CA2869673A1 - Robotic welding assembly - Google Patents
Robotic welding assembly Download PDFInfo
- Publication number
- CA2869673A1 CA2869673A1 CA2869673A CA2869673A CA2869673A1 CA 2869673 A1 CA2869673 A1 CA 2869673A1 CA 2869673 A CA2869673 A CA 2869673A CA 2869673 A CA2869673 A CA 2869673A CA 2869673 A1 CA2869673 A1 CA 2869673A1
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- CA
- Canada
- Prior art keywords
- coupled
- arm
- welding
- rotary actuator
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Abstract
A robotic welding assembly includes a base, a mast coupled to the base, a first horizontal arm coupled to the mast by a first slew drive, a second horizontal arm coupled to the first horizontal arm by a second slew drive, a vertical actuator coupled to the second horizontal arm, a vertical arm coupled to the vertical actuator, and a robotic welding arm coupled to the vertical actuator. The robotic welding arm comprises a first rotary actuator coupled to the vertical arm and a first moveable portion rotatable about first axis, a second rotary actuator coupled to the first rotary actuator, and a second moveable portion rotatable about a second axis generally perpendicular to the first axis, a third rotary actuator coupled to the second rotary actuator, and a third moveable portion rotatable about a third axis generally perpendicular to the second axis. A
welding torch is holder coupled to the third rotary actuator and has a longitudinal axis that is generally aligned with the third axis. A welding torch is coupled to the second end of the welding torch holder.
welding torch is holder coupled to the third rotary actuator and has a longitudinal axis that is generally aligned with the third axis. A welding torch is coupled to the second end of the welding torch holder.
Description
ROBOTIC WELDING ASSEMBLY
Technical Field [0001] The present disclosure relates to robotic welding assemblies.
Summary
Technical Field [0001] The present disclosure relates to robotic welding assemblies.
Summary
[0002] One aspect of the invention provides a robotic welding assembly including a base, a mast coupled at a first end to the base, a first horizontal arm coupled at a first end to a second end of the mast by a first slew drive, the first slew drive for rotating the first horizontal arm relative to the mast, a second horizontal arm coupled at a first end to a second end of the first horizontal arm by a second slew drive, the second slew drive for rotating the second horizontal arm relative to the first horizontal arm, a vertical actuator coupled to a second end of the second horizontal arm, a vertical arm coupled to the vertical actuator such that the vertical actuator moves the vertical arm in a substantially vertical direction, a robotic welding arm coupled to the vertical actuator, the robotic welding arm comprising a first rotary actuator having a first mounting portion coupled to the vertical arm and a first moveable portion rotatable relative to the first mounting portion about first axis, a second rotary actuator having a second mounting portion coupled to the first moveable portion of the first rotary actuator, and a second moveable portion rotatable relative to the second mounting portion about a second axis generally perpendicular to the first axis, a third rotary actuator having a third mounting portion coupled to the second moveable portion of the second rotary actuator, and a third moveable portion rotatable relative to the third mounting portion about a third axis generally perpendicular to the second axis, a welding torch holder coupled at a first end to the third rotary actuator, wherein a longitudinal axis of the welding torch holder from the first end to a second end of the welding torch holder is generally aligned with the third axis, and a welding torch coupled to the second end of the welding torch holder.
[0003] Another aspect of the invention provides a sensor coupled to the second end of the welding torch holding for sensing a position of the welding torch relative to a pipe for positioning the welding torch.
[0004] Another aspect of the invention provides that the robotic welding arm further comprises a camera for imaging a weld area.
[0005] Another aspect of the invention provides that the third actuator assembly is coupled to the first end of the welding torch holder.
[0006] Another aspect of the invention provides that the first axis is substantially parallel to the longitudinal axis of the vertical arm.
Drawings
Drawings
[0007] The following figures set forth embodiments in which like reference numerals denote like parts. Embodiments are illustrated by way of example and not by way of limitation in the accompanying figures.
[0008] FIG. 1 is a perspective view of a robotic welding assembly according to an embodiment;
[0009] FIG. 2 is a perspective view of a robotic welding arm of the robotic welding assembly shown in FIG. 1;
[0010] FIG. 3 is a perspective view of a robotic welding arm of a robotic welding assembly according to another embodiment; and
[0011] FIG. 4 is a cross-section of two pipe segments welded together by a multiple pass welding process.
Detailed Description
Detailed Description
[0012] The following describes a robotic welding assembly. For simplicity and clarity of illustration, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. Numerous details are set forth to provide an understanding of the examples described herein. The examples may be practiced without these details. In other instances, well-known methods, procedures, and components are not described in detail to avoid obscuring the examples described. The description is not to be considered as limited to the scope of the examples described herein.
[0013] FIGS. 1 and 2 show a robotic welding assembly 100 according to one embodiment. The robotic welding assembly is configured for installation in a pipe fabrication facility for use in fabricating a pipe P comprising at least two pipe sections P1, P2 that are welding together along a seam S at an interface between the two pipe segments P1, P2. The two pipe sections P1, P2 are welded together at seam S
using a process known as "spool welding".
using a process known as "spool welding".
[0014] The robotic welding assembly 100 includes a base 102 that is supported on a floor of the pipe fabrication facility. In some embodiments, the base 102 may be coupled to the floor by, for example, bolts. In other embodiments, the base 102 may not be coupled to the floor such that the base 102 may be moved to transport the robotic welding assembly 100 to different locations in the pipe fabrication facility.
[0015] A mast 104 is coupled to, and extends upwardly from, the base 102.
The mast 104 may be supported by mast supports 106 extending outward from the mast 104 and coupled to the base 102 along the a lower edge of the mast support 106. The mast 104 supports 106 increase the stability of the mast 104, inhibiting the mast 104 from, for example, toppling over. In other embodiments, the base 102 may be omitted and the mast 104, and mast supports 106, may be coupled directly to the floor of the pipe fabrication facility.
The mast 104 may be supported by mast supports 106 extending outward from the mast 104 and coupled to the base 102 along the a lower edge of the mast support 106. The mast 104 supports 106 increase the stability of the mast 104, inhibiting the mast 104 from, for example, toppling over. In other embodiments, the base 102 may be omitted and the mast 104, and mast supports 106, may be coupled directly to the floor of the pipe fabrication facility.
[0016] The top of the mast 104 includes a first slew drive 108 that couples the mast 104 to a first horizontal arm 110 at a first end 112. The first slew drive 108 rotationally moves the first horizontal arm 110 relative to the mast 104. The first horizontal arm 110 shown in FIG. 1 is a truss structure. In other embodiments, other structures for providing the first horizontal arm 110 may be utilized.
[0017] A second end 114 of the first horizontal arm 110 includes a second slew drive 116 that couples the first horizontal arm 110 to a second horizontal arm 118 at a first end 120 of the second horizontal arm 118. The second slew drive 116 rotationally moves the second horizontal arm 118 relative to the first horizontal arm 110.
The second horizontal arm 118 shown in FIG. 1 is a truss structure. In other embodiments, other structures for providing the second horizontal arm 118 may be utilized.
The second horizontal arm 118 shown in FIG. 1 is a truss structure. In other embodiments, other structures for providing the second horizontal arm 118 may be utilized.
[0018] In other embodiments, the first slew drive 108, the second slew drive 116, or both, shown in FIG. 1 may be replaced with a slew ring and disk mechanism with a braking system. In this embodiment, an operator moves either of the first horizontal arm 110, second horizontal arm 118, or both by releasing pushing a button, or activating other means, that releases the horizontal arm's braking system(s), causing the horizontal arm(s) to be free to rotate. When the horizontal arm has reached the desired position, the operator releases the button, which engages the braking system, stopping rotation of the horizontal arm.
[0019] A second end 122 of the second horizontal arm 118 is coupled to a vertical actuator 124. The vertical actuator 124 includes a cavity 126 extending through the vertical actuator 124 from top to bottom. A vertical arm 128 is received in the cavity 126 and is moved linearly in a substantially vertical direction by the vertical actuator 124. The vertical actuator 124 may move the vertical arm 128 by a rack and pinion mechanism or by any other suitable mechanism. In some embodiments, the vertical actuator 124 may comprise a telescopic linear actuator.
[0020] A first end 130 of the vertical arm 128 is coupled to a robotic welding arm 132. In the embodiment shown in FIG. 1, the first end 130 of the vertical arm 128 is the end of the vertical arm 128 located below the vertical actuator 124 in order to utilize the robotic welding arm 132 for welding objects that are located below the height of the vertical actuator 124.
[0021] The first horizontal arm 110, the second horizontal arm 118, the first slew drive 108, and the second slew drive 116 are utilized to coarsely position the robotic welding arm 132 horizontally. The vertical actuator 124 and the vertical arm 128 are utilized to coarsely position the robotic welding arm 132 vertically. Once the robotic welding arm 132 is coarsely positioned, the robotic welding arm may be finely positioned as described in more detail below.
[0022] Referring now to FIG. 2, the robotic welding arm 132 of the welding assembly of FIG. 1 is shown. The robotic welding arm 132 includes a welding arm holder 134 that is coupled to the vertical arm 128 by a first rotary actuator 136, a second rotary actuator 144, and a third rotary actuator 154.
[0023] The first rotary actuator 136 includes a first mounting portion 138 and a first moveable portion 140. The first mounting portion 138 of the first rotary actuator 136 couples to the first end 130 of the vertical arm 128. The first moveable portion 140 of the first rotary actuator 136 is rotatable relative the first mounting portion 138 about a first axis 142.
[0024] In the embodiment shown in FIG. 2, the first rotary actuator 136 is coupled to the vertical arm 128 such that the first axis 142 is approximately parallel to the longitudinal axis of the vertical arm 128. The first axis 142 is offset from the longitudinal axis of the vertical arm 128.
[0025] The second rotary actuator 144 includes a second mounting portion and a second moveable portion 148. The second mounting portion 146 of the second rotary actuator 144 couples to the first moveable portion 140 of the first rotary actuator 136 such that the second rotary actuator 144 moves about the first axis 142 when the first rotary actuator 136 is actuated.
[0026] The second moveable portion 148 of the second rotary actuator 144 is rotatable relative to the second mounting portion 146 about a second axis 150.
The second rotary actuator 144 is coupled to the first rotary actuator 136 such that the second axis 150 is substantially perpendicular the first axis 142.
The second rotary actuator 144 is coupled to the first rotary actuator 136 such that the second axis 150 is substantially perpendicular the first axis 142.
[0027] The welding torch holder 134 is coupled at a first end 152 to the second rotary actuator 144 by a third rotary actuator 154. The third rotary actuator 154 includes a third mounting portion 155 that couples the third rotary actuator 154 to the second moveable portion 148 of the second rotary actuator 144 such that the third rotary actuator 154 rotates about the second axis 150 when the second rotary actuator 144 is actuated.
[0028] A third moveable portion 153 of the third rotary actuator 154 couples to the first end 152 of the welding torch handle 134. The third moveable portion 153 is rotatable relative to the third mounting portion 155 of the third rotary actuator 154 about a third axis 157 that is approximately parallel to the longitudinal axis of the welding torch holder 134 from the first end 152 to a second end 156.
[0029] The second end 156 of the welding torch holder 134 is coupled to a welding torch 158.
[0030] In other embodiments, the first end 152 of the welding torch holder 134 may be directly coupled to the second moveable portion 148 of the second rotary actuator 144, and the second end 156 of the welding torch holder 134 may be coupled to the welding torch 158 by the third rotary actuator 154. In this alternative embodiment, the welding torch 158 rotates relative to the welding torch holder 134 about the third axis 157, and the welding torch holder 134 is in a fixed relation to the second moveable portion 148 of the second rotary actuator 144.
[0031] The welding torch 158 shown in FIGS. 1 and 2 includes a sensor assembly 160 coupled to the welding torch 158 by the sensor mounting member 162.
The sensor mounting member 162 supports the sensor assembly 160 at a location proximate a welding torch head 164 of the welding torch 158. The sensor assembly 160 may comprise a laser sensor utilized to determine a distance between the welding head 164 and the object being welded, such as the seam S at the interface of the pipe segments P1, P2. In some embodiments, the sensor assembly 160 may comprise a camera utilized to provide an image of the welding area to a control system (not shown) or to an operator.
The sensor mounting member 162 supports the sensor assembly 160 at a location proximate a welding torch head 164 of the welding torch 158. The sensor assembly 160 may comprise a laser sensor utilized to determine a distance between the welding head 164 and the object being welded, such as the seam S at the interface of the pipe segments P1, P2. In some embodiments, the sensor assembly 160 may comprise a camera utilized to provide an image of the welding area to a control system (not shown) or to an operator.
[0032] In some embodiments, a voltage sensor may be utilized tracking the welding path of the welding. In these embodiments, the distance may be determined based on the measured voltage changes in the welding arc.
[0033] Signals from the sensor assembly 160 may be sent to an automated control system (not shown) that actuates the first rotary actuator 136, the second rotary actuator 144, and the third rotary actuator 154 based on the signals received from the sensor assembly 160 in order to finely position the welding torch. In other embodiments, an operator may monitor the signals from the sensor assembly 160 and manually control the first rotary actuator 136, the second rotary actuator 144, and the third rotary actuator 154 in order to finely position the welding torch 158.
[0034] Referring to FIG. 3, another embodiment of a robotic welding arm 132 is shown. In this embodiment, a wire-feeder system 300 is coupled to the robotic welding arm 132 by a wire-feeder bracket 302. The wire-feeder system 300 supplies wire from a wire source (not shown) to the welding torch 158.
[0035] In the embodiment shown in FIG. 3, the wire-feeder bracket 302 is coupled to the first mounting portion 138 of the first rotary actuator 136. In other embodiments, the wire-feeder bracket 302 may be mounted, for example, on the vertical arm 128, the vertical actuator 124, the second horizontal arm 118, or any other suitable location on the robotic welding assembly 100.
[0036] In operation, the pipe P is positioned and supported by a pipe positioner (not shown). The pipe segments P1, P2 are positioned such that the longitudinal axes of the pipe segments P1, P2 are substantially aligned. Prior to welding, the pipe segments P1, P2 may be held together by clamps or straps or the like (not shown). The robotic welding arm 132 is coarsely positioned by actuating the first slew drive 108, the second slew drive 116, and the vertical actuator 124. Coarse positioning of the robotic arm 132 may be automated or may be carried out by an operator controlling the first slew drive 108, the second slew drive 116, and the vertical actuator 124. In the above described embodiment in which the first slew drive 108 and the second slew drive 116 are replaced by slew ring and disk mechanisms and braking systems, coarse positioning is carried out by an operator.
[0037] After coarse positioning, the welding torch 158 is finely positioned proximate to the seam S at the interface of the pipe segments P1, P2 by actuating the first rotary actuator 136, the second rotary actuator 144, and the third rotary actuator 154. Fine positioning of the welding torch 158 may be automated or may be carried out by an operator controlling the first rotary actuator 136, the second rotary actuator 144, and the third rotary actuator 154.
[0038] After the welding torch 158 is finely positioned proximate the seam S, the pipe positioner rotates the pipe segments P1, P2 around the longitudinal axes of the pipe segments P1, P2. As the pipe segments P1, P2 rotate, the welding torch welds the pipe segments P1, P2 together at the seam S. During welding, the welding torch arm 132 may be finely positioned to adjust for, for example, contour of the surfaces of the pipe segments P1, P2. Fine positioning during welding may be automated based on the signals received from the sensor assembly 160.
[0039] The robotic welding assembly 100 may be utilized to weld the pipe segments P1, P2 using a multiple pass welding process. FIG. 4 shows a cross section of a wall of pipe segments P1, P2 that have been welded along the seam S using a multiple pass welding process. Pipe segments P1, P2 have respective ends 402, that are cut at an angle such that the seam S is narrower toward the inner surfaces 406, 408 of the pipe segments P1, P2. During welding, the seam S is filled during multiple passes of the welding torch 158, each pass depositing a weld 410a-d. The multiple pass weld shown in FIG. 4 includes approximately forty welds 410a-d.
[0040] In spool welding, multiple pass welding is utilized to provide a uniform weld with a constant parameter for each pass. In some embodiments, the robotic welding assembly 100 may be configured to utilize a program to automatically control the robotic welding arm 132 to utilize a multiple pass welding process in which welds 410a-d are made in different positions relative to each other in order to weld the seam S
of the pipe segments P1, P2. The program may control the welding torch 158 to carry out each pass having a different specification including, for example, voltage, wire speed, and weld speed.
of the pipe segments P1, P2. The program may control the welding torch 158 to carry out each pass having a different specification including, for example, voltage, wire speed, and weld speed.
[0041] The present disclosure describes a robotic welding assembly for use in spool welding pipe segments in a pipe fabrication facility. The described embodiments are to be considered in all respects only as illustrative and not restrictive.
The scope of the claims should not be limited by the embodiments set forth in the examples, but should be given the broadest interpretation consistent with the description as a whole.
All changes that come with meaning and range of equivalency of the claims are to be embraced within their scope.
The scope of the claims should not be limited by the embodiments set forth in the examples, but should be given the broadest interpretation consistent with the description as a whole.
All changes that come with meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (5)
1. A robotic welding assembly comprising:
a base;
a mast coupled at a first end to the base;
a first horizontal arm coupled at a first end to a second end of the mast by a first slew drive, the first slew drive for rotating the first horizontal arm relative to the mast;
a second horizontal arm coupled at a first end to a second end of the first horizontal arm by a second slew drive, the second slew drive for rotating the second horizontal arm relative to the first horizontal arm;
a vertical actuator coupled to a second end of the second horizontal arm;
a vertical arm coupled to the vertical actuator such that the vertical actuator moves the vertical arm in a substantially vertical direction;
a robotic welding arm coupled to the vertical actuator, the robotic welding arm comprising:
a first rotary actuator having a first mounting portion coupled to the vertical arm and a first moveable portion rotatable relative to the first mounting portion about first axis;
a second rotary actuator having a second mounting portion coupled to the first moveable portion of the first rotary actuator, and a second moveable portion rotatable relative to the second mounting portion about a second axis generally perpendicular to the first axis;
a third rotary actuator having a third mounting portion coupled to the second moveable portion of the second rotary actuator, and a third moveable portion rotatable relative to the third mounting portion about a third axis generally perpendicular to the second axis;
a welding torch holder coupled at a first end to the third rotary actuator, wherein a longitudinal axis of the welding torch holder from the first end to a second end of the welding torch holder is generally aligned with the third axis; and a welding torch coupled to the second end of the welding torch holder.
a base;
a mast coupled at a first end to the base;
a first horizontal arm coupled at a first end to a second end of the mast by a first slew drive, the first slew drive for rotating the first horizontal arm relative to the mast;
a second horizontal arm coupled at a first end to a second end of the first horizontal arm by a second slew drive, the second slew drive for rotating the second horizontal arm relative to the first horizontal arm;
a vertical actuator coupled to a second end of the second horizontal arm;
a vertical arm coupled to the vertical actuator such that the vertical actuator moves the vertical arm in a substantially vertical direction;
a robotic welding arm coupled to the vertical actuator, the robotic welding arm comprising:
a first rotary actuator having a first mounting portion coupled to the vertical arm and a first moveable portion rotatable relative to the first mounting portion about first axis;
a second rotary actuator having a second mounting portion coupled to the first moveable portion of the first rotary actuator, and a second moveable portion rotatable relative to the second mounting portion about a second axis generally perpendicular to the first axis;
a third rotary actuator having a third mounting portion coupled to the second moveable portion of the second rotary actuator, and a third moveable portion rotatable relative to the third mounting portion about a third axis generally perpendicular to the second axis;
a welding torch holder coupled at a first end to the third rotary actuator, wherein a longitudinal axis of the welding torch holder from the first end to a second end of the welding torch holder is generally aligned with the third axis; and a welding torch coupled to the second end of the welding torch holder.
2. The robotic welding assembly according to claim 1, wherein the robotic welding arm further comprises a sensor coupled to the second end of the welding torch holding for sensing a position of the welding torch relative to a pipe for positioning the welding torch.
3. The robotic welding assembly according to claim 1, wherein the robotic welding arm further comprises a camera for imaging a weld area.
4. The robotic welding assembly according to claim 1, wherein the third actuator assembly is coupled to the first end of the welding torch holder.
5. The robotic welding assembly according to claim 1, wherein the first axis is substantially parallel to the longitudinal axis of the vertical arm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361900317P | 2013-11-05 | 2013-11-05 | |
| US61/900,317 | 2013-11-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2869673A1 true CA2869673A1 (en) | 2015-05-05 |
Family
ID=53056447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2869673A Abandoned CA2869673A1 (en) | 2013-11-05 | 2014-11-03 | Robotic welding assembly |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2869673A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959978A (en) * | 2015-07-03 | 2015-10-07 | 佛山市新恒萃材料科技有限公司 | Pipe fitting operation robot |
| CN105773016A (en) * | 2016-04-28 | 2016-07-20 | 迈力（北京）机器人科技有限公司 | Free rotating assembly and soldering robot applied to same |
-
2014
- 2014-11-03 CA CA2869673A patent/CA2869673A1/en not_active Abandoned
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959978A (en) * | 2015-07-03 | 2015-10-07 | 佛山市新恒萃材料科技有限公司 | Pipe fitting operation robot |
| CN105773016A (en) * | 2016-04-28 | 2016-07-20 | 迈力（北京）机器人科技有限公司 | Free rotating assembly and soldering robot applied to same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |
Effective date: 20210217 |