12 and 14. One or more processors 26 are operatively coupled to a test detector 22 to determine the profile of a weld 36 between pipes 12 and 14. Grinding device 30 is configured to grind at least a portion of the weld 36 between pipes 12 and 14 based on the profile of the weld 36 between pipes 12 and 14.

[0052] As used herein, the term "profile" is a generic term for the physical attributes of a weld between pipes. The term "profile data" means profile-specific data that can be retrieved from a weld. For example, such data can be obtained by scanning the weld joint with a test detector, such as a laser. Profile data can contain various types of profile information, referred to in this document as “characteristics”. In one embodiment, the physical attributes of a weld between pipes may include, for example, one or more of the following: weld shape, weld height, weld symmetry, weld width, weld color, and / or weld smoothness.

[0053] In one embodiment, pipe 12 and 14 may be synonymously referred to herein as pipe lengths or pipe sections.

[0054] In one embodiment, the first pipe 12 and the second pipe 14 are made of metal. In one embodiment of the invention, the first tube 12 and the second tube 14 are made of carbon steel. In one embodiment of the invention, the first tube 12 and the second tube 14 are made of alloy steel. In one embodiment, the first tube 12 and the second tube 14 are made of low alloy steel. In one embodiment of the invention, the first tube 12 and the second tube 14 are made (in whole or in part) of a corrosion resistant alloy. In one embodiment of the invention, this corrosion-resistant alloy may contain both iron-based alloys, for example, various grades of stainless steel, and nickel-based alloys (for example, an alloy commonly known under the tradename "Inconel"). In one embodiment, the first pipe 12 and second pipe 14 can be made from API 5L grade X52 (i.e., with a minimum yield strength of 52,000 psi (358.53 MPa) and a minimum tensile strength of 66,000 lbs. per square inch (455.05 MPa)). In one embodiment, the first pipe 12 and the second pipe 14 can be made from API 5L grade X60 (i.e., with a minimum yield strength of 60,000 psi (413.69 MPa) and a minimum tensile strength of 75,000 psi (517.11 MPa)).

[0055] In one embodiment of the invention, the first pipe 12 and the second pipe 14 may be made of the same material. In one embodiment of the invention, the first tube 12 and the second tube 14 can be made from different materials. In one embodiment of the invention, the first tube 12 and the second tube 14 may be made of bimetallic materials. In one embodiment of the invention, the inside of the pipe is made from carbon steel and the outside is made from a corrosion resistant alloy. In yet another embodiment of the invention, the inside of the pipe is made of a corrosion resistant alloy, and the outside of the pipe can be either carbon steel or a different corrosion resistant alloy than the inside.

[0056] In one embodiment, the first tube 12 and the second tube 14 each are at least 10 feet long. In one embodiment, the first tube 12 and the second tube 14 each have a length ranging from about 10 to about 100,000,000 feet (3 meters to 30 thousand kilometers). In one embodiment, the first tube 12 and the second tube 14 have an outer diameter of 60 inches (1.52 m) or less. In one embodiment of the invention, the outside diameter of the pipe section may also be referred to as the outside diameter of the pipe section. In one embodiment, the first tube 12 and the second tube 14 each have an outer diameter ranging from about 8 to about 10 inches (0.2 to 0.25 m).

[0057] In one embodiment, the system 10 is an external welding system that is typically configured to weld pipes 12 and 14 to the outside of pipes 12 and 14. In one embodiment, the external welding system may be configured to provide shielding gas externally (for example, at the connection) of the pipes 12 and 14 to be welded.

[0058] In one embodiment of the invention, the external welding system may include a device for flowing material to be welded. In one embodiment of the invention, the welding torch 20 is designed and positioned to feed or guide the consumable electrode wire into the weld area / zone. For example, a wire feeder and wire reel 187 are illustrated in FIG. 30. The consumable electrode wire is fed from a source (such as a coil or wire drum) thanks to the wire feed system. In one embodiment of the invention, the welding torch 20 is designed and positioned to be connected to a power source (eg, a DC power source). In one embodiment of the invention, an electric arc is generated between the consumable electrode wire and pipes 12 and 14, which heats the wire and pipes 12 and 14, causing them to melt and form a bond. In one embodiment of the invention, along with the consumable electrode wire, shielding gas is supplied through the welding torch 20, which protects the welding procedure from airborne impurities. In one embodiment of the invention, shielding gas is supplied to the weld area / area through a welding torch nozzle, which may include a nozzle. In one embodiment of the invention, the electrode may extend beyond the end of the nozzle. In one embodiment of the invention, the shielding gas stored in the system 10 is supplied to the wire feed assembly by a hose / shielding gas line for distribution to the welding torch 20.

[0059] The term "interface region" in this context means the surfaces of pipes 12 and 14 welded in this area, and optionally in the immediate vicinity of the place where the welded material will be welded. The interface area contains at least part of the bevel of both pipes to be welded, or optionally the entire bevel, if such bevels are provided. In one embodiment of the invention, the interface region contains all of the beveled surfaces and also extends beyond the beveled surface if bevels are provided. In one embodiment, the interface region 38 is an annular interface region. In one embodiment of the invention, the interface 38 is the inner surface of pipes 12 and 14 in the regions of pipes 12 and 14 adjacent to where the welding will be performed.

[0060] In one embodiment, the ends of pipes 12 and 14 are joined to have a weld bead formed therebetween. In one embodiment, the weld bead may have a V-shaped cross-section, a U-shaped cross-section, or other cross-sectional shapes that will be readily apparent to those skilled in the art. In one embodiment of the invention, the ends of pipes 12 and 14 may have beveled surfaces. In one embodiment of the invention, the material to be welded is configured to connect the first pipe 12 and the second pipe 14.

[0061] In one embodiment of the invention, weld 36 is a circular weld seam that joins pipes 12 and 14 end-to-end around the circumference. In one embodiment of the invention, pipes 12 and 14 are welded together at their beveled end portions.

[0062] In one embodiment, weld joint 36 may comprise a plurality of layers of material to be welded stacked on top of each other in a radially outward direction. In one embodiment of the invention, the plurality of layers of material to be welded may be referred to as weld pass layers. In one embodiment, the different weld beads or weld layers may be formed sequentially by the external weld system 10 on the outside / outside of the pipes 12 and 14. The weld layer (s) may be synonymously referred to herein as the weld layer (s). In one embodiment of the invention, the weld pass (eg root pass, hot pass, fill pass (s), lining pass) may be a single advance of the welding tool or welding system 10 along weld 36. In one embodiment, a bead or weld layer is formed as a result of each weld pass.

[0063] The term "pipe clamp" as used herein may refer to a clamp structure for rigidly attaching to a pipe surface (eg, outer surface 32, 34 of pipe 12, 14, respectively). The collar, for example, may include one or more collar shoes 52 or other support structure configured to rigidly engage the surface of the pipe (eg, the outer surface 32, 34 of the pipe 12, 14, respectively) to prevent the said pipe from moving.

[0064] In one embodiment of the invention, the pipe clamp may be a swivel clamp, and the structure and operation of this type of clamp is described and illustrated in FIG. 3-11. In yet another embodiment of the invention, the pipe clamp may be a tapered clamp, and the structure and operation of the clamp is described and illustrated in FIG. 12-17.

[0065] FIG. 3 and 4 illustrate the first pipe clamp 16. The second clamp 18 is a mirror image of the first clamp 16. In one embodiment of the invention, the construction and operation of the second pipe clamp 18 are the same as the construction and operation of the first pipe clamp 16, and therefore the structure and the operation of the second pipe clamp 18 will not be described in detail herein.

[0066] In one embodiment of the invention, the clamps 16 and 18 of the external weld system 10 may individually or collectively be referred to as the brake system of the external weld system 10, which holds the external welder system 10 in place on the pipes 12, 14. In one embodiment of the invention The clamps 16, 18 are radial clamps that engage the outer surfaces of the pipes 12 and 14, respectively, to keep the external weld system 10 from moving.

[0067] In one embodiment of the invention, each of the first and second pipe clamps 16 and 18 includes a non-rotatable (or fixed) portion 44, 44a or 44b, and two swivel or movable portions 46, 4ba or 46b, and 48, 48a, or 48b. In one embodiment, the non-pivot 44 is located on the top of the yoke, and two pivot or moveable portions 46 and 48 are positioned on each side of the non-pivot 44.

[0068] In one embodiment of the invention, as illustrated in FIG. 1 and 2, the upper attached / non-rotatable portions 44 of the first yoke 16 and the second yoke 18 may include lifting points 287. In one embodiment, each first yoke 16 and every second yoke 18 may be lifted from the lifting points 287 from place to place to implementation of an easily removable clamp. In one embodiment of the invention, the first clamp 16 and the second clamp 18 can be lifted and moved from one location to another using an overhead crane or similar hoisting device and connecting cables to a lifting point 287. In one embodiment, each first clamp 16 and every second clamp 18 can be raised to be placed on the pipe or removed from the pipe.

[0069] In one embodiment of the invention, two pivotal or movable yoke portions are configured to position the yoke on a respective pipe. In other words, the two pivotal or movable portions 46 and 48 are capable of being hung (eg, on pivots 68) such that the pivot or movable portions 46 and 48 swing open to permit placement of the clamp on the respective pipe and to be removed from the corresponding pipe. In one embodiment of the invention, a linear actuator 50, 50a, 50b, 50c, or 50d is used to control the position of each pivot or moveable portion 46 and 48 of the yoke. For example, as illustrated in FIG. 3 and 4, the actuator 50a is used to control the position of the pivot or movable portion 46 of the yoke, and the drive 50c is used to control the position of the pivot or movable portion 48 of the yoke. In one embodiment, the actuator 50 may be a hydraulic cylinder / actuator, a pneumatic cylinder / actuator, an electric actuator, or any other actuator as would be readily apparent to those skilled in the art.

[0070] In one embodiment, the first yoke 16 and the second yoke 18 may be connected to each other using a guide member or guide rods 40. In one embodiment, as illustrated in FIG. 1 and 2, the first clamp 16 and the second clamp 18 are connected to each other by four guide rods 40a-d.

[0071] Two 40a and 40b of the four guide rods 40 are configured to connect the fixed portions 44a and 44b of the first yoke 16 and the second yoke 18 to each other. In one embodiment of the invention, these two non-pivoting guide rods 44, 44a or 44b are also configured to support a guide path element 88 (as described and illustrated in FIGS. 18 and 19), a welding module 126 (including a welding torch 20), a grinding module device (including grinder 30) and a control module (including control detector 22 and / or control chamber 182) thereon.

[0072] The remaining two (of the four) guide rods 40c and 40d are configured to connect each of the two pivotal portions 46a and 48a of the first yoke 16 to the corresponding pivotal portions 46b and 48b of the second yoke 18. In one embodiment, the guide rod 40c is configured with the ability to connect the pivot part 4b of the first yoke 16 to the corresponding pivot portion 46b of the second yoke 18. In one embodiment, the guide rod 40d is configured to connect the pivot portion 48a of the first yoke 16 to the corresponding pivot portion 48b of the second yoke 18.

[0073] FIG. 3 illustrates the two lower, pivoting portions 46 and 48 of the yoke that are in a closed (and locked) position, while FIG. 4 illustrates the two lower, pivotal portions 46 and 48 of the yoke, which are in the open position. In other words, the two lower pivot portions 46 and 48 of the yoke can be adapted to pivot radially outwardly so that the yoke can swing open to permit positioning of the pipe below the non-swivel portion 44. When the pipe is in position, the two lower pivot portions 46 and 48 of the yoke can be turned to the closed position.

[0074] In one embodiment, the first pipe welding procedure (ie, welding two pipes together) is a pipe clamping procedure. In one embodiment of the invention, the two pipes 12 and 14 are held in the correct position for welding during the securing procedure. In one embodiment of the invention, the pipe clamping procedure may include a pipe forming procedure and a pipe aligning procedure. In one embodiment of the invention, the pipe forming procedure and the pipe alignment procedure are performed using the first and second pipe clamps 16 and 18.

[0075] In one embodiment of the invention, the pipe forming procedure and the pipe aligning procedure are not separate and always occur simultaneously. In one embodiment of the invention, the pipe forming procedure cannot be done without performing the pipe alignment procedure, and vice versa.

[0076] In one embodiment, each pipe clamp 16 and 18 is configured to perform a pipe forming procedure and a pipe alignment procedure. In one embodiment of the invention, the pipe forming procedure is optional and each pipe clamp 16, 18 is configured to perform only the pipe alignment procedure.

[0077] During the pipe forming procedure, the two pipes 12 and 14 to be welded together are made with the same shape. This can be achieved with pipe clamps 16 and 18 for the respective pipe 12 and 14. In one embodiment of the invention, as will be described in detail below with reference to FIG. 3-17, each pipe clamp 16, 18 includes a series of mechanically coupled clamps / clamp shoes 52 that are designed and positioned to move radially into their respective pipe 12, 14. Mechanical connections connecting adjacent clamps / clamp shoes 52 are designed and positioned to ensure that all clamps / shoes of clamp 52 are always on the same radius.

[0078] During the pipe alignment procedure, the two pipes 12, 14 to be welded together are aligned so that the center lines of the two pipes are aligned. In one embodiment of the invention, the two pipes are also aligned such that the space between the two pipes is set at a predetermined distance. In one embodiment, the predetermined distance can range from 0 inches (0 cm) (ie, the two pipes 12, 14 touch each other) to a small gap. In one embodiment, the small gap is no more than 0.065 inches (0.17 cm). In one embodiment of the invention, the two pipes 12, 14 can be slid together to create a compressive force between the surfaces of the two pipes to minimize movement of the weld 36 during welding.

[0079] In one embodiment, the pipe alignment procedure may also include a pipe center alignment procedure and a pipe surface alignment procedure. In one embodiment of the invention, during the pipe center alignment procedure, the two collars 16 and 18 are connected by a series of guide rods 40a-d such that the geometric centers of the two sets of grips / collar shoes 52 are coaxial.

[0080] During the pipe surface alignment procedure, in one embodiment, the first pipe clip 16 and the second pipe clip 18 are configured to be movable with respect to the other of the first pipe clip 16 and the second pipe clip 18 so as to control the axial clearance between pipes 12 and 14. In other words, one of the collars 16 and 18 is configured to slide along the row of guide rods 40, 40a-d to change the axial distance between the two sets of clamps / collar shoes 52. If this alignment is performed when the collars hold the corresponding pipes 12 and 14, then the distance between pipes 12 and 14 also changes. In one embodiment of the invention, the distance between clamps 16 and 18 is controlled by two actuators 42 (as illustrated in FIGS. 1 and 2). Actuators 42 are positioned one on each side of pipes 12 and 14. In one embodiment, actuator 42 may be a hydraulic cylinder / actuator, pneumatic cylinder / actuator, electric actuator, or any other actuator as would be readily apparent to those skilled in the art.

[0081] In one embodiment, one of the first pipe clip 16 and the second pipe clip 18 is movable with respect to the other of the first pipe clip 16 and the second pipe clip 18 to create an axial compressive force between pipes 12 and 14.

[0082] In one embodiment, the corners of pipes 12 and 14 may be aligned relative to each other on a weld joint by lifting the weld joint with an external crane 190. For example, in one embodiment, the first pipe clamp 16 and the second pipe clamp 18 are lifted from one welded joint to the next welded joint by an external valve 190. Since the external valve 190 is configured to always remain connected to the first pipe clamp 16 and the second pipe clamp 18, the external valve 190 can be used to apply a net load to the pipes 12 and 14 to changing their respective angles when welded.

[0083] The prior art method used to align pipe ends typically requires the new pipe 186 to be held by a side boom tractor 188 or other lifting equipment for the entire duration of the root pass plus the start of the second (hot) weld pass. As each pipe is welded, the tube support 184 is positioned near the free end. The weight of the pipes causes them to sag between the pipe supports 184. This sagging causes the free end of the pipe to be angled upward. For example, in FIG. 46 illustrates pipe deflections between pipes using this prior art method. In order to have a consistent weld profile, the pipe ends must be aligned in the vertical, horizontal and axial directions, and in the tilt and slide angles. In the prior art method for aligning un-welded pipe 186 to previously welded pipes, a side boom tractor 188 is used to hold the un-welded pipe 186 in the correct position to align the ends of the two pipes in position and angle.

[0084] FIG. 47 illustrates a system of the current patent application that is configured to align the angle of pipes with respect to each other by lifting a weld joint with an external crane 190. The system of this patent application allows a side boom tractor 188 to position the unwelded pipe 186 close to the correct alignment and then advance it. for other actions without having to wait 100% for the first weld pass (e.g. root weld pass). In some embodiments, further movement of the side boom tractor 188 is possible before the first weld pass begins. As illustrated in FIG. 47-49, the method of the present patent application begins by placing pipe supports 184 near the middle of each pipe segment rather than near one end. This allows the ends of two adjacent pipes to sag at equal distances and angles. After the system of this patent application has been closed around the pipes, the system can be lifted with an external crane 190 to change the local deflection and angle at the weld. The direction of lift may not be a purely vertical direction, but may be at any angle necessary to improve the alignment of the ends of the two pipes, which is well understood by those skilled in the art. Thus, this alignment method allows a small gap between the two pipes for the first (root) weld pass. In other words, the external valve 190 can control the angular alignment of the two pipes 12, 14, and it is not necessary for the two pipes 12, 14 to be in contact to ensure proper angular alignment. This makes it possible to use axial drives between the two clamps to control the relative axial positions of the two pipes 12, 14 so that there is a small gap at the joint between the pipes 12, 14. By properly adjusting the valve 190, the gap at the joint between the two pipes 12, 14 can be made consistent at all points along the joint within a small tolerance (eg, less than 10%), which is well understood by those skilled in the art.

[0085] One reason for the ability to preload pipes 12, 14 in conjunction with the sliding collar 16, 18 is to withstand the bending forces that would normally act to create a gap on one side of the weld joint. These bending forces can be controlled by adjusting the vertical load from an external crane 190, which is configured to lift the shroud 200. In one embodiment, when the clamps 16, 18 engage the pipes 12, 14, the crane 190 is set to pull with a force greater than or less than the weight of the system for applying vertical load to pipes 12, 14. If this vertical load is properly controlled, any bending forces on the welded joint can be reduced and possibly eliminated.

[0086] FIG. 48 and 49 illustrate a comparison of angular misalignment between pipes before and after lifting the system of this patent application to change local deflection and angle at a weld joint.

[0087] As illustrated in FIG. 5 and 6, in one embodiment of the invention, each pipe clamp 16 or 18 comprises a number of clamp shoes 52 that are configured to grip / engage the corresponding pipe 12, 14. In one embodiment, the clamp shoes 52 may have different heights for different pipe sizes and can be fine-tuned, for example with shims or other adjustments. In one embodiment of the invention, each pipe size (ie, outer diameter) has a corresponding collar shoe size. In one embodiment of the invention, clamp shoes 52 are interchangeable for different pipe sizes. In one embodiment of the invention, the shoes of the yoke 52 may be self-centering elements.

[0088] In one embodiment, each clamp shoe 52 includes pipe surface contacting elements (or surfaces). In one embodiment of the invention, the pipe surface contacting elements are designed and positioned to engage by friction when the collars 16, 18 are extended, the outer / outer surfaces 32, 34 of the pipes 12, 14 on both sides of the interface 38 between the pipes 12, 14.

[0089] In one embodiment, each clamp shoe 52 is designed and positioned to be coupled to and positioned on a specific pin member of the clamp shoe 54. In one embodiment, the collar shoe pin 54 is designed and positioned to extend through its corresponding opening 56 in body 58. In one embodiment, holes 56 in body 58 are designed and positioned to extend radially as usual. into body member 58 so as to provide radial movement (e.g., radial up and down movement) of the pin element of the yoke shoe 54 in a corresponding hole 56 in body member 58. In one embodiment, body member 58 may be any member that is designed and is positioned to facilitate movement of the pin elements of the clamp shoe 54 so that the clamps apply pressing forces on the inner / outer surface of the pipes 12, 14.

[0090] In one embodiment, one end of the clamp shoe pin 54 is attached to the yoke shoe 52 and the other end of the clamp shoe pin 54 is attached to the connector 60. In one embodiment, the end of the clamp shoe 54 pin includes a cutout that is designed and positioned to receive the connector 60. In one embodiment, the pin member of the clamp shoe 54 also includes holes that are designed and positioned to receive fasteners to connect the connector 60 to the end of the pin member of the clamp shoe 54.

[0091] In one embodiment, body member 58 may include openings that are designed and positioned to allow connectivity between the pin member of the clip shoe 54 and the connectors 60. In one embodiment, the openings of body member 58 are also designed and positioned for allowing the link 60 to move as the collars move between the retracted and extended position. In one embodiment of the invention, the connecting element 60 is an elongated element with holes formed in its end portions. In one embodiment of the invention, the end portions of the connecting member 60 have generally rounded configurations to allow movement of the connecting member 60 as the collars move between their retracted and extended positions.

[0092] In one embodiment of the invention, one end of the coupling 60 is connected to the pin member of the clamp shoe 54 and the other end of the coupling 60 is connected to the drive element 62. In one embodiment, each clamp shoe 52 is thus connected to the drive element 62 through a defined pin element of the collar shoe 54 and a connecting element 60.

[0093] In one embodiment, the drive member 62 may include recesses that are designed and positioned to provide connections between the connectors 60 and the drive member 62. In one embodiment, the recesses of the drive member 62 are also designed and positioned to allow movement of the connectors. members 60 in the cutouts as the collars move between their retracted and extended positions.

[0094] In one embodiment, a drive element 62 is designed and positioned to connect to a portion of an drive 64. In one embodiment, the drive can be a hydraulic cylinder / drive, a pneumatic cylinder / drive, an electric drive, or any other drive, which is clear to those skilled in the art. In one embodiment, the drive member 62 is axially movable relative to the yoke body. The position of the actuator 62 can be determined by a series of actuators 64 coupled to the yoke body.

[0095] In one embodiment, the actuator 62 is held centrally on the yoke body by a series of guide rods 66 (as illustrated in FIGS. 3 and 4). Two of the guide rods 68 also function as a pivot point for the hinged segments 46 and 48. Thus, the body segments 46 and 48 and the drive member segments rotate around the same point and always maintain their relative orientation.

[0096] The clamps move from the retracted position (as illustrated in FIG. 5) where the clamps do not contact the outer surfaces of the pipes 12, 14 until the extended position (as illustrated in FIG. 6), where the clamps are configured to apply compressive forces on the outer the surfaces of the pipes 12, 14 by actuating the actuator 64. In one embodiment of the invention, the axial movement of the actuator 64 in turn causes the axial movement of the actuator member 62. In one embodiment of the invention, the axial movement of the actuator member 62 is converted into a radial movement the pin elements of the clamp shoe 54 through their connectors 60. Thus, the radial compressive forces are generated by the actuator 64, which drives the connectors 60, which convert the axial movement of the actuator into radial movement of the clamp shoes 52.

[0097] In one embodiment, the size of the actuator cylinder, the applied fluid pressure, and the sizes of the various clamp components may be varied to control the downforce applied by the clamps to the inner surfaces of the pipes 12, 14.

[0098] In one embodiment, the drive member 62, the coupling 60, the pin of the yoke shoe 54, and the yoke shoes 52 are all sized so that there is a small angle between the yoke shoes 52 and the pipe when the drive 62 is pulled in between the axis of the coupling 60 and the pin element of the clamp shoe 54 when actuating the actuator 62. In one embodiment, this small angle significantly increases the force generated by the actuators 64. The radial force on the pipe on the clamp shoes can be 10 times greater than the force generated by the actuators.

[0099] In one embodiment of the invention, one or more processors 26 are configured to change the region of interface 38 between pipes 12, 14 prior to the welding operation by actuating the first pipe clip 16 and / or the second pipe clip 18 to change the roundness (or ovality) of the first pipe 12 and / or the second pipe 14, based on predetermined data (for example, data on the profile of the interface before welding 38). For example, in one embodiment of the invention, one or more processors 26 are configured to change the region of interface 38 between pipes 12, 14 prior to a welding operation by selectively actuating one or more collar shoes 52 of collars 16 and / or 18 to change the roundness of the first pipe 12 and / or second pipe 16 based on the profile data before welding. In one embodiment of the invention, the minimum number of shoes of the clamp 52 is three. The number of clamp shoes 52 may differ in other embodiments of the invention.

[00100] In one embodiment of the invention, all of the clamp shoes for the first clamp always move together. In one embodiment of the invention, all of the collar shoes for the second collar always move together. In one embodiment of the invention, the structure and configuration of each yoke includes all of its defined yoke shoes to move continuously together.

[00101] For example, the clamping force may slightly alter the distance between the ends of the pipe and / or the relative radial displacement between the ends of the pipe in certain (or all) regions of the interface 38. In addition, the clamping force applied by the clamps can change the correct circular shape of one or both pipes (for example, the first clamp can change the correct round shape of the first pipe to be welded and / or the second clamp can change the correct round shape of the second pipe to be welded). In other words, change the shape that has slightly lost its roundness to a shape that is more rounded. In one embodiment, for example, the collar shoes 52 for any one of the collars 16, 18 are symmetrically and evenly spaced around the outer surface of the engaging pipe. In addition, the innermost surface of each clamp shoe can be equidistant from the center axis of the clamp. Until a full clamping force is applied by both clamps, the profile of the interface region cannot yet be fully determined, since a change in shape is possible. The reference detector described in this document can be used to determine the profile of the interface region after the application of the pressure.

[00102] In one embodiment of the invention, large compressive forces are applied to open the two pivoting clamping segments 46 and 48 of the yoke. In one embodiment of the invention, each clamp may have a locking mechanism 100 that is configured to hold the clamp (i.e., its rotatable / movable parts) in a closed position on the pipe. In one embodiment of the invention, two locking pins are used to hold the pivotal clamping segments 46 and 48 together. In another embodiment of the invention, at the interface where two pivotable clamping segments 46 and 48 come into contact, the two pivoting clamping segments 46 and 48 overlap. There is a concentric hole through two overlapping parts. In one embodiment, a movable pin or stop member 70 is positioned in one of the holes 72 and is operable to slide out of the hole 72 into the second hole 74, as illustrated in FIG. 7 and 8. The movable pin member 70 is in its retracted position, illustrated in FIG. 7 and in its extended position illustrated in FIG. eight.

[00103] In one embodiment, the yoke actuator 62 is also divided into three segments. Each segment of the drive element 62 corresponds to one of three clamping housing segments 44, 46 and 48. In one embodiment of the invention, like the clamping housing segments 46 and 48, at the interface where the two pivotable drive segments come into contact, the two pivotable drive segments elements also overlap. In one embodiment of the invention, there is a concentric opening through two overlapping portions.

[00104] In one embodiment of the invention, as illustrated in FIG. 9-10, the movable pin or stop member 76 is positioned such that when the clamp is closed, the movable pin 76 can be driven through the holes in the overlapping portions. In one embodiment, the pin drive may have additional travel after the two drive ring segments have been locked together by the pin member 76. Thus, when the drive member 62 engages, the pin member 76 can move with the drive member 62. The movable pin member 76 is in its retracted position, illustrated in FIG. 9 and in its extended position illustrated in FIG. 10. In FIG. 10 illustrates the movable pin member 76 in its extended position and the drive member 62 in its unlocked position, and FIG. 11 illustrates the movable pin member 76 in its extended position and the drive member 62 in its engaged position. It can be clearly seen by comparing FIG. 10 with FIG. 11 that the extra drive travel of the pin remains (illustrated in FIG. 10) after the two drive ring segments have been locked together by the pin member 76. This additional residual drive travel of the pin, remaining after the two ring segments are locked, allows the pin member 76 to move with by the actuator 62 when the actuator 62 is actuated from its retracted position to its engaged position.

[00105] FIG. 12-17 illustrates another version of the clamp 16 'or 18'. In one embodiment of the invention, the construction and operation of the yoke illustrated in FIG. 12-17 are similar in structure and operation to the yoke illustrated in FIGS. 3-11, except for the differences noted below.

[00106] The collar 16 'or 18' illustrated in FIG. 12-17 is also divided into three parts: an upper fixed / non-pivot part 44 'and two lower pivot parts 46' and 48 '. The two lower pivot pieces 46 'and 48' are hinged so that the two lower pivot pieces 46 'and 48' can be swung open to permit placement of the yoke on the pipe and removal from the pipe. In one embodiment of the invention, a linear actuator is used to control the position of each movable / rotary yoke portion. In one embodiment of the invention, the drive is an electric drive. FIG. 12 illustrates two lower, pivotal yoke portions 46 'and 48' that are in a closed (and locked) position, while FIG. 13 illustrates the two lower, pivoting portions 46 'and 48' of the yoke, which are in the open position. In other words, the two lower pivot portions 46 'and 48' of the yoke can be adapted to pivot radially outward so that the yoke can swing open to permit positioning of the pipe under the non-swivel portion 44 '. When the pipe is in its position, the two lower pivot portions 46 'and 48' of the yoke can be pivoted to a closed (and locked) position.

[00107] In one embodiment, the collar 16 'or 18' includes a series of collar shoes 52 '(eg, 4 or more collar shoes) for gripping and forming the pipe. In one embodiment of the invention, clamp shoes 52 'are interchangeable for different pipe sizes. In one embodiment of the invention, the size of each pipe has a corresponding shoe size. In one embodiment, clamp shoes 52 'are mounted in corner rails 78. In one embodiment, the corner rails 78 are rigidly coupled to the yoke body. As illustrated in FIG. 14 and 16, when the collar shoe 52 'is located at one end 80 of the corner guide 78, the collar shoe 52' is in its retracted position. As illustrated in FIG. 15 and 17, when the collar shoe 52 'is located at the other end 82 of the corner guide 78, the collar shoe 52' is in its engaged position. Angle rail 78 is designed and positioned tapered from end 80 to end 82. In one embodiment, each yoke shoe 52 'moves along its respective ramp 78 between end 80 and end 82 by a linear actuator 64' (e.g. hydraulic, pneumatic or electric).

[00108] In one embodiment of the invention, as illustrated in FIG. 16 and 17, the shoe of the clamp 52 'has interlocking functions to ensure that all the shoes of the clamp 52' travel the same distance along their respective corner rails / tracks and therefore all the shoes of the clamp 52 'are at the same distance from the center of the pipe. In one embodiment of the invention, this interlocking connection may also be referred to as "tongue and fork". In one embodiment, the shoe tab 84 of the yoke 52 'is slidable in interlocking with the fork 86 of the adjacent shoe 52' 'when the shoes of the yokes 52' are actuated and moved close together. In one embodiment, each clamp shoe 52 "includes a tab 84 at one end and a fork 86 at the other end.

[00109] In yet another embodiment of the invention, the clamp may be a saber clamp. For example, such a saber clip is described in detail in US Pat. No. 6,109,503, which is incorporated by reference in its entirety in this patent application.

[00110] In one embodiment, the system 10 may also comprise a sensor system that is configured to monitor the clamp force generated by the clamp so that the clamp does not generate clamping force to crush the pipe and permanently deform the pipe. In another embodiment of the invention, the sensor system is optional.

[00111] In one embodiment of the invention, permanent deformation of the pipe can be avoided by limiting the pressure used to actuate the clamp. The pressure limit is a function of the pipe yield strength, pipe diameter and pipe wall thickness. In one embodiment of the invention, values for pipe yield strength, pipe diameter, and pipe wall thickness are input to one or more processors. One or more processors are configured to process received values for pipe yield stress, pipe diameter and pipe wall thickness, and calculate the correct pressure value. This calculated pressure value can then be set as the pressure value in the pressure limiting device. In one embodiment of the invention, the pressure limiting device is configured to limit the pressure to a set pressure to actuate the clamp.

[00112] In one embodiment of the invention, permanent deformation of the pipe can be avoided by stopping the yoke as soon as all of the shoes of the yokes come into contact with the pipe. To do this, one or more processors must know when all of the clamp shoes are in contact with the pipe. In one embodiment of the invention, a contact sensor can be used to determine when all of the shoes of the clamps have come into contact with the pipe.

[00113] In one embodiment of the invention, a proximity sensor, such as a proximity sensor, may be mounted on each collar shoe. When the distance between the clamp shoe and the pipe stops changing, the clamp shoe comes into contact with the pipe. This constant value can be checked against a value recorded from previous pressing operations or a predetermined target value. This ensures that the clamp actually makes contact and remains in motion before making contact.

[00114] In one embodiment of the invention, a contact switch, such as a single pole double throw switch, may be installed on each clamp shoe. In one embodiment of the invention, the switch is configured to change state when the collar shoe comes into contact with the pipe.

[00115] In one embodiment of the invention, a direct load sensor, such as a load cell, or an indirect load sensor, such as a strain gauge, may be mounted on each collar shoe. When all sensors report a change, showing non-zero values, then the clamp shoes all make contact with the pipe.

[00116] In one embodiment of the invention, the system 10 includes one or more welding torches. In one embodiment of the invention, the welding torch (s) are configured to travel 180 degrees around the pipe, 360 degrees around the pipe, 720 degrees around the pipe, or 1080 degrees around the pipe. In one embodiment of the invention, the welding torch may be configured to have an additional stroke to ensure that the start and end of the weld overlap. In one embodiment of the invention, the welding torch may be configured to have an additional stroke to cover the distance between the laser probing the weld and the welding torch.

[00117] In one embodiment, the welding torch 20 is configured to perform multiple overlapping welding passes without stopping and restarting. In one embodiment, the welding torch 20 is configured to perform multiple welding processes, including but not limited to: Surface Tension Transfer (CTT), MIG, Pulsed MIG, Tungsten In inert gas atmosphere (TIG), cold metal transfer (CMT), pulse multi-control (PMC), and low-spatter control (LSC).

[00118] In one embodiment of the invention, the welding torch 20 is configured to be mounted on a circular path member 88 as illustrated in FIG. 18 and 19. The guide path element 88 is configured to be positioned / positioned around one of the first pipe clip 16 and the second pipe clip 18 such that the welding torch 20 is positioned between the first pipe clip 16 and the second pipe clip 18, and in line with the area of the interface 38 between the pipes 12 and 14, and / or the weld joint 36 to be welded.

[00119] In one embodiment, the guide path element 88 is divided into three parts: an upper fixed / non-rotatable part 90 and two lower pivot parts 92 and 94. The two lower or side pivot parts 92 and 94 are pivotally / pivotally coupled to an upper fixed / non-swivel portion 90 such that the two pivot portions 92 and 94 can swing open to permit positioning of the guide path element 88 (with reference detector 22 and welding torch 20) on the pipe and removal from the pipe. In one embodiment, linear actuators 96 may be used to control the position of each segment of the movable yoke 92 and 94. In one embodiment, an electrical, mechanical, hydraulic, pneumatic, or any other type of linear actuator may be used.

[00120] In one embodiment of the invention, the guide path member 88 also includes a locking mechanism 98 that is configured to hold the guide path member 88 in a closed position on the pipe. In one embodiment, the design and configuration of the locking mechanism may be similar to locking mechanism 100 as described and illustrated in FIG. 7 and 8. In another embodiment, the locking mechanism 98 may be of any other design and / or configuration as would be appreciated by one of ordinary skill in the art.

[00121] In one embodiment of the invention, as illustrated in FIG. 1, the inner diameter of the guide path element 88 is designed and sized such that the inner surfaces 102 of the guide path element 88 are located around the outer surfaces 104 of the portion 106 of the yoke 16 or 18. In one embodiment, the guide path element 88 comprises two holes 108 on its fixed / non-rotating portion 90. In one embodiment of the invention, the two holes 108 are configured to pass the guide rods 40a and 40b therethrough. In one embodiment of the invention, once the system 10 is located on the pipes 12, 14, the guide path element 88 is configured to be locked relative to its corresponding yoke (on which the guide path element 88 is mounted) so that there is no axial movement of the guide path element 88 relative to it. corresponding clamp.

[00122] FIG. 18 illustrates the two lower pivot portions 92 and 94 of the guide path member 88 that are in a closed (and locked) position, while FIG. 19 illustrates the two lower pivot portions 92 and 94 of the guide path member 88, which are in the extended position. In other words, the two lower pivot portions 92 and 94 of the guide path member 88 can be adapted to pivot radially outward so that the guide path member 88 can be swung open to permit positioning of the pipe below the non-pivot portion. When the tube is in its position, the two lower pivoting portions 92 and 94 of the guide path element 88 can be rotated to the closed position.

[00123] In one embodiment of the invention, as illustrated in FIG. 20, track member 88 comprises a U-bore 110 configuration. In one embodiment, a curved rail 112 with an integral rack 114 (teeth not illustrated) is mounted in the U-bore 110 of guide path member 88. In one embodiment of the invention, , the guide path element 88 also contains an absolute position sensor that is configured to determine the exact positions of all modules (welding module 126 (including welding torch 20), grinding module, i.e. grinding device module (including grinding device 30) and control module (including reference detector 22 and / or inspection chamber 182)) continuously moving on track path member 88. In one embodiment, an absolute encoder is integrated into path guide member 88. In one embodiment, the encoder is optional.

[00124] In one embodiment, the welding torch 20 may include one or more positional encoders. In one embodiment of the invention, the absolute positional encoders are configured to detect the position and / or orientation of the welding torch 20 along each of three mutually perpendicular axes (eg, X-axis, Y-axis, and Z-axis). In one embodiment of the invention, the welding torch 20 may include three absolute position codes, each of which is configured to detect the position and / or orientation of the welding torch 20 along one of three mutually perpendicular axes (e.g., X-axis, Y-axis, and Z-axis).

[00125] In one embodiment, system 10 further comprises one or more welding torch motors. In one embodiment of the invention, one or more processors 26 of system 10 are configured to control one or more welding torch motors to control the position and / or orientation of the welding torch 20.

[00126] In one embodiment, the welding torch 20 is operatively coupled to a welding torch motor. In one embodiment, a torch motor is operatively coupled to one or more processors to control the movement of the welding torch 20 along a weld during a welding operation. In one embodiment, the burner motor is described in detail in International Patent Application No. PCT / US2015 / 062558, filed November 24, 2015, which is incorporated by reference in its entirety in this patent application.

[00127] In one embodiment of the invention, one or more processors 26 are also configured to interact with a monitor detector 22 and / or test chamber 182 to scan the interface region between pipes 12, 14 to determine the profile of the interface region between pipes 12, 14 before, during and after a weld procedure to generate pre-weld profile data, on-the-fly weld profile data and post weld profile data based on scanned data in order to control an external welding system and / or its operation based on generated pre-weld profile data, on-the-fly weld profile data, and post-weld profile data.

[00128] In one embodiment of the invention, pre-weld inspection, on-the-fly inspection, and post weld inspection may be performed with a reference detector. In one embodiment of the invention, pre-weld inspection, on-the-fly inspection, and post weld inspection may be performed by inspection detector 22 and inspection chamber 182.

[00129] In various embodiments, the "pre-weld" profile data described herein refers to data obtained from a reference detector (eg, a reference laser) that scanned the interface between two pipes to be welded prior to triggering the welding torch. to start attaching the pipes to each other. This profile data is sent to one or more processors prior to welding to determine if the pipes are sufficiently aligned before the weld is applied to the interface. In one embodiment of the invention, in the event that a misalignment is detected, for example, by determining by one or more processors that the misalignment is outside the allowable misalignment value, one or more processors are configured to send signals to collars that engage with the outer surfaces of the pipes. ... The clamping force of one or both of the clamps can be adjusted based on the outputs obtained from the profile data before welding to control the relative shapes of the pipes to ensure that the interface area is aligned with an acceptable misalignment value.

[00130] It will be appreciated that given the small inconsistencies in pipe structures, it is often (and usually) not possible to achieve absolutely perfect alignment. However, there is no need for such perfect alignment when the alignment is within the tolerance range suitable for a quality weld.

[00131] In one embodiment, the profile data prior to welding may include pipe ovality / roundness data. In one embodiment, the pipe ovality / roundness data may include the location and magnitude of the minimum inner diameter, the location and magnitude of the maximum diameter, the average pipe diameter, the average pipe wall thickness, the location and magnitude of the minimum wall thickness, and / or the location and magnitude of the maximum wall thickness. In one embodiment, pipe roundness / ovality data may include a comparison between each location and minimum diameter value, location and maximum diameter value, location and value of minimum wall thickness, and location and value of maximum wall thickness, and their respective predefined values. ... In one embodiment, the pipe roundness / ovality data may include a comparison between each of the mean pipe diameter, mean pipe wall thickness, and their respective predetermined values. In one embodiment, the pipe roundness / ovality data may include pipe diameter deviations at all locations around the pipe circumference based on comparison.

[00132] In one embodiment, the pre-weld profile data may include pipe bevel profile data. In one embodiment, the pipe chamfer profile data may include pipe chamfer geometry. In one embodiment, the pipe chamfer profile data may include a comparison between each of pipe chamfer size and shape, pipe chamfer edge (contact area) thickness, pipe chamfer angle, pipe chamfer offset, pipe chamfer angle, and predefined values thereof. In one embodiment, the pipe chamfer profile data may include pipe deflections at all locations around the circumference of the pipe based on comparison.

[00133] In one embodiment, the pre-weld profile data may include weld fit data and alignment data. In one embodiment of the invention, the weld fit and alignment data may include the gap between the inner pipe ends (after pipe alignment). In one embodiment, the weld fit and alignment data may include pipe bevel gap data (after pipe alignment). In one embodiment, the weld fit and alignment data may include the location and magnitude of the minimum gap, the location and value of the maximum gap and / or the average gap. In one embodiment of the invention, the weld fit and alignment data may include comparing each location and size of the minimum gap, and the location and value of the maximum gap and their respective predefined values. In one embodiment, the weld fit and alignment data may include a comparison between the average gap and its corresponding predetermined value. In one embodiment, the weld fit and alignment data may include pipe clearance deviations at all locations around the circumference of the pipe based on comparison. In one embodiment of the invention, the fit and alignment data of the weld may include minimal differences in height between pipes (eg, allowable alignment), and so on.

[00134] In one embodiment of the invention, one or more processors are configured to interact with a monitor detector to scan the pipe interface to determine the profile of the pipe interface during a welding procedure at the interface prior to the application of weld material thereto, and generating profile data on the fly. In one embodiment of the invention, one or more processors are configured to generate welding signals to control the welding torch based on profile data obtained on the fly. On-the-fly profile data is described in more detail below. In this document, the term "on the fly" also means or refers to the concept of "real time", meaning that the measurement or determination is used by one or more processors during the current welding operation to control the welding machine. Of course, due to the lagging of the welding torch behind the reference detector / reference laser by a certain distance, some buffering (or a slight delay in time) occurs between obtaining the profile data and using it by one or more processors to control the welding torch.

[00135] In one embodiment of the invention, one or more processors are configured to interact with monitor detector 22 and / or test camera 182 to determine the profile of the interface and / or weld after the weld procedure.

[00136] In one embodiment, the post weld profile data may include the profile (s) of the welds formed. In one embodiment of the invention, the post weld profile data may include the profile (s) of the formed root pass weld layer. In one embodiment, the post weld profile data may include weld shape characteristics such as mismatches, bead concavity, and reentry angle. In one embodiment of the invention, one or more processors are configured to cause, based on the post weld profile data, another weld operation to be performed at the pipe interface. In one embodiment of the invention, the repair procedure is configured to repair any weld defects that are found during the weld inspection procedure. The weld repair procedure described in this document can be one of many types. In one embodiment of the invention, an additional welding operation is performed over the previous weld to correct a defect in the weld. In another embodiment of the invention, the defective weld may be ground with a grinding device 30 or optionally cut off completely (manually or automatically) prior to performing a subsequent repair weld operation.

[00137] In one embodiment, the control data from the control detector can be transmitted in real time to one or more processors that use the control data to send updated welding parameters to an external welding system.

[00138] In one embodiment, the weld head assembly includes a radial positioning system 116 (as illustrated in FIGS. 21 and 22) that is configured to enable radial movement of the welding torch 20 and an axial positioning system 118 (as illustrated in 23-25), which is configured to allow axial movement of the welding torch 20 and the tilt positioning system 120 (as illustrated in FIGS. 26-28), which is configured to tilt the welding torch 20.

[00139] In one embodiment, the welding torch 20 is mounted for radial movement by the radial positioning system 116 such that its welding tip is movable in and out of the outer weld surfaces of the pipes. In one embodiment of the invention, one or more processors 26 are configured to control one or more welding torch motors to control the radial distance of the welding tip from the pipes 12, 14. In one embodiment, the radial positioning system of the welding torch 20 is configured to retract the welding burner 20 from the pipe to prevent damage as it travels from one weld to a subsequent weld.

[00140] In one embodiment, the radial positioning system 116 of the welding torch 20 is configured to permit positioning of the welding torch 20 at the correct height for each welding pass. In one embodiment of the invention, at the completion of each weld pass, the welding torch 20 is moved (using a radial positioning system) from the center of the pipe before the next weld pass can begin. In one embodiment of the invention, one or more processors 26 are configured to control one or more welding torch motors to move the welding tip radially away from the interface after the root pass so as to accommodate the weld overlaid on the root pass weld and provide a hot weld pass from above to weld the root pass.

[00141] In one embodiment, the radial positioning system 116 is configured to move the welding torch 20 radially to variations in the pipe shape to adjust the distance from the welding tip to the work piece (i.e., pipe) for multiple passes (i.e., welding procedures root pass and hot pass) and for removal from pipes when the welding system is not welding. In other words, during each weld pass, the radial positioning system 116 is configured to track deviations in pipe diameter so as to maintain a constant distance between the welding torch tip and the weld / pipe interface.

[00142] In one embodiment, the radial positioning system 116 is configured to provide the welding torch 20 with a radial travel of about 1.25 inches (3.18 cm). In one embodiment, the welding torch 20 is moved by the radial positioning system 116 between a normal, non-extended, retracted configuration and an extended configuration. As illustrated in FIG. 21 and 22, the welding torch 20 is extended (to its extended position) by the radial positioning system 116 so that the welding torch 20 is positioned at the correct / desired / predetermined distance from the pipes to perform the welding procedure. FIG. 22 illustrates the welding torch 20 being moved (by the radial positioning system 116) to a retracted position when the welding torch 20 is away from the pipe to prevent damage as it travels from one weld to the next weld. FIG. 21 illustrates a welding torch 20 being moved (by a radial positioning system 116) to a welding position where the welding torch 20 is at the correct height for the welding procedure.

[00143] In one embodiment, the radial positioning system 116 may include a linear actuator. In one embodiment, the radial positioning system 116 may include a radial (electric) welding torch motor, a lead screw, and a screw nut. In one embodiment of the invention, the engine is rotatable (eg, mechanically coupled to it). In one embodiment of the invention, the motor is configured to rotate both clockwise and counterclockwise, which causes the welding torch 20 to rise or fall, inherently parallel to the radial axis RR (as illustrated in FIGS. 21 and 22) between pipes 12 and 14. In one embodiment of the invention, the motor is directly coupled to rotate the lead screw. In yet another embodiment of the invention, the motor is indirectly coupled, such as through a series of gears or a gear train, to rotate the lead screw. In one embodiment of the invention, the lead screw has a mechanically formed thread on its outer surface extending along its entire length. In one embodiment of the invention, the helical nut is designed and positioned to be screwed onto the lead screw and has threads on its inner surface. In one embodiment of the invention, the screw nut is interlocked with a portion of the radial positioning system such that rotation of the screw nut is locked together with the lead screw. In other words, the screw nut is kept from rotating together with the lead screw, whereby the screw nut is configured to move the lead screw up and down. In one embodiment, the radial positioning system may also include other members and guide rods that are configured to transmit rotational motion of the motor to radial movement of the welding torch 20. For example, as the lead screw is rotated by the motor, the screw nut is threaded. In one embodiment of the invention, the direction of movement of the screw nut depends on the direction of rotation of the lead screw by the motor. Since the screw nut is locked in the hole of the radial positioning element, the radial positioning element is configured to move / move the lead screw together with the screw nut. The movable engagement between the radial positioning element and the guide bar elements also facilitates such (up and down) movement / movement of the radial positioning element.

[00144] In one embodiment, the axial positioning system 118 is configured to permit movement of the welding torch 20 in the axial direction to hold the welding torch 20 in the bevel of the weld while the welding torch 20 moves around the pipe and to allow the welding torch 20 to oscillate in the bevel of the weld seam in case of need to completely fill the bevel.

[00145] FIG. 24, the welding torch 20 is illustrated in a normal, centered, axial position. In one embodiment, the radial positioning system 118 is configured to provide the welding torch 20 with an axial travel of about +/- 1 inch (2.54 cm). For example, as illustrated in FIG. 23 and 25, the welding torch 20 has been moved by the axial positioning system 118 to +1 inch (2.54 cm) axial travel and -1 inch (2.54 cm) axial travel, respectively, so that the welding torch 20 is positioned at the correct / desired position. / a predetermined distance from the pipes for performing the welding procedure.

[00146] FIG. 23 and 25 illustrate the welding torch 20 moved (by the axial positioning system 118) along the pipe axis to the left axial position and to the right axial position, respectively. In one embodiment, the axial positioning system 118 is configured to move the welding torch 20 about two inches (5 cm) along the pipe axis to align with the weld edge. During the welding procedure, the axial positioning system 118 is configured to oscillate the welding torch 20 across the weld (and within the bevel of the seam if it is necessary to completely fill the bevel) at a frequency of up to 4 Hz with an amplitude of up to 0.5 ".

[00147] In one embodiment, the axial positioning system 118 may be a linear actuator. In one embodiment, the axial positioning system 118 may include an axial (electric) welding torch motor, a lead screw, and a screw nut. In one embodiment of the invention, when the lead screw is rotated by the motor, the screw nut is threaded. In one embodiment of the invention, the engine is configured to rotate the lead screw (eg, mechanically coupled to it). In one embodiment of the invention, the motor is configured to rotate both clockwise and counterclockwise, which causes the left or right side of the welding torch to move substantially parallel to the axial axis A-A of the tubes (as illustrated in FIG. 23 -25). In one embodiment of the invention, the motor is indirectly coupled, such as through a series of gears, to rotate the lead screw. In other words, the engine contains an output shaft and is operatively connected to the lead screw through a transmission that meshes with the output shaft of the engine. In one embodiment of the invention, the first transmission is connected to the output shaft of the engine, the second transmission is connected to or attached to the lead screw, and the two transmissions are connected to each other by one or more transmissions. By connecting the motor to the lead screw through gears, the lead screw rotates when the motor is running. In yet another embodiment of the invention, the motor is directly coupled (i.e., no gear) to rotate the lead screw. In one embodiment of the invention, the screw nut is interlocked with a portion of the axial positioning system so that rotation of the screw nut is prevented from rotating with the lead screw. In other words, the screw nut is kept from rotating together with the lead screw, whereby the screw nut is movable / transversely movable with the lead screw.

[00148] In one embodiment, the tilt positioning system 120 is configured to tilt the welding torch 20 about the point where the welding wire contacts the pipe. In one embodiment of the invention, this configuration maintains a constant distance, as measured by the laser / reference detector 22, between this point and the point of weld application. In one embodiment, such a positioning system is detailed in International Patent Application No. PCT / US2015 / 062558, filed November 24, 2015, which is incorporated by reference in its entirety in this patent application. FIG. 26-28, some of the components of this positioning system are not illustrated, while other components may be clearly visible.

[00149] In another embodiment of the invention, the welding torch 20 is tiltable with an oblique positioning system 120 about a point in the radial direction from the weld. This configuration changes the distance between this point, determined by the laser / reference detector 22, and the point of application of the weld. In one embodiment of the invention, one or more processors 26 are configured to calculate the distance between the two points and compensate accordingly.

[00150] In one embodiment of the invention, the tilt positioning system 120 is configured to allow the welding torch 20 to change its angle of inclination in the plane of travel to calculate changes in the weld direction relative to the gravity direction. In one embodiment of the invention, the angle of inclination of the welding torch 20 can be varied to compensate for the force of gravity. In one embodiment, the angle of inclination of the welding torch 20 can be adjusted to compensate for different orientations due to gravity. In one embodiment of the invention, the angular orientation of the welding torch 20 is adjusted based on the profile of the interface region. In one embodiment, the angle of inclination of the welding torch 20 can be adjusted on the fly based on the profile data to compensate and / or correct other welding conditions (ie, not just gravity).

[00151] Since the welding torch is able to oscillate during the welding operation, the gravitational forces acting on the weld puddle when the welding torch rotates around the stationary pipe can be taken into account. In a specific case, the angle of the welding torch can be varied by being driven by at least one welding torch motor (i.e., the welding torch tilt motor), depending on whether the welding torch moves upward against gravity or downward in the direction of gravity. ... One or more motors (eg, a welding torch tilt motor) can also vary the angle of the welding torch within the plane of rotation based on a specific location within the upward or downward movement of the welding torch. It should be understood that since the welding torch can oscillate in some embodiments of the invention, it is better that it is tilted to compensate for the force of gravity, and it is also necessary that it is not fixed, assuming, for example, it will only move downward from by the force of gravity. In some embodiments of the invention, as noted above, this patent application suggests that welding can be performed by moving the welding torch up (away from gravity) or down (toward gravity). In addition, the welding torch 20 can fluctuate depending on different turning positions (for example, a welding operation at 10 degrees from top dead center may theoretically have slightly different requirements than welding at 90 degrees from top dead center due to (for example ) the forces of gravity acting on the weld pool, as well as the tendency for the weld pool to be held differently on the inner surface of the pipe at different positions on the pipe being welded.

[00152] In one embodiment of the invention, the welding torch 20 may be configured to have a continuously variable angle of torch tilt to compensate or correct for continuous reorientation of the welding torch due to gravity. In one embodiment of the invention, the welding torch 20 may be configured to translate the torch angle based on the position of the welding torch (ie, the position of the welding torch along the circumferential seam). In one embodiment of the invention, the welding torch 20 can be configured such that the welding torch 20 can have a different angle of inclination of the torch when rotated to any desired angle. In one embodiment of the invention, the welding torch 20 may be configured to have different torch tilt angles for 90 °, 30 °, 60 °, or 120 ° rotation angles.

[00153] In one embodiment, the tilt positioning motor angles the welding torch 20, typically within a plane of rotation. In one embodiment of the invention, the angular orientation of the welding torch 20 is adjusted based on the position of the torch. In one embodiment of the invention, the welding torch 20 is rotatable along the weld about a plane of rotation.

[00154] FIG. 27 illustrates the welding torch 20 in a normal, non-tilted position. In one embodiment of the invention, the tilt positioning system 120 is configured to provide the welding torch 20 with an angular tilt within 10 degrees. In one embodiment of the invention, the tilt positioning system 120 is configured to provide the welding torch 20 with an angular tilt of +/- 5 °. For example, as illustrated in FIG. 26 and 28, the welding torch 20 has been moved by the tilt positioning system 120 by -5 ° or + 5 ° angular tilt, respectively, so that the welding torch 20 is located at the correct / required / predetermined distance from the pipe for welding. In yet another embodiment of the invention, the tilt positioning system 120 is configured to provide the welding torch 20 with an angular tilt within 7 degrees. In one embodiment of the invention, the tilt positioning system 120 is configured to provide the welding torch 20 with an angular tilt of less than +/- 5 °.

[00155] In one embodiment of the invention, the circumferential arc between the pivot point P and the point where the test beam reflects from the interface region generally remains constant during the welding procedure, as illustrated in FIG. 53 and 54. In other words, the arc angle between the position of the welded joint measured with the laser / reference detector 22 and the position of the welded joint welded with the welding torch is constant. In one embodiment of the invention, one or more processors 26 have information about a constant arc distance between the axis of rotation P (for example, a welding tip) and a control point, so that one or more processors 26 are configured to control the articulation and rotary motion of the welding torch 20. based on pre-weld profile control data or on-the-fly control data.

[00156] The configuration of the welding torch 20, which allows the welding torch 20 to rotate about the axis of rotation P, allows the angle of the welding torch 20 to change during welding without affecting the speed at which the welding torch 20 travels. For example, this is especially useful for systems welding with a series of welding torches. In one embodiment of the invention, the change in the angles of the welding torches will not be performed at the same time, in which case it would be advisable that the change in the angle of the torch occurs without any negative effect on it or other welding torches.

[00157] In one embodiment, the tilt positioning system 120 includes a torch tilt motor, guide rail members 122, guide rollers 124. In one embodiment, the guide rail members 122 are configured to engage with guide rollers 124 to aid positioning welding torch 20. In the illustrated embodiment, the deflector rollers 124 may include two upper and two lower deflector rollers. In one embodiment of the invention, the tilt positioning system 120 includes a guide rail member 122 and its four associated guide rollers 124 that are located at opposite ends of the welding torch assembly.

[00158] In one embodiment, the welding torch tilt motor is configured to rotate the transmission (eg, mechanically coupled). In one embodiment of the invention, the motor is rotatable either clockwise or counterclockwise, which causes the welding torch 20 to tilt forward or backward. In one embodiment, the welding torch tilt motor is configured to be coupled, for example via a transmission, to the guide rail 122. In other words, the welding torch tilt motor includes an output shaft and the transmission is connected to the motor output shaft. By connecting the welding torch tilt motor to the guide rail 122 by means of a transmission mechanism, the guide rail 122 moves when the welding torch motor is operated.

[00159] In one embodiment, the guide rail member 122 is configured to guide the upper and lower guide rollers 124. In one embodiment, the upper and lower guide rollers 124 are offset relative to the guide rail member 122 such that the upper and lower guide rollers rollers 124 are configured to allow a change in the angle of inclination of the welding torch 20 in the plane of movement.

[00160] In one embodiment, an external welding system (with a welding torch 20) is configured to receive welding profile data (eg, before, during, and after a welding procedure) from a control system (eg, using a control detector 22 and / or a control chamber 182) and is configured, on the basis of the data obtained about the weld profile, to displace its external welding torch 20 and / or tilt its external welding torch 20 to achieve the full penetration depth of the weld. In this way, the weld profile data from the control system can be used by the external weld system to make the weld as good as possible.

[00161] In one embodiment, the motors guiding the test detector 22 also rotate the welding torch 20 circumferentially about the plane of rotation to create a weld along the interface.

[00162] In one embodiment, a welding torch body assembly is designed and positioned to enclose a welding torch 20, a radial positioning system 116, an axial positioning system 118, and an oblique positioning system 120. In one embodiment, the welding torch body assembly is configured with the ability to protect the components of the welding torch 20 and the various components of its axial, radial and / or oblique positioning systems from welding heat and spatter.

[00163] In one embodiment of the invention, with reference to FIG. 29, welding torch 20 in combination with axial, radial and / or tilt positioning systems 116, 118, and 120 is a welding module 126. In one embodiment, each welding module 126 is mounted on a circular guide rail 112 of a U-bore 110. In one embodiment, each weld module 126 may include its own propeller motor 128.

[00164] In one embodiment, the system 10 includes a carriage that is configured to carry the welding torch 20 around the interface 38 between pipes 12, 14. In one embodiment, the carriage is configured to move along the guide 112 of the guide path element 88. In one embodiment of the invention, the carriage comprises a series of roller members that are configured to engage with a guide path member 88. In one embodiment, the carriage may include one or more drive motors. In one embodiment of the invention, the shafts of the drive motors have gears mounted thereon. In one embodiment of the invention, the gears of the drive motors are configured to mesh with an integral rack 114 on the path element 88. In one embodiment, the carriage may comprise two drive motors, where each motor can be driven with a different output torque for creating a preload effect between the two gears in order to remove any play from the gears.

[00165] For example, in one embodiment, the weld module 126 includes a carriage frame 134. In one embodiment, the carriage frame 134 has a generally U-shaped channel configuration. In one embodiment, the carriage frame portion 136 of the carriage 134 includes guide rollers 130. In one embodiment, the guide rail member 112 of the guide path member 88 is configured to engage with the guide rollers 130 to assist in positioning the welding module 126 on the guide path member 88 In the illustrated embodiment, the guide rollers 130 may include upper and lower guide rollers. In one embodiment, the travel motor 128 is configured to rotate the gear 132 (eg, mechanically coupled). In one embodiment of the invention, the propel motor 128 is configured to rotate either clockwise or counterclockwise, which causes the weld module / carriage frame to move either forward or backward. In one embodiment, the propel motor 128 is configured to be coupled, for example, by a gear 132 to the guide rail 112. In other words, the motor includes an output shaft and the gear 132 is coupled to the output shaft of the engine. By connecting the motor to the guide rail 112 via the transmission mechanism 132, the guide rail 112 moves when the engine is running. In one embodiment, the guide rail 112 is configured to guide the upper and lower guide rollers 130. In one embodiment, the upper and lower guide rollers 130 are offset relative to the guide rail 112 such that the upper and lower guide rollers 130 are formed with the possibility of allowing the movement of the welding module 126 along the circumference of the guide path element 88.

[00166] In one embodiment, each welding module 126 is configured to be positioned independently at any location around the circumference of the pipe and move at any speed within its capabilities, regardless of the travel speed of any other welding torch. In one embodiment of the invention, the travel speed of the welding torch can be from 5 to 55 inches / min (0.127-1.397 m / min). In one embodiment of the invention, travel speeds greater than 55 inches / min (1.397 m / min) are possible during inspection operations or when repositioning the welding torch between welds.

[00167] The external weld system 10 may not be perfectly aligned with the weld. This can be for many reasons. For example, a weld joint may change shape during a weld pass as the pipes heat or cool. The shape of the bevel can change at different places around the circumference due to the variability of machining. The height of the existing material is subject to change.

[00168] In one embodiment of the invention, one or more processors 26 are configured to detect such conditions and compensate for such conditions during the welding process so as to apply the best possible weld.

[00169] In one embodiment of the invention, a reference detector 22 (eg, a laser) may be mounted on each welding module to measure the joint profile before starting welding and during the welding process. In one embodiment of the invention, the test detector 22 is mounted such that it measures the weld a short distance in front of the welding torch. In one embodiment of the invention, the test detector 22 is configured to measure the width and depth of the weld bead. In one embodiment of the invention, the test detector 22 is also configured to measure the shape of the bottom of the weld bead. In one embodiment of the invention, the test detector 22 is positioned such that the arc angle between the weld position as measured by the test detector 22 and the position of the weld welded by the welding torch is constant, as illustrated in FIG. 53 and 54.

[00170] Since the welding torch fluctuates within the bead, the arc voltage changes with the distance between the welding torch tip and the walls of the bead. In one embodiment of the invention, by measuring a given arc voltage, one or more adjusters 26 are configured to determine if the vibrations are in the center of the weld bead.

[00171] In one embodiment, the inspection chamber 182 may be configured to be positioned in a plane with a weld at a short circumferential distance from the weld. In one embodiment of the invention, the inspection chamber 182 is configured to be oriented to the view of the weld and torch tip relative to the weld bead. In one embodiment of the invention, the inspection chamber 182 may be co-assembled with the inspection detector 22 so that it points to the same point on the outer surface of the pipe as the inspection detector 22.

[00172] In one embodiment of the invention, the external welding system 10 is configured to record all welding parameters during the welding process for each welding pass performed. In one embodiment of the invention, the external welding system 10 is also configured to record data from sensors not used during the welding process, such as pipe temperature, GPS location, or ambient temperature. In one embodiment, the external welder system 10 is configured to receive instructions from a remote system, which may include, but is not limited to, weld parameters and procedures (e.g., wire feed speed, welding current, weld voltage, weld travel speed, spacing fluctuations, magnitude of fluctuations), updates to management practices, and pass / fail check reports. In one embodiment, such a remote system is detailed in International Patent Application No. PCT / US2015 / 062558, filed November 24, 2015, which is incorporated herein by reference in its entirety.

[00173] In one embodiment, the monitoring detector 22 is configured to be positioned between the first pipe clamp 16 and the second pipe clamp 18. In one embodiment, the system 10 may further include a monitoring chamber 182. In other words, in one In an embodiment of the invention, system 10 may include both a test detector 22 and a test chamber 182, as illustrated in FIG. 53 and 54. In one embodiment, monitor detector 22 and / or test chamber 182 are axially positionable (relative to the pipe axis) between the first pipe clip 16 and the second pipe clip 18. In other words, each of the first pipe clip 16 and the second pipe clamp 18 are located on axially opposite sides of the test detector 22 and / or the test chamber 182.

[00174] In one embodiment, the reference detector 22 may comprise a reference laser, a three-dimensional (3D) reference chamber, a reference ultrasonic transducer system, an electrical capacitive reference probe, and any other reference detectors as would be appreciated by one of ordinary skill in the art. If a laser is used, the type of laser used may be a laser displacement sensor. In one embodiment, the laser may be an LK-G5000 series ultra high speed / high precision laser displacement sensor manufactured by Keyence. In one embodiment of the invention, the laser can be a microprocessor controlled laser such as Smart Laser Sensor SLS-050 manufactured by Meta Vision Systems Inc.

[00175] In one embodiment of the invention, the test detector 22 comprises an emitter for emitting a test beam of radiation and a receiver for receiving the test signals of the reflected radiation. In one or more embodiments, the monitor detector receiver comprises a sensor that detects reflected radiation and generates signals based on the reflected radiation. These signals are received by one or more processors 26. In one embodiment of the invention, the signals contain data and information corresponding to the three-dimensional profile of the weld between the pipes and / or the region of the interface between the pipes being welded. This data and information can be used to detect, for example, the relative heights of adjacent surfaces of pipes in the welded areas, the relative distance between the pipes, any irregularities in the welded adjacent surfaces (for example, on their bevels).

[00176] In addition, since the test detector scans the entire interface between pipes and / or the entire weld between pipes, it can determine a specific profile of the interface and / or a specific profile of the weld in any specific scan area. This information can be used by one or more processors to control the operation of the welding torch in order to provide a customized / tailored weld that is tailored specifically to the structural profile of the pipes being welded at their interface. This information can be used by one or more processors to control the operation of the grinder 30 to provide customized / tailored grinding that is tailored specifically to the structural profile of the welded pipes.

[00177] In one embodiment, the pilot detector motor is operatively coupled to the pilot detector 22 to direct the pilot radiation beam along the interface 38 between the pipes 12, 14 to be welded and the weld 36 between the pipes 12, 14.

[00178] In one embodiment of the invention, the monitor detector comprises a motor that drives the monitor detector along the weld. In one embodiment of the invention, the welding torch is adapted to be attached to the same structure as the test detector. In one embodiment of the invention, system 10 comprises a motor configured to move / drive both the monitor detector and the welding torch along the weld.

[00179] In one embodiment of the invention, system 10 may include two monitor detectors. In one embodiment of the invention, one of the two monitor detectors may be a master monitor detector that is configured to guide the welding torch during welding and provide data prior to welding. In one embodiment of the invention, the other of the two monitor detectors may be a rear monitor detector that is configured to follow the welding torch during welding and also provide post weld data. In one embodiment of the invention, the angle between each test detector and the welding torch may be adjustable.

[00180] In one embodiment, the control chamber 182 and the control detector 22 are operatively coupled to one or more processors 26. In one embodiment, communication with the system 10, including the control detector 22, the control chamber 182, and / or other electronic modules of the welding system 10 can be performed wirelessly. In another embodiment of the invention, communication with the system 10, including the monitor detector 22, the test chamber 182, and / or other electronic modules of the welding system 10, may be performed using a wired connection. It should be understood that if a number of welding torches are provided, a number of monitoring detectors / lasers may also be provided.

[00181] In one embodiment, the system 10 may house a computer system and its one or more processors 26. In another embodiment, the computer system and its one or more processors 26 may be located remotely from the system 10. In one In an embodiment of the invention, one or more processors 26 may include a digital processor, an analog processor, a digital circuit designed for information processing, an analog circuit designed for information processing, a state machine, and / or other mechanisms for electronic information processing.

[00182] It should be understood that "one or more processors" as described herein may constitute a single processor located as built-in and local to a particular system or component being described, autonomous and local to a particular system or component being described, or located remotely relative to the specific system or component being described. In addition, the connection between one or more processors can be wired or wireless. In addition, the term "one or more processors" can also mean a number of embedded and local processors, a number of individual and local processors, a number of remotely located processors, or any combination of embedded (and local), separate (and local) and remote processors. In terms of embedded processors, such processors refers to processors that physically move (ie, physically connect and move) with a particular system or component. For individual processors, this means processors that are local to the manufacturing site and communicate wirelessly with embedded electronic components.

[00183] In one embodiment of the invention, the system 10 does not include a drive rod / connection, and may include a cord with a breakaway connector connecting the system 10 to a deployed system (eg, a mobile station). In one embodiment, the breakaway cord is not a rigid connection. In one embodiment of the invention, individual processors may also refer to electronic devices that are tied to an embedded system via a loose cord with a breakaway connector and are local to the manufacturing site. In other words, if the processor is moved using a loose cord with a breakaway connector, it can also be considered an "embedded" processor.

[00184] In one embodiment of the invention, one or more processors 26 are also configured to prevent the welding system 10 from moving at the location of the pipes 12, 14, which positions the reference detector 22 relative to the interface 38 to allow the reference detector to detect 22 of the profile of the area of the interface 38 between pipes 12, 14. In one embodiment of the invention, one or more processors 26 are also configured to prevent the welding system 10 from moving at the location of the pipes 12, 14, which sets the control detector 22 in a predetermined position relative to the welded connections 36, to enable the control detector 22 to determine the profile of the weld between the pipes 12, 14.

[00185] The term "motor" as used herein broadly refers to any type of electromechanical motor such as an electric motor, hydraulic motor, air motor, by way of example.

[00186] In one embodiment, the system 10 may comprise a feedback system (e.g., using a monitor detector 22, one or more processors 26, motors (including axial tilt and radial welding torch positioning motors; axial tilt motors and radial positioning of the grinder; monitor detector / chamber motors), first and second clamps 16 and 18, welding torch 30, as detailed below), which is configured to determine proper alignment of the ends of the first and second pipes 12 and 14.

[00187] FIG. 30 illustrates a grinding device 30 in accordance with an embodiment of the present patent application. As illustrated in FIG. 30, the grinder 30 is positioned for grinding at the weld start position, while the welding torch module 126 (with the welding torch 20 and all of its positioning systems) is positioned halfway through the welding pass.

[00188] In one embodiment, the grinder 30 is configured to grind the weld start point for each weld to a smooth profile before the end of the weld can merge. After the end of the weld has merged with the beginning of the weld, the weld can be ground again to ensure a constant surface height for the next weld. In one embodiment of the invention, after all welding has been completed, the grinder 30 may also grind the entire periphery of the weld to smooth the final surface of the weld.

[00189] In one embodiment of the invention, as illustrated in FIG. 30-33, the grinding module 140 includes a grinding head 30, an axial positioning system 152, a radial positioning system 144, a reference detector 22 (e.g., a 3D scanner), and one or more processors 26. In one embodiment, the grinding head 30 comprises a motor 146 , reducer 148 and grinding element / wheel 150. In one embodiment, positioning systems 144 and 152 include an axial motor 156, axial guides 160, a radial motor 168, radial guides 176, and radial springs 178. In one embodiment, the grinding module 140 also includes an electronic module 166 and a removable battery battery 164. In one embodiment, electronic module 166 comprises one or more processors 26.

[00190] In one embodiment of the invention, each of the welding module, grinding module and control module may have a separate electronic module (with one or more processors). In another embodiment, the welding torch module, grinding module, and control module may share a common electronics module (with one or more processors). In one embodiment of the invention, each of the welding module and the grinding module may have a separate monitor detector. In another embodiment of the invention, the welding module and the grinding module may comprise a common reference detector.

[00191] In one embodiment, the radial positioning system 144 (as illustrated in FIGS. 31 and 32) of the grinder 30 is configured to radially move the grinder or grinder 30, and the axial positioning system 152 (as illustrated in FIG. 33 ) is configured to axially move the grinding device 30. In one embodiment of the invention, the grinding device 30 may also include an inclined positioning system that is configured to move at an inclined angle of the grinding device 30. In one embodiment of the invention, the structure and operation of the inclined positioning system of the grinding device the device may be similar in structure and operation to the angled positioning system of the welding torch 20 (described above in this patent application).

[00192] In one embodiment, the radial positioning system 144 is configured to move the grinder 30 any radial distance required for grinding. In one embodiment of the invention, the radial movement of the grinder 30 may be spring loaded so that the grinder 30 applies a constant force to the (welded) surfaces of the pipes. In one embodiment, the radial positioning system 152 is configured to retract the grinder 30 away from the pipe surfaces when the grinder 30 is not grinding.

[00193] In one embodiment, the grinder 30 is radially positioned by the radial positioning system 144 so that the grinder wheel 150 is movable in and out of the pipe weld surfaces. In one embodiment, one or more processors 26 are configured to control one or more grinders 30 to adjust the radial distance of the grinder wheel 150 from the weld between pipes 12, 14. In one embodiment, the grinder radial positioning system 144 30 is configured to retract the grinder 30 away from the pipes to prevent damage when moving from one grinding location to the next grinding location. In one embodiment, the grinding device 30 is movable by the radial positioning system 144 between the grinding configuration and the raised configuration.

[00194] In one embodiment, the radial positioning system 144 of the grinder 30 is configured to position the grinder 30 at the correct height for the grinding operation. In one embodiment of the invention, as each grinding operation is performed, the grinding device 30 is moved (by the radial positioning system 144) from the center of the pipes before the next grinding operation can begin. In one embodiment of the invention, one or more processors 26 are configured to control one or more motors to move the grinding wheel 150 from and to the weld. In one embodiment of the invention, the radial positioning system 144 is configured to radially move the grinder 30 to track changes in the weld / joint, to adjust the distance from the wheel to the grinding area (e.g., pipe), and to retract from the pipes during movement of the grinder. 30. In other words, during each grinding operation, the radial positioning system 114 is configured to track deviations in the weld / joint so as to maintain a constant distance between the grinding wheel and the weld.

[00195] In one embodiment, the radial positioning system 144 may comprise a linear actuator. In one embodiment of the invention, as illustrated in FIG. 31-33, the radial positioning system 144 includes a radial (electric) motor 168, a radial lead screw 170, and a radial screw nut 172. In one embodiment, the motor 168 is configured to rotate (e.g., mechanically coupled) to the lead screw 170. In one embodiment, the motor 168 is configured to rotate either clockwise or counterclockwise to raise or lower grinder 30 substantially parallel to the radial axis RR (as illustrated in FIGS. 21 and 22) of the pipes. In one embodiment, motor 168 is directly coupled to rotate the lead screw 170. In another embodiment, motor 168 is indirectly coupled, such as through a gear train or gearbox, to rotate the lead screw 170. In one embodiment of the invention, the lead screw 170 comprises a mechanically formed thread on its outer surface extending along its entire length. In one embodiment, the helical nut 172 is designed and positioned to be screwed onto the lead screw 170 and includes threads on its inner surface. In one embodiment of the invention, the screw nut 172 is interlocked with a portion of the radial spring plate 174 so that rotation of the screw nut 172 is prevented with the lead screw 170. In other words, the screw nut 172 is kept from rotating with the lead screw 170, whereby the screw nut 172 is configured to move the lead screw 170 up and down.

[00196] When the lead screw 170 is rotated by the motor 168, the screw nut 172 is threaded. In one embodiment of the invention, the direction of movement of the screw nut 172 depends on the direction of rotation of the lead screw 170 by the motor 168. When the screw nut 172 is locked in the bore of the radial spring plate 174, the radial spring plate 174 is movable / movable (up or down ) of the lead screw 170 together with the screw nut 172. The sliding interaction between the radial spring plate 174 and the guide bar members 176 also facilitates this movement / movement (up or down) of the radial spring plate 174.

[00197] In one embodiment, the springs 178 are configured to push the grinding head 30 away from the radial spring plate 174 toward the stops at the end of the radial rails 176. In one embodiment, the stops at the ends of the radial rails 176 are designed and positioned to interact with the portions grinding head 30 to aid radial movement of grinding head 30. When grinding head 30 comes into contact with the weld, radial motor 168 continues to drive radial spring plate 174 closer to the surfaces of pipe 12, 14. This compresses the springs 178 and increases the force of the grinding heads 30 per weld. As the grinding head 30 removes the weld metal, the springs 178 continue to push the grinding head 30 towards the weld with minimal diminution of the impact force.

[00198] In one embodiment, the grinding device 30 is axially movable to align with the weld. In one embodiment of the invention, the grinder 30 is axially movable when grinding to span the full width of the weld and create a smooth, notch-free surface.

[00199] FIG. 33 illustrates an axial positioning system 152 of the grinder 30. In one embodiment, the positioning system 152 comprises a linear actuator that is provided with a motor 156. In one embodiment, the grinder 30 is axially moved by rotation of a nut incorporated in the axial motor 156. In other words, the actuator is configured with a fixed lead screw 163. In one embodiment, the lead screw 163 is rigidly connected to the frame of the grinder carriage (as detailed below).

[00200] In one embodiment, the positioning system 152 comprises a housing member 165 configured to move linearly (L-L) as its integral hollow shaft motor 156 rotates a nut. In other words, the lead screw 163 is secured and the nut is rotated by the motor 156 (i.e., built into the body 165) so that the body 165 moves in a straight line (along the L-L axis). In one embodiment, the body 165 is rigidly coupled to the motor 156. Since the grinder 30 is connected to the body 165, the grinder 30 is linearly movable (L-L) with the body 165.

[00201] In one embodiment of the invention, the system 10 may include one or more grinding devices 30, each of which is configured to perform different operations at different times during the welding procedure. In other words, the system 10 may comprise one type of grinder that is configured to grind the start of a weld. For example, a rigid wheel 151, as illustrated in FIG. 34, can be used to grind the start of a weld. System 10 may include another type of grinding device that is configured to grind and clean the profile after welding. For example, a shim disc 153 as illustrated in FIG. 35 can be used to grind and debur a profile after welding. In yet another embodiment of the invention, the system 10 may have a flap wheel, as illustrated in FIG. 36, configured to grind portions of a welded joint.

[00202] In one embodiment of the invention, at least a portion of the weld joint 36 on which the grinding operation is performed by the grinder 30 comprises a weld start position of the weld joint 36. In one embodiment of the invention, the start of the weld joint is ground before being welded. torch 20 performs a welding pass. Thus, the grinding operation is performed while the welding torch 20 is performing the welding operation. In one embodiment, the grinder 30 is movable along the length of the weld. In one embodiment of the invention, the grinder 30 is configured to move along the weld during grinding to create a small slope in the initial weld position.

[00203] In one embodiment of the invention, the grinding device is configured to grind at least the initial weld position of the weld. In one embodiment of the invention, one or more processors are configured to cause the grinding device to grind a circumferential length between 2 degrees and 20 degrees. In one embodiment of the invention, the grinding device is configured to grind from the end (ie, 0 degrees) to 20 degrees of the weld. In one embodiment of the invention, this value can be between 5 and 10 degrees from the end of the weld.

[00204] In another embodiment of the invention, at least a portion of the welded joint 36 on which the grinding operation is performed by the grinding device 30 comprises a weld end position of the welded joint 36. In another embodiment, at least a portion of the weld joint 36, which is grinded by grinder 30 comprises the entire circumference of the weld 36. In one embodiment, the weld line of the welding torch 20 generally extends from the start position to the end (or end) position of the weld.

[00205] In one embodiment of the invention, the grinding device 30 is configured to grind at least the end position of the weld joint. In one embodiment of the invention, one or more processors are configured to cause the grinding device to grind a circumferential length between 2 degrees and 20 degrees. In one embodiment of the invention, the grinder 30 is configured to grind from the end (ie, 0 degrees) to 20 degrees of the weld. In one embodiment of the invention, this value can be between 5 and 10 degrees from the end of the weld.

[00206] In one embodiment of the invention, the grinding device 30 is configured to grind the overlap region between the start portion and the end portion of the weld.

[00207] In one embodiment, grinder 30 is configured to grind the entire circumference of one or a plurality of layers of material to be welded (e.g., weld bead layers, including but not limited to root weld bead layer, hot bead layer, weld bead layers). filling and facing pass) before the subsequent layer of weldable material forms on top of this layer of weldable material. In another embodiment of the invention, a subsequent layer of material to be welded can be added without grinding the entire circumference of the previous layer of material to be welded. In other words, in one embodiment of the invention, the welding torch is configured to form a first layer of material to be welded, and the grinder 30 is configured to grind the entire circumference of the first layer of material to be welded, and then the welding torch is configured to create a second layer of material to be welded on top of the ground first layer of the material to be welded.

[00208] In one embodiment, the grinder 30 is movable independently of the welding torch 20 to grind at least a portion of the weld 36. In one embodiment, the grinder 30 is configured to grind at least a portion of the weld 36, while the welding torch 20 forms at least another portion of the weld joint 36.

[00209] In one embodiment, the grinder 30 is mounted separately from the welding torch 20.

[00210] In one embodiment of the invention, the grinding device 30 includes a reference detector 22 (eg, a laser) configured to measure the profile of the weld seam prior to starting the grinding operation. In one embodiment of the invention, the test detector 22 is also configured to monitor the grinding results to verify that the final profile is acceptable.

[00211] In one embodiment, the grinder 30 is configured to contain an inspection chamber 182 that is mounted for inspection along the weld to inspect the weld bead profile. In one embodiment of the invention, images from inspection camera 182 can be transmitted to an operator / user for visual inspection. In one embodiment of the invention, images from inspection camera 182 may be processed by one or more processors 26 to determine the weld profile.

[00212] In one embodiment of the invention, the position of the grinder 30 is determined based on the profile of the weld joint 36 between pipes 12 and 14. In one embodiment of the invention, one or more processors are configured to determine the characteristics of the profile of the weld and, based on the obtained characteristics the weld profile, sending signals to the grinder 30 to move to a specific location based on the characteristics of the weld profile at that location.

[00213] In one embodiment, one or more processors 26 of system 10 are configured to control one or more grinder motors 156, 168 to control the position and / or orientation of grinder 30.

[00214] In one embodiment of the invention, the grinding device 30 is configured to be mounted in a fixed position. If the weld run starts in one position around the periphery of the weld, the grinder 30 is mounted in one position, not on the path (weld).

[00215] In one embodiment, the grinder 30 and all of the sensors and motors that are part of the grinder 30 are powered using a wired connection. In one embodiment, the grinder 30 and all of the sensors and motors that are part of the grinder 30 are battery powered to eliminate the disadvantages of welding torch cables. In one embodiment of the invention, the grinder 30 and all of the sensors and motors that are part of the grinder 30 are configured to be controlled using wired connections. In one embodiment, the grinder 30 and all sensors and motors that move with the grinder 30 are wirelessly controlled.

[00216] In one embodiment of the invention, the grinding device 30 is configured to use a grinding element or wheel 150 of a circular shape configured to grind at least a portion of the weld joint 36. As noted above, in one embodiment of the invention, the grinding device element may be a hard grinding wheel 151 as illustrated in FIG. 34, a wire brush 153 as illustrated in FIG. 35, or a flap wheel 155 as illustrated in FIG. 36.

[00217] In one embodiment, the grinder module 140 is configured to be mounted on a track 88. In one embodiment, the grinder module 140 is configured to be mounted on the same track 88 (as illustrated in FIG. 18-20) as welding module 126.

[00218] In one embodiment, the grinding unit 140 is movable independently of the welding unit 126. In one embodiment, the grinding unit 140 is configured to have its own travel powers so that the grinding unit 140 can move independently of the welding unit. module 126. In one embodiment, the path-mounted grinder can move to a point on the periphery of the weld. In one embodiment of the invention, one or more processors 26 are configured to prevent collision between the welding torch module and the grinder module. In one embodiment of the invention, one or more processors 26 are configured to control the movement of the welding torch module and the grinding module to keep them spaced apart from each other, on the same path element.

[00219] In one embodiment, the grinding module 140 may be mounted on a circular rail of the U-channel 110. In one embodiment, the grinding module 140 includes its own travel motor 138 (as illustrated in FIG. 31). In one embodiment, the travel motor 138 is configured to rotate / drive the grinding unit 140 circumferentially (360 degrees rotation about the pipe axis YY in FIG. 30) along the weld 36. In one embodiment, the travel motor 138 is configured capable of driving the grinding unit 140 at least 360 degrees relative to the pipe axis YY so as to perform rotationally continuous grinding.

[00220] In one embodiment, the grinding module 140 includes a grinder carriage frame that has a generally U-shaped bore configuration. In one embodiment of the invention, a portion of the carriage frame may include guide rollers. In one embodiment, the guide path member 88 is configured to engage guide rollers to aid in positioning the grinding unit 140. In the illustrated embodiment, the guide rollers may include upper and lower guide rollers. In one embodiment, the travel motor 138 is configured (eg, mechanically coupled) to rotate the transmission. In one embodiment, the movement motor 138 is configured to rotate either clockwise or counterclockwise, resulting in either clockwise or counterclockwise movement of the grinding unit / carriage frame. In one embodiment of the invention, the propel motor 138 is configured to be coupled, for example, via a gear train, to a guide rail. In other words, the motor can include an output shaft and the gear train is connected to the output shaft of the motor. By connecting the motor to the guide rail by means of a gear train, when the motor is running, the guide rail moves. In one embodiment of the invention, the guide rail element is configured to guide the upper and lower guide rollers. In one embodiment of the invention, the upper and lower guide rollers are offset relative to the guide member such that the upper and lower guide rollers are configured to move the grinding module 140 around the circumference of the guide path member 88. In one embodiment, each grinding module 140 is configured with the ability to position independently anywhere around the circumference of the pipe and move at any speed within the scope. In one embodiment of the invention, the grinding device 30, the grinding module 140, and / or the grinding operation may be optional in the system 10.

[00221] As illustrated in FIGS. 37-39, the system 10 for welding two pipes 12, 14 also includes a casing 200 configured to enclose a welding torch 20 (as illustrated in FIGS. 21-27), first and second pipe clamps 16 , 18 (as illustrated in FIGS. 21 and 24) and the interface region 38 between pipes 12, 14. In one embodiment of the invention, the housing 200 is also configured to enclose a test detector 22. In one embodiment, the housing 200 is also configured with the ability to protect the welding process from wind, dust, plant residues and precipitation.

[00222] In one embodiment of the invention, the housing 200 has a frame 202 that contains a number of frame members 204 that are connected to each other, for example, to form a frame. The frame primarily provides the structural integrity and shape of the casing 200. In one embodiment, the frame 202 of the casing 200 is configured to support the system 10 when the system is not being raised. In one embodiment, the shroud 200 is designed and sized to enclose a welding torch 20 (as illustrated in FIGS. 21-27), first and second pipe clamps 16, 18 (as illustrated in FIGS. 21 and 24), and regions 3-8 the interface between the pipes 12, 14 completely within itself.

[00223] In one embodiment of the invention, as illustrated in FIG. 39, the housing 200 comprises horizontally oriented bottom frame members 204hf and horizontally oriented top frame corner members 204hrc. Frame members 204hf and 204hrc are connected to each other using vertically oriented corner frame members 204vc. On each side of the casing 200 (i.e., looking at the front of the casing 200 in FIG. 38), all elements 204hf, 204hrc, and 204vc are connected to each other to form a rectangular or square side frame. In one embodiment, angularly oriented frame reinforcements 204ar may connect portions of frame members 204vc and 204hf to further reinforce the side frame of shroud 200.

[00224] In one embodiment, the casing 200 also includes a rectangular or square top frame formed by four horizontally oriented top frame corner members 204hrc connected to each other. In one embodiment of the invention, the upper frame of the casing 200 is further reinforced with horizontally oriented frame reinforcement members 204hr. Four horizontally oriented frame reinforcements 204hr are illustrated in an illustrative embodiment of FIG. 39. In one embodiment, the casing 200 also includes a top panel 206 (as illustrated in FIG. 37) that is connected to four horizontally oriented top frame corner members 204hrc. In one embodiment, four horizontally oriented frame reinforcements 204hr are coupled to four horizontally oriented top frame corners 204hrc and a top bezel 206 after the top bezel 206 is coupled to four horizontally oriented top frame corners 204hrc.

[00225] Horizontally oriented upper frame corners 204hrc are coupled to two corresponding vertically oriented frame corners 204vc to form front and rear frames of a rectangular / square shape of casing 200. In one embodiment, horizontally oriented intermediate frame members 204ih are designed and positioned to connect respective vertically oriented frame corner members 204vc to further reinforce respective front and rear frame frames of the casing 200. In one embodiment, angularly oriented frame reinforcing members 204ar are designed and positioned to connect corresponding vertically oriented frame corner members 204vc and corresponding horizontally oriented frame members 204ih frames for further reinforcing the respective front and rear frames of the cowl 200.

[00226] In one embodiment, all frame members 204 (including vertically, horizontally, or angled frame members) have the same cross-sectional shape. In another embodiment, frame members 204 may have different cross-sectional shapes. In other embodiments, the number, orientation, and positioning of frame members 204 may vary.

[00227] In one embodiment, the housing 200 includes closed nodes 208l, 208r that are pivotally coupled to the frame 202. In one embodiment, the closed nodes 208l, 208r are pivotally coupled to horizontally oriented upper frame corner members 204hrc 202. In one embodiment of the invention, each of the closed nodes 208l or 208r is designed and positioned to provide an upper closed portion 210, side closed portions 212, 214, 216, a lower closed portion 218, and front and rear closed portions 220 (illustrated in the figures only the front enclosures, and the rear enclosures are mirror images of the front enclosures) of the casing 200.

[00228] In one embodiment, the closed nodes 208l, 208r are movable between a closed position as illustrated in FIG. 37 and an open position as illustrated in FIGS. 38 and 39.

[00229] Each enclosed assembly 208l or 208r is designed and positioned to contain a frame 224 with a series of frame members 226. The row of frame members 226 may include vertically, horizontally and obliquely oriented frame members that are designed and positioned to support the upper enclosed portion 210. lateral enclosed portions 212, 214, 216, lower enclosed portion 218, and front and rear enclosed portions 220. In one embodiment, frame members 226 may have uniformly shaped cross-sections. In one embodiment of the invention, frame members 226 may have different cross-sectional shapes. In one embodiment, the number, orientation, and positioning of frame members 226 may vary.

[00230] In one embodiment, the front enclosed portions 220 (220l and 220r) of the enclosed assemblies 208l, 208r collectively form the front cover of the casing 200. Similarly, the rear enclosed portions of the enclosed assemblies jointly form the rear cover of the casing 200.

[00231] Each of the front closed portions 220 (220l and 220r) includes a half or semicircular opening 222 that, when the front closed portions 220 (220l and 220r) are in close contact (i.e., when the closed nodes 208l, 208r move to the closed position of FIG. 37) form a full bore (as illustrated in FIG. 37) for receiving a pipe therein. Likewise, each of the closed rear portions comprises a half or semicircular opening which, when the closed rear portions are in close contact (i.e., when the closed nodes 208l, 208r move to the closed position of FIG. 37) form a fully open housing opening. there are pipes in it.

[00232] In one embodiment, the top of the casing 220 includes a fixed top formed by horizontally oriented top frame corner members 204hrc and a top panel 206 and a movable top. In one embodiment, the movable upper portion comprises upper closed portions 210 of closed nodes 208l or 208r.

[00233] In one embodiment, the top of the casing 220 may be designed and positioned to support all cables and hoses that are connected to the components of the first and second pipe clamps 16, 18, guide path element 88, burner module 126, control module ( including the reference detector 22 and components configured to move the reference detector 22 along the path element), a grinding unit (including the grinding device 30 and components configured to move the reference detector 22 along the path element 88), and the like.

[00234] In one embodiment, the top of the casing 200 may include a number of lift points 228. For example, four lift corner points 228 are located on and coupled to horizontally oriented upper frame corner members 204hrc. In one embodiment, four additional lift points 228c are centered on stationary tops (defined by horizontally oriented frame top corners 204hrc and top panel 206) of housing 200. In one embodiment, each of the centrally located lift points 228c is connected with two of the horizontally oriented frame reinforcing elements 204hr by means of the connecting element 230.

[00235] In one embodiment, the shroud 200 can be lifted by the lifting points 228 from place to place to make the movable shroud ready. In one embodiment, shroud 200 can be lifted and moved from one location to another using an overhead crane or similar hoisting device and connecting cables to lifting points 228. In one embodiment of the invention, the shroud 200 can be raised to be placed on the pipe or removed from the pipe.

[00236] As illustrated in FIGS. 1 and 2, the upper stationary / non-rotating portions 4 4 of the first yoke 16 and the second yoke 18 are connected to each other using guide rods 40 (40a, 40b). In one embodiment of the invention, a portion of the casing 200 is designed and positioned to engage with the guide rod 40 (40a, 40b). For example, as illustrated in FIGS. 38 and 39A, the connecting portion 230e of the portion 230 is designed and positioned to extend downward (in the direction of arrow A) to engage with the guide rods 40 (40a, 40b). This configuration is adapted to rigidly connect the casing 200 to the first yoke 16 and the second yoke 18.

[00237] In other words, the frame 202 of the casing 200 is configured to attach to the ends of the two non-pivoting guide rods 40 (40a, 40b). In one embodiment of the invention, when the first clamp 16 and the second clamp 18 cooperate with the pipes 12 and 14, the first clamp 16 and the second clamp 18 support the casing 200. When the first clamp 16 and the second clamp 18 are not positioned around the pipes 12 and 14, the frame 202 the casing 200 is configured to support the first yoke 16 and the second yoke 18.

[00238] In one embodiment, the enclosure 200 may include an inspection door 232 configured to be opened without detaching the enclosure 200 from pipes 12 and 14. In one embodiment, each inspection door 232 is located on a side enclosed portion 214 of the closed assemblies 208l or 208r. In one embodiment, door 232 may include a window 234 so that the interior of enclosure 200 can be viewed from the outside of system 10. In one embodiment, door 232 is openable using handles 289 thereon to provide service access or inspection. In one embodiment, the shroud 200 may include a guide at each end, the guide being configured to align the shroud 200 with the pipes.

[00239] In one embodiment, the welding torch 20 is a non-rotatable pipe welder. In one embodiment of the invention, a non-rotatable pipe joint welder is configured to be mechanically rotated 360 ° (or 180 degrees in a double welding operation) around stationary pipes 12 and 14 in a continuous process. In one embodiment, the present patent application provides an apparatus 20 for welding non-rotatable pipe joints to an integrated casing 200. In one embodiment, the casing 200 comprises a stationary internal structure or frame such that the casing 200 is surface mountable (e.g. , floor or ground) without pipes 12, 14 located in the casing 200.

[00240] In one embodiment of the invention, as illustrated in FIGS. 55-59, the ends of the casing 200 may have U-shaped rails 502 to keep the system centered over the pipes 12, 14 when the casing 200 is lowered or raised. As illustrated in FIGS. 55-59, the system of the present patent application also includes rails 502 to aid in positioning the casing 200 on the pipes 12, 14. The rails 502 are integrated with frame members 204 of the casing 200 and are chamfered at the bottom edge so that the rails 502 tend to push the pipes 12, 14 towards the center of the system as the system is lowered onto the pipes 12, 14. As illustrated in FIG. 56, when the pipes 12, 14 are near the center position, the guides 502 move from an angled position to a vertical position. As illustrated in FIG. 57, when the tubes 12, 14 are centered, the vertical sides of the guides 502 are held in place.

[00241] As illustrated in FIGS. 40 and 41, in one embodiment of the invention, the system 10 may include a local or weld shroud 300 configured to be positioned immediately around the welding torch 20. In one embodiment, the system 10 may also include a shroud a welding torch module 300 configured to be positioned around the welding module 126.

[00242] In one embodiment of the invention, the shroud of the welding unit 300 may be formed from sheet metal. In one embodiment, the shroud of the welding module 300 may have an opening 302 for a welding torch 20. In one embodiment, the opening 302 may be surrounded by a flexible member 304 configured to compress and expand based on the depth of the weld. For example, flexible member 304 may include a corrugated tube.

[00243] In one embodiment of the invention, the corrugated tube 304 is designed and positioned to stretch outside the welding torch 20 when the system 10 is not welding. As the burner 20 moves towards the tube 12, 14, the support 306 of the corrugated tube 304 is configured to contact the tube 12, 14 and stop the movement. As the welding torch 20 continues to move, the corrugated tube 304 is configured to compress until the welding torch 20 reaches the desired distance from the tube 12, 14 for welding. In one embodiment, the support 306 of the corrugated tube 304 may have a roller to keep it from sliding through the tube 12, 14. In one embodiment, the support 306 of the corrugated tube 304 may have a flexible stepped bushing to cover small gaps between the corrugated tube support 306. 304 and pipe 12, 14.

[00244] In one embodiment of the invention, both housings 200 and 300 may be used simultaneously. In another embodiment, only shroud 200 is used. In yet another embodiment, only shroud 300 is used. In another embodiment, if welding is performed in a building or other form of environmental protection exists, the system may be configured to operate without any built-in enclosures 200 and 300.

[00245] In one embodiment of the invention, the torch module includes a limit switch 192. In one embodiment, the system includes securing the triggers 194 to the U-shaped element of the guide path 88. This configuration provides a sufficient way to ensure that the welding torch is located in a safe position prior to the opening or closing of the path member 88. As illustrated in FIGS. 50-52, the carriage 134 may have a limit switch housing 196 attached thereto with one or more switches 192 mounted on the limit switch housing 196. The guide path element 88 has rings of evenly spaced holes 198 so that one or more of the triggers 194 can be fixed in any position on the path guide element 88. The triggers 194 are configured to activate one or more limit switches 192 when the carriage 134 is in the position, in which the limit switch housing 196 is in the vicinity of the flip-flops 194. Thus, the flip-flops 194 are configured to indicate when the carriage 134 is in certain positions, as would be appreciated by one of ordinary skill in the art. Triggers 194 are configured to be used singly or in combination to determine positions such as start, work, bottom, side, weld start, weld end, safe, or any other position as needed.

[00246] In one embodiment, a deployment system may be used to deploy system 10. Small variants of system 10 can be transported in a powerful pickup truck such as those used as tow trucks (as illustrated in FIG. 42). Larger versions of system 10 can be transported in a towed vehicle (as illustrated in FIG. 43). In one embodiment of the invention, the system 10 may be installed in a fixed position, such as a bobbin base or an offshore pipe-laying vessel. In such embodiments, the system 10 remains in place while the pipeline travels through it. In another embodiment, the system 10 can be lifted with a small crane (as illustrated in FIG. 44). In yet another embodiment of the invention, the system 10 can be lifted by a multi-axis robotic positioning device (as illustrated in FIG. 45).

[00247] In one embodiment, system 10 may be configured to locate a pipe using a surveillance camera, ultrasonic remote sensors, a laser camera, or some combination thereof. In one embodiment of the invention, the system 10 is configured to provide high travel speeds when there is a greater distance to the pipe (greater than one foot (0.305 m)), and to restrict travel to low speed when there is a small distance to the pipe (less than one foot (0.305 m)). In one embodiment of the invention, the sensors may be attached to a casing, yokes, a track guide, a lifting device, and / or a vehicle. In one embodiment of the invention, the sensors can be remotely mounted, detect the location of predetermined points of the system 10 and pipe, and report the measurements to the deployment system via wireless or wired communication.

[00248] In one embodiment of the invention, the weld / bead may be inspected. In one embodiment of the invention, after each welding pass has been completed, a test detector or laser 22 used to guide the welding torch 20 may be used to measure the outer profile of the completed weld. In one embodiment of the invention, after each weld pass, a test chamber or two-dimensional chamber 182 may be used to inspect the outer profile of the completed weld. In one embodiment of the invention, a test or two-dimensional camera 182 may be mounted in conjunction with a test detector or laser 22.

[00249] In one embodiment of the invention, after the last weld pass, the eddy current transmitter and receiver are configured to check or measure the quality of the weld. In one embodiment of the invention, the eddy current system is configured to be attached to any of the moving modules (eg, welding or grinding modules). In one embodiment of the invention, the eddy current system is configured to be mounted at a location where the monitor detector or laser of the moving modules (eg, welding or grinding modules) is typically located. In yet another embodiment of the invention, the eddy current system is configured to be mounted in a location adjacent to the monitor detector or laser of the moving modules (eg, welding or grinding modules).

[00250] In one embodiment of the invention, the system 10 includes a control detector (laser and / or camera) for welding control. In another embodiment of the invention, system 10 comprises a vortex flow system for welding control. In yet another embodiment of the invention, the system 10 comprises both a vortex flow system and a control detector (laser and / or camera) for welding control.

[00251] Surface defects can generally be detected if the defects are on the same side where inspection is performed and surface defects cannot be detected if these defects are on the opposite side of the inspection. For example, external inspection of a pipe cannot detect an internal defect, unless the pipe is thin (e.g., less than about 1/8 '') or when the pipe is made of a non-ferromagnetic material. Non-ferromagnetic materials include stainless steel (eg 300 series) and other corrosion resistant alloys.

[00252] In one embodiment of the invention, an eddy current system and a monitor detector (laser and / or camera) are used together as additional monitoring methods. For example, in one embodiment of the invention, the eddy current system is configured to detect or verify characteristics of a welded joint that cannot be easily detected or verified by a reference detector or laser. For example, a control detector (laser and / or camera) is configured to monitor the shape of a weld, while an eddy current system is configured to monitor flaws / defects in welds, including, in addition, copper flaw / defect, burn-through flaw / defect. , a flaw / defect of a skip (including an LCP / IWM skip or a Pore / IWM skip), a flaw / defect of internal lack of fusion (or non-fusion), a defect / defect of the porosity of the cluster, a defect / defect of copper / CP, etc.

[00253] In one embodiment of the invention, after welding is complete, the system 10 is configured to inspect the weld with an ultrasonic machine. In one embodiment of the invention, upon completion of welding, the system 10 is configured to inspect the weld with an X-ray unit.

[00254] In one embodiment of the invention, two pipe clamps of system 10 are configured to transfer a pipe alignment load from one pipe to another pipe through a joint between the pipe clamps. Otherwise, only one clamp can be used to support all equipment (eg trajectory and various modules). In one embodiment of the invention, after the first one or two welding passes, the second movable yoke 18 is not required. The alignment of the two pipes 12, 14 does not change and the weld is strong enough to support its own weight. In one implementation, at this point, the system 10 with two yokes 16, 18 is moved to start the next connection. In one embodiment of the invention, a simpler system with only one yoke can be used to complete the weld on an existing joint. This single clamp system has better weld access and less space constraints on tools that work on the weld. Since this single clamp system uses a final weld pass, it contains inspection tools installed on it to inspect the final weld created by the final weld pass procedure.

[00255] In one embodiment of the invention, as described above, the system 10 uses two clamping devices at least during the pipe retention procedure (including pipe alignment and shaping procedures) and during the first one or two welding passes. Thereafter, the alignment of the two pipes 12, 14 does not change. At the same time, only one clamp can be used to complete the weld on an existing joint.

[00256] In one embodiment of the invention, the system 10 is configured to test a formed weld or joint using a test detector. In other words, one or more processors are configured to interact with the monitor detector 22 and / or the test chamber 182 to determine the profile of the interface region and / or weld after the weld procedure to obtain post weld data. In one embodiment of the invention, one or more processors are configured to invoke, based on the post weld profile data, a grinding procedure to be performed (with a grinder) on the resulting weld joint.

[00257] In one embodiment of the invention, one or more processors are configured to interact with a monitor detector 22 and / or a test chamber 182 to determine the profile of the interface and / or weld after the grinding procedure to obtain post-grinding data. The data after grinding can be analyzed either manually or using one or more processors to ensure that excess weldments from the surface of the weld joint have been removed during the grinding procedure and / or defects have been ground in the weld joint. In one embodiment of the invention, one or more processors are configured to invoke, based on the profile data after grinding, a re-weld procedure or another weld procedure to be performed on the defective area (after the grinding procedure).

[00258] In one embodiment of the invention, one or more processors are configured to control the grinder to grind weld defects based on results from a reference detector. In one embodiment of the invention, one or more processors are configured to control the welding torch to re-weld the rejected area based on the results from the test detector.

[00259] In another embodiment, one or more processors are configured to control the grinder to grind weld defects based on instructions sent from the remote system to one or more processors based on the monitoring detector results sent from the system to the remote system. In one embodiment of the invention, one or more processors are configured to control the welding torch to re-weld the defective area based on instructions from the remote system to one or more processors based on the monitoring detector results from the system to the remote system.

[00260] In one embodiment of the invention, one or more processors are configured to trigger, based on the post weld profile data, a different welding procedure to be performed on the pipe interface region (prior to the grinding procedure).

[00261] In one embodiment, the grinder may be a 60 volt brushless grinder. In one embodiment of the invention, the grinder may be a 60-volt cordless grinder. In one embodiment of the invention, a 120 volt brushless sander. In one embodiment of the invention, a 120-volt cordless sander. In one embodiment of the invention, the battery can be a lithium-ion battery.

[00262] In one embodiment, the guide path element 88 may be located around and in line with the interface 38 between pipes 12, 14 and / or weld 36.

[00263] In one embodiment, the path member 88 may be configured to be positioned between the two yokes 16 and 18. In one embodiment, the welding torch 20 is configured to be mounted on the path member 88 between the two clips 16 and 18 such that the welding torch 20 is aligned with the interface between the pipes 12, 14 and / or the weld 36.

[00264] In one embodiment of the invention, one or more processors are configured to control the grinding device to wait for a predetermined period of time after the welding procedure has completed in place and before the grinding procedure can begin at that location.

[00265] In another embodiment of the invention, the grinder 30 and the welding torch are spaced a sufficient distance from each other on the guide path element to allow cooling of the weld / joint formed by the welding torch at the location before grinding at that location with the grinder. ... In one embodiment of the invention, the position between the welding torch and the grinder is controlled by one or more processors.

[00266] In one embodiment, there is no additional wait time (ie, a predetermined amount of time) required in excess of the time required to move the welding torch from its current position so that the grinder can move and grind in that position. In one embodiment of the invention, the grinding procedure begins 10 seconds after the start of the welding procedure.

[00267] In one embodiment, the grinder 30 is radially positioned based on a predetermined pressure (grinder to weld). In one embodiment of the invention, one or more processors may be configured to detect pressure. In another embodiment of the invention, one or more processors may be configured to determine pressure / force by relative positioning of parts / components of the telescopic grinder and spring rate. In one embodiment of the invention, one or more processors can determine (grinder for welding) pressure force / load based on inspection of the weld. In another embodiment of the invention, the axial pressure of the grinding device is constant / standard.

[00268] In one embodiment of the invention, one or more processors are configured to receive information from tilt sensors, motor position sensors, and / or limit switches. In one embodiment of the invention, one or more processors based on this information are configured to locate all of the movable modules (including the welding module, the control module, and the grinding module) on the guide path element at any given time.

[00269] In one embodiment of the invention, when the yokes and / or the guide path element are moved to their respective open positions, one or more processors are configured to control one or more of the movable modules (including the welding module, the control module and the grinding module ) in such a way that the movable modules are located away from the rotary parts and / or the hinges of the clamps and / or the element of the guiding path.

[00270] In one embodiment of the invention, system 10 may comprise a grinding device waste management system. For example, in one embodiment of the invention, the grinding device waste management system may include a shroud that is configured to enclose the grinding device in such a way as to retain dust and debris generated during the grinding procedure. In one embodiment of the invention, the enclosure may include a vacuum port such that the vacuum system can be used to suck dust and debris from the enclosure. In one embodiment of the invention, the grinding device waste management system may comprise a vacuum system. In one embodiment of the invention, the vacuum system is configured to be fully positioned on the grinding module.

[00271] In one embodiment, the welding module of this patent application may comprise a plurality of welding torches. For example, in one embodiment of the invention, the welding module may comprise two welding torches or a dual welding torch that are configured to superimpose two passes at the same time.

[00272] In one embodiment of the invention, the grinding procedure can be performed using a grinding device located inside the pipes. In other words, the grinding procedure can be performed with an internal grinder located inside the pipe, while the welding is done outside the pipes. In one embodiment of the invention, the sander can be supported by sander holders placed inside the pipes.

[00273] Although the present patent application has been described in detail for purposes of illustration, it should be understood that such details are provided solely for this purpose, and that this patent application is not limited to the described embodiments of the invention, but, on the contrary, is intended to cover modifications and equivalent devices that are within the spirit and scope of the appended claims. In addition, it should be understood that the present patent application contemplates that, to the extent possible, one or more features of any embodiment of the invention may be combined with one or more features of any other embodiment of the invention.

Claims (65)

1. A system for welding two pipes, containing: - welding device, including a first pipe clamp adapted to engage the outer surface of the first pipe, which allows the first pipe clamp to be fixed relative to the first pipe, a second pipe clamp adapted to engage the outer surface of the second pipe, which allows the second pipe clamp to be fixed relative to the second pipe, a welding torch adapted to form a welded joint between the pipes in the area of the interface between the pipes, a reference detector configured to emit a reference radiation beam, and a motor, functionally associated with a control detector for directing a control radiation beam along a welded joint between the pipes, - one or more processors functionally associated with the test detector and configured to cause the test detector to scan the weld between the first pipe and the second pipe, which are engaged with the first pipe clamp and the second pipe clamp, respectively, to determine the profile of the welded joint between the pipes , and - a grinding system functionally connected to the welding device and comprising a grinding device configured to grind at least a part of the welded joint between the pipes based on the determined profile of the welded joint between the pipes. 2. The system according to claim 1, characterized in that the grinding device is made with the possibility of grinding at least the initial position of the welded joint, and wherein one or more processors are made with the possibility of bringing the grinding device to grinding the circumferential length from 2 degrees to 20 degrees ... 3. The system of claim. 1, characterized in that the grinding device is configured to grind at least the end position of the welded joint, wherein one or more processors are configured to bring the grinding device to grinding the circumferential length from 2 degrees to 20 degrees. 4. The system of claim. 1, characterized in that the grinding device is configured to grind the area of overlap between the initial part and the final part of the welded joint. 5. The system according to claim 1, characterized in that the welding torch is configured to form the first layer of the material to be welded, and the grinding device is configured to grind the entire circumference of the first layer of the material to be welded, while the welding torch is configured to form the second layer of the material to be welded over polished first layer of the material to be welded. 6. The system of claim. 1, characterized in that the grinding device is movable independently of the welding torch for grinding at least part of the weld joint. 7. The system of claim. 1, characterized in that the monitoring detector is located between the first pipe clamp and the second pipe clamp. 8. The system of claim. 1, characterized in that the grinding device is configured to set its position based on the profile of the welded joint between the pipes. 9. The system according to claim. 1, characterized in that the control detector comprises an emitter emitting a control radiation beam and a receiver for receiving control signals of the reflected radiation. 10. The system of claim 1, further comprising one or more welding torch motors, wherein the one or more processors are configured to control one or more welding torch motors to control the position and orientation of the welding torch. 11. The system of claim 1, further comprising one or more grinder motors, wherein the one or more processors are configured to control one or more grinder motors to control position and orientation of the grinder. 12. The system of claim. 1, characterized in that one of the first pipe clip and the second pipe clip is movable with respect to the other of the first pipe clip and the second pipe clip to control the axial clearance between the pipes. 13. The system of claim. 1, characterized in that the welding torch is configured to be mounted on a guide path element, while the guide path element is located around the first pipe clamp or the second pipe clamp so that the welding torch is located between the first pipe clamp and the second pipe clamp in line with the interface area between the pipes. 14. The system of claim. 1, characterized in that the welding torch is configured to be mounted on a guiding path element, wherein the guiding path element is located around the interface between the pipes and on the same line with it. 15. The system of claim. 14, characterized in that the element of the guiding path is located between the first pipe clamp and the second pipe clamp. 16. The system of claim 1, further comprising a guiding path element on which a welding torch and a grinding device are movably mounted, the grinding device being movable independently of the welding torch. 17. The system of claim 1, wherein the first pipe clamp and the second pipe clamp comprise a wedge clamp configuration. 18. The system of claim 1, further comprising an eddy current system adapted to control the welded joint. 19. The system of claim. 1, characterized in that the welding torch is operatively connected to the welding torch motor, which is functionally associated with one or more processors to control the movement of the welding torch along the welding joint during the welding operation. 20. System for welding two pipes, containing: - a first pipe clamp adapted to engage with the outer surface of the first pipe, which allows the first pipe clamp to be fixed with respect to the first pipe, - a second pipe clamp adapted to engage with the outer surface of the second pipe, which allows the second pipe clamp to be fixed with respect to the second pipe, - a welding torch made with the possibility of forming a welded joint between the pipes in the area of the interface between the pipes, - a control detector designed to emit a control radiation beam, - a motor, functionally connected to the control detector for directing the control radiation beam along the welded joint between the pipes, - one or more processors functionally associated with a test detector for determining the profile of the welded joint between pipes, and - a grinding device configured to grind at least a portion of a welded joint between pipes based on the profile of the welded joint between the pipes, wherein the grinding device is configured to grind at least a part of the welded joint simultaneously with the formation of at least another part of the welded joint with a welding torch. 21. A system for welding two pipes, comprising: - a pipe clamp assembly comprising a first pipe clamp and a second pipe clamp, wherein the first pipe clamp is configured to engage with the outer surface of the first pipe to secure the first pipe clamp with respect to the first pipe, and the second pipe clamp is configured to engage with the outer surface a second pipe for securing the second pipe clamp with respect to the second pipe, - an external welding torch functionally connected to the pipe clamp assembly and configured to form a welded joint between the first and second pipes in the area of the interface between the first and second pipes, and - a casing functionally connected to the pipe clamp assembly and configured to enclose the external welding torch and the interface area between the first and second pipes, wherein the casing includes a top wall and peripheral side walls extending from the top wall, the top wall and side walls defining an interior space for enclosing the outer welding torch and the interface region between the first and second tubes. 22. The system of claim. 21, characterized in that the casing is configured to enclose the first and second pipe clamps. 23. The system according to claim 22, characterized in that the first pipe clamp comprises a first non-rotating part, and the second pipe clamp contains a second non-rotating part, and the first non-rotating part and the second non-rotating part are made and placed with the possibility of being connected to each other using guide element. 24. The system of claim. 22, characterized in that the casing comprises a frame, and part of the frame is made and placed with the possibility of being connected to the guide element. 25. The system of claim 24, wherein the casing further comprises locking assemblies that are pivotally connected to the frame, each locking assembly comprising an access door. 26. A system for welding two pipes, comprising: - a first pipe clamp adapted to engage with the outer surface of the first pipe, which allows the first pipe clamp to be fixed with respect to the first pipe, - a second pipe clamp adapted to engage with the outer surface of the second pipe, which allows the second pipe clamp to be fixed with respect to the second pipe, wherein the first pipe clamp and the second pipe clamp are configured to hold the first pipe and the second pipe in a fixed position relative to each other with an end-to-end arrangement, forming an interface region between the pipes ready for welding, - an external welding torch configured to form a weld between the first and second pipes in the region of the interface between the first and second pipes when the first and second pipe clamps are engaged with the outer surfaces of the first and second pipes and when they are fixed, respectively, relative to the first and second pipes, - a reference detector configured to emit a reference radiation beam, and - one or more processors, functionally associated with the control detector and configured to cause the control detector to scan the interface area between the first and second pipes after the first pipe clamp and the second pipe clamp are engaged with the first pipe and the second pipe, respectively, to determine the profile the area of the interface between the first and second pipes, wherein one or more processors are configured to control the position and orientation of the external welding torch to form a weld between the first and second pipes based on the determined profile of the interface region between the first and second pipes. 27. The system of claim. 26, further comprising a motor operatively coupled to the reference detector for directing the reference radiation beam along the welded joint between the pipes. 28. The system of claim 27, further comprising one or more processors operatively associated with a reference detector for determining the profile of a weld between pipes. 29. The system of claim 26, wherein one of the first pipe clip and the second pipe clip is movable relative to the other of the first pipe clip and the second pipe clip to control the axial clearance between the pipes. 30. The system of claim. 26, characterized in that the monitoring detector is located between the first pipe clamp and the second pipe clamp. 31. The system of claim. 26, characterized in that the test detector comprises an emitter emitting a test beam of radiation and a receiver for receiving test signals of the reflected radiation. 32. The system of claim 28, further comprising one or more welding torch motors, wherein the one or more processors are configured to control one or more welding torch motors to control the position and orientation of the welding torch. 33. The system of claim. 26, characterized in that the welding torch is configured to be mounted on a guide path element that is located around the first pipe clamp or the second pipe clamp in such a way that the welding torch is located between the first pipe clamp and the second pipe clamp on one lines with the area of the interface between the pipes. 34. The system according to claim. 26, characterized in that the welding torch is configured to be mounted on a guiding path element, wherein the guiding path element is located around the area of the interface between the pipes on the same line with it. 35. The system of claim 34, wherein the path element is located between the first pipe clip and the second pipe clip. 36. The system of claim. 26, wherein the first pipe clamp and the second pipe clamp comprise a wedge grip configuration. 37. The system of claim. 26, further comprising an eddy current system adapted to control the welded joint. 38. The system of claim. 26, characterized in that the welding torch is operatively connected to the welding torch motor, while the welding torch motor is operatively connected to one or more processors to control the movement of the welding torch along the welding joint during the welding operation.

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