CN105358288B - 激光控制的管道内焊机 - Google Patents

激光控制的管道内焊机 Download PDF

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CN105358288B
CN105358288B CN201480029722.8A CN201480029722A CN105358288B CN 105358288 B CN105358288 B CN 105358288B CN 201480029722 A CN201480029722 A CN 201480029722A CN 105358288 B CN105358288 B CN 105358288B
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pipeline section
welding torch
pipeline
torch
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CN105358288A (zh
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尚卡尔·拉贾戈帕兰
悉达多·马利克
乔斯·C·布歇
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CRC Evans Pipeline International Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
    • B23K9/0284—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections with an electrode working inside the tube
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0531—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor internal pipe alignment clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
    • B23K9/0286—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections with an electrode moving around the fixed tube during the welding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/10—Pipe-lines

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  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
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  • Butt Welding And Welding Of Specific Article (AREA)
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Abstract

本发明涉及一种将管段焊接在一起的系统。该系统包括用于在外部支撑和操纵管段的取向以对准相对管段的外部对准机构。系统还包括用于对两个抵接管段的内部端面连接处进行焊接的内部焊接机构。内部焊接机构包括用于进行焊接的焊炬、用于追踪焊缝轮廓且引导焊炬的铰接头的激光装置、以及用于在焊接之后目视检查焊缝的摄像机。

Description

激光控制的管道内焊机
相关申请的交叉引用
依照美国法典第35法案第§119(a)-(d)条的规定，本申请要求 2013年5月23日提交的美国临时申请No.61/826628的优先权，该申请的全部内容以引用的方式并入本文。
技术领域
本发明涉及一种将两个管段对准和通过焊接将两个管段连接在一起的系统。
背景技术
常规内焊机通常包括从管道内部径向向外扩展以接触管道内部的内部对准机构。如美国专利No.3,461,264；No.3,009,048；No. 3,551,636；No.3,612,808和GB 1261814(它们的全部内容均以引用的方式并入本文)所示，当中央部件的延伸部件与管道的相对靠近连接处任一侧上的管段连接面的内部接触时，从内部完成两个管段的对准。为了焊接连接处，扩展器的结构必须留有足够的空间来容纳旋转焊炬。因此，有利的是，提供为旋转焊炬或铰接焊炬留有足够空间的内部对准，或从外部对准管段，以便省去可能显著令内部杂乱和产生杂波的内部扩展器。
另外，内部焊接的常规方法通常涉及内部或外部对准和内部焊机的插入，以便焊炬对准端面连接处。在该方法中，有时难以评估内部焊机特别是焊炬的定位精度。甚至更难以于焊接期间在焊炬沿其轨道路径横穿管道内部时评估焊炬的位置精度。因此，有利的是，提供在管道接口处追踪管道边缘的结构或定位的系统，以通过利用所追踪到的接口条件来控制焊炬。具体而言，将有利的是，在向电子控制器发送信号之前，首先用激光追踪接口的轮廓，以相对于所追踪到的管道接口轮廓引导焊炬的位置和取向。
此外，采用外部对准机构的常规管道焊接系统通常将两个管段支撑在辊上并操纵管段的位置和取向，直至对准符合要求。对准是否符合要求通常取决于例如工业上可接受的高低量规，高低量规相当精确却是手动操作的，并且定位在离散位置，而不布满整个管道接口。在任何情况下，从管道内部观察到的接口轮廓或结构通常不是对准质量的考虑因素。因此，有利的是，提供一种这样的对准系统：在外部对准过程中，使用由激光读取的关于接口轮廓的信息作为输入参数。具体而言，有利的是，从控制焊炬的激光装置向控制器提供信息，控制器将利用该信息来控制外部对准机构。
此外，用于焊接管段的常规管道系统通常缺乏目视检查焊炬所施加的焊缝的能力。因此，有利的是，提供跟随焊炬施加焊接的摄像机和用于显示焊缝图像的显示器，以便操作者能够目视检查焊缝的质量。
通过审阅本公开内容，将清楚本发明的其它优点。可取得专利权的优点不限于本文重点说明的部份。
发明内容
本发明公开一种用于将两个管段的端面对准和焊接在一起的系统，包括外部对准机构和焊接机构。外部对准机构可以像附图所示的对准组件般复杂或像美国专利No.1,693,064所示的提普顿(tipton) 夹具般简单。所使用的机构还可能适合于海上或陆上管道施工。美国专利No.1,693,064的全部内容以引用的方式并入本文。无论采用什么机构，外部对准机构均支撑各管段并且能够调节各管段的位置，使得管段基本上共线或沿它们的纵轴线轴向对准。
外部对准机构可以支撑管段，并且可以包括允许调节管道的位置和取向的动力促动特征/装置。具体而言，外部对准机构可以包括允许管道纵向移动的辊。管道还可以被允许管道上下移动和围绕纵轴线滚动的辊支撑。位置和取向调节可以通过在操作员站控制的电机动力或液压动力般自动进行，或送入中央控制器，基于预定对准参数或来自读取接口或连接处轮廓的内部激光装置的反馈自动控制和对准管段。
焊接机构优选地为能够从管段内部对管段的端面或边缘连接处进行焊接(例如，熔化极气体保护电弧焊“GMAW”)并且进入由两个管段的倒角边缘形成的V形(也可以使用除V形以外的其它横截面形状)开口中的内部焊机。焊接机构包括：托架，其能够接合管道的内壁，以将其自身固定或锁定在管道内的固定位置；以及焊接部，其在管道内可旋转地被支撑在托架上。具体而言，内部焊机位于对准的管道内，然后纵向定位，使得焊接头或焊炬沿纵向靠近边缘连接处。焊接机构还包括用于相对于托架旋转焊接部的旋转机构。焊接头或焊炬在管道纵轴线周围可旋转地被支撑在焊接部上，使得焊炬可以沿轨道旋转紧靠整个内部连接接口。具体而言，在焊接期间，铰接头的焊炬沿着管道的整个内周周围的边缘连接处施加焊接材料。除了相对于托架的圆形旋转之外，各种控制元件可以沿管道轴线相对于托架移动焊接头、径向地朝向和远离连接处移动焊接头、围绕点或轴线(例如，与管道纵轴线A-A平行或垂直的轴线)枢转地移动焊接头。控制器可以引导焊炬枢转。这些铰接自由度允许焊接头非常有效且高效率地填充接口轮廓和其它需要填充的地方。
焊接机构还包括激光追踪机构，激光追踪机构与焊接部的焊炬组合工作，以感测接口连接处轮廓和/或焊接材料轮廓，以在合适的位置将合适量的焊接材料施加到边缘连接处。激光机构调查焊缝并向铰接焊接头的控制器发送信号，以控制焊接头围绕整个边缘连接处的运动。具体而言，当焊接头控制系统连续接收来自边缘连接处的焊缝轮廓信息时，焊炬跟随激光装置。该信息随后被用于连续调节焊炬，以实现所需的焊接结构。
除了激光追踪机构之外，系统还可以包括用于目视检查焊缝的 2D摄像机。2D摄像机被安装在焊接部上并且跟随焊炬，使得操作者可以在焊炬产生焊缝之后马上检查焊缝。视觉信号被传送到外部操作员显示器。例如，2D摄像机可以是彩色摄像机，并且颜色的变化可以向操作者指示焊缝缺陷。感知到的轮廓变化也可以指示缺陷。
附图说明
图1示出本发明的管道焊接系统的立体视图，示出了被支撑在对准机构上的两个外部对准管段。
图2示出将要利用图1的系统进行焊接的两个管段的管道接口的放大外观图。
图3示出图1的系统，示出了插入到根据图1的管段中的焊接机构。
图4示出图3的一部分的放大图，示出了定位在根据图1的管段中进行焊接的焊接机构的焊接部。
图5示出沿图4的B-B截取的剖视图，示出了各种焊接部元件的布置。
图6和图7示出图1的焊接机构的侧视图。
图8示出处于如下构造的图1的系统的立体视图，示出将管段放置在外部对准机构上的第一使用步骤。
图9示出处于如下构造的图1的系统的立体视图，示出将焊接机构插入到管段中的图8之后的步骤。
图10示出图1的系统的焊接部的侧视图。
图11示出图1的系统的焊接部的一部分的放大立体视图。
图12示出图1的系统的焊接部的一部分的另一放大立体视图。
图13示出图1的系统的旋转机构的放大立体视图。
在整个公开内容中，相同的附图标记已被用于标识相同的元件。
具体实施方式
参考图1至图3，将在下面对用于将管段焊接在一起的系统进行描述。图1示出能够支撑、定位和重新定位多种长度的管道的外部对准机构10A、10B。各个机构10A、10B可以包括支撑件(例如，辊)，在支撑件上可以支撑一段管道。纵向辊12可移动地支撑管段105，使得可以沿管段105的用箭头A限定的纵向对管段105重新定位。另外，旋转辊14能够在管段105的任一侧上围绕与支撑管段105的轴线A-A平行的轴线旋转，从而使旋转辊14能够旋转或调节管段105 围绕轴线A-A的角度取向。外部对准机构10能够经由电动机、液压装置等将多个管段自动操纵到各种位置和取向。例如，管段可以被升高、降低、旋转、倾斜、枢转等。
如图1所示，外部对准机构10A、10B支撑多个管段105、110 并且调节它们的位置和取向，直至管段105、110这两者对准，使得它们的纵向轴线A-A是共线的并且每个管段105、110的一端抵接在接口边缘处。具体而言，图2示出图1的细节100的放大图，其中，边缘形成管道接口120(被称为“初组装”连接处)。
本发明的管道对准系统和焊接系统从初组装的管段105、110内部对接口120的内部进行焊接。为了对接口120的内部进行焊接，内部焊接机构300如图3所示般滚动入管段105之一的端部。然后将第二管段110放置在外部对准机构10B上并且进行操纵，直至两个管段105、110对准成符合要求。然后可以对内部焊接机构300的拉杆 345施加外力，或机构可以包括用于在对准管段105、110内调节拉杆轴向位置的自动推进装置。
如图4至图7所示，焊接机构300包括托架301和焊接部302。托架301包括至少一个对准机构340A、340B，对准机构340A、340B 可以沿径向扩展，以接合管段105或110的内表面。这种扩展和接合均能够固定焊接机构300相对于管段105、110的轴向/纵向位置，并且在管段105、110内对准焊接机构300或使焊接机构300径向居中。托架301还包括主体311，在主体311上支撑有旋转机构335。主体 311由在对准机构340A、340B之间延伸的多个细长结构支撑部件组成。如下所述，焊接部302包括类似相应的结构313。
焊接部302可旋转地连接在托架301上并从托架301的端部延伸。托架301与焊接部302之间的相对旋转由旋转机构335推动。旋转机构335被固定在托架301上，并且相对于托架301围绕纵轴线A 自动(经由电动机和齿轮)旋转焊接部302。焊接部302可以以悬臂的方式从托架301向外延伸，或者可以被额外对准机构340C支撑，使得焊炬305位于对准机构340B、340C之间。在设置有对准机构 340C的情况下，当对准机构340B、340C扩展以将自身固定在管段内部上时，焊接部302能够相对于对准机构340B、340C并在对准机构340B、340C之间旋转。此外，托架301可以包括拉杆345，拉杆 345可以构造为自托架301起的细长延伸部，操作者可以握持拉杆 345，以将焊接机构300插入/推动或缩回/拉出，从而在管段105、110内对焊接机构300进行轴向定位。
图4示出图3的一部分200的放大图，其中仅存在管段105，而不存在管段110。如图4所示，焊接部302包括焊接组303，焊接组 303包括焊炬305、激光传感器310和彩色摄像机320。焊接部302 还具有主体313，在主体313上支撑有焊炬305、激光传感器310和彩色摄像机320。激光装置310追踪管段105、110的内部连接处并且检测接口轮廓，接口轮廓将被用于在对连接接口进行焊接时定位焊炬305。主体313在对准机构340B、340C之间延伸。部分200示出位于管段105内部的焊接机构300，焊炬305大致指向径向向外的方向，并且定位成对端面连接处120进行焊接。图5示出沿截面B-B 截取的焊接机构300的大致示意性剖视图的实施例，示出了沿焊接机构300的插入方向看的焊接组303。图5还示出了当焊接组303被旋转机构335旋转时的焊接组303的旋转方向D。因此，在沿着焊缝 120的特定点上的焊接动作首先受到激光传感器310的作用，接着受到焊炬305的作用，最终受到2D检查摄像机320的作用。
图10至图12示出焊接部302的多个立体视图。图10示出焊线输送系统322。焊线输送系统322包括焊丝卷筒323、可选的焊线矫直机325和焊线供给机构330，焊线供给机构330被自动控制，以将适量的焊线输送到焊炬305。当旋转机构335旋转焊接部302，焊线通过焊线输送机构322被供给到焊炬305。
如上所述，焊炬305可以通过多个机构以多种方式定位和取向。焊炬305被支撑在操纵器上。操纵器包括径向定位器、轴向定位器和枢转器。具体而言，其上支撑有焊炬305的径向定位器307(例如，齿轮齿条)能够朝向和远离管段105、110的内表面径向移动焊炬。换言之，朝向或远离将要焊接的管段105、110的接口。另外，轴向定位器309(例如，齿轮齿条)可以在管段105、110内轴向移动焊炬305。操纵器还包括允许焊炬枢转(例如，围绕与管段纵向轴线 A-A平行的轴线枢转)的枢转器308。通过电动机和齿轮306对枢转器308的枢转运动提供动力。例如，电动机可以是步进电动机。
焊炬操纵器可以通过相关联地支撑上述元件来组合这些元件的操纵运动。例如，主体313可以支撑轴向定位器，轴向定位器转而又支撑径向定位器，径向定位器转而又支撑枢转器，枢转器转而又支撑焊炬。类似地，轴向定位器可以被径向定位器支撑。此外，可以采用任意支撑顺序。
操纵器的元件由控制器控制，控制器接收作为输入的一系列信号(包括激光装置310的信号)，然后在将信号发送到至少径向定位器307、轴向定位器309、枢转器308和焊线输送系统322之前处理信息。基于来自轮廓读取激光装置310的信号，根据控制器的预定参数，焊炬305被连续重新定位和重新取向。
现在将对本发明的内部焊接系统的操作进行描述。图1、图8 和图9一起示出了定位和焊接管段105、110的方法。在操作中，可以执行下列字母步骤中的一个或多个：a)将管段105放置在对准装置/管道支架10A上；b)然后将内部焊机300插入到管段105中；c) 然后将第二管段110与管段105对准，并且通过拉杆345向前拉动焊接机构300或自动驱动，使得焊炬305与管段105、110的端面连接处120大致对齐；d)然后对准机构340A、340B(必要时还有340C) 接合，以将焊接机构300固定在管段105、110内；e)在一个实施例 (可选的)中，旋转机构335旋转焊接头305，以通过激光传感器装置310执行管段105、110的接口连接处120的初始扫描，从而确保最佳的初组装；f)如果需要，可以重复步骤(c)、(d)和(e)，即管段105、110被重新对准/旋转并被激光装置310重新扫描，以改善“初组装”；g)可选地，接合焊接机构300的后方的内部对准机构 340C，以保持焊接机构300相对于两个管段105、110的轴向位置； h)通过固定在管段105、110中的焊接机构300，开始根部焊接(第一焊接)周期，使得激光装置310扫描管道接口120，焊炬305跟随激光装置310，并且使用激光装置310的输出来控制铰接焊炬305的位置，其中控制焊炬305相对于接口120的位置和取向，以便产生最佳品质的焊缝；i)除了激光装置310的信号之外，电弧电流监测也可以用于引导焊炬的位置；j)在完成360°的焊接之后，焊接头305 被旋转回原始位置；k)在前述步骤(j)中或在单独的检查运行中执行轮廓检查(使用激光装置310)和目视检查(通过2D彩色摄像机 320)；l)在检查之后，松开对准机构340A至340C，并且焊接机构 300被朝向焊接管道105、110的开口端拉动或向前驱动，并露出焊接机构300的前端，如步骤(b)那样，管段110被放置在外部对准机构10B上并前进到下一个连接处；m)然后重复步骤(c)至(l)，以进行整个生产运行。
在一个实施例中，将来自激光传感器310的信号发送到外部对准机构10的电子控制器，对管段105、110中的一者或两者自动重新定位，以实现更为理想的端面连接处120布置。此外，可以以所述顺序执行前述步骤。但是，也可以考虑不同的顺序。
在另一实施例中，在第一个360°的焊接之后，继续旋转以铺设另一个焊缝而不是停止，可以在第二焊接之后后续2D彩色摄像机继续检查的同时，使用激光装置来同时检查和追踪。
在另一实施例中，焊接以具有相同的开始位置的两个180°半部进行，代替焊接完整的360°焊缝。该实施方式需要多个用于追踪的激光传感器，或需要用于物理地摆动激光装置和/或焊炬的机构，使追踪传感器沿两个旋转方向都保持领先位置(即，旋转焊炬和激光装置，以使它们交换位置)。
虽然已经参考本发明的具体实施例对本发明进行了详细描述，但本领域技术人员清楚地知道，在不脱离本发明的精神和范围的情况下，可以对本发明做出各种变化和修改。因此，意图在于，只要所提供的本发明的修改和变化落在所附权利要求及其等同内容的范围之内，本发明就涵盖这些修改和变化。应当理解，本文所使用的诸如“顶部”、“底部”、“前”、“后”、“侧面”、“高度”、“长度”、“宽度”、“上”、“下”、“内部”、“外部”等术语仅描述参考点，而不将本发明局限于任何特定取向或构造。

Claims (13)

1.一种将两个管段对准且焊接在一起的系统，所述系统包括：
焊接机构，用于对所述两个管段的端面连接处进行焊接，所述焊接机构包括铰接的焊炬、用于追踪所述两个管段的端面连接处和检测所述端面连接处的轮廓的激光传感器、用于接收来自所述激光传感器的所述端面连接处的轮廓信息以控制所述焊炬的位置和/或取向的电子控制器；以及，
外部对准机构，其用于操纵至少一个管段的纵轴线相对于另一管段的纵轴线的取向；
其中，所述焊接机构还包括：托架，其用于固定所述焊接机构在所述管段中的纵向位置；以及焊接部，其能够在所述管段内相对于所述托架围绕至少一个所述管段的所述纵轴线旋转，所述托架包括内部对准机构；
其中，所述焊接机构可在至少一个管段内移动，使得所述焊炬与所述两个管段的端面连接处对齐；然后所述内部对准机构可沿径向扩展，以与所述管段的内表面接合，以固定所述焊接机构的纵向位置；并且
所述焊炬和所述激光传感器可旋转地由所述焊接部支撑，使得在焊接期间，所述焊炬沿着所述端面连接处跟随所述激光传感器。
2.根据权利要求1所述的系统，其中，所述焊接机构还包括用于光学感测所述端面连接处的摄像机。
3.根据权利要求1所述的系统，其中，焊炬头在所述焊炬上的铰接运动包括以下运动之一：朝向和远离所述端面连接处的径向平移运动、沿所述管段的纵轴线方向的平移运动、围绕与所述纵轴线平行的轴线相对于所述焊接机构的枢转运动、围绕与所述纵轴线垂直的轴线相对于所述焊炬头的枢转运动。
4.根据权利要求1所述的系统，其中，所述焊接机构可在两个管段的所述端面连接处的内部旋转并可相对于所述内部旋转，使得所述焊炬跟随所述激光传感器，所述激光传感器向所述电子控制器提供连续端面连接处的轮廓数据，所述电子控制器转而又连续引导所述焊炬的定位。
5.根据权利要求2所述的系统，其中，所述摄像机沿着焊缝路径跟随所述焊炬，所述摄像机将信号发送至操作站显示器，以允许操作者检查焊缝的一部分的图像。
6.一种将两个管段对准且焊接在一起的系统，所述系统包括：
焊接机构，其用于对所述两个管段的端面连接处进行焊接，所述焊接机构包括铰接的焊炬、用于追踪所述两个管段的端面连接处和检测所述端面连接处的轮廓的激光传感器、用于接收来自所述激光传感器的所述端面连接处的轮廓信息以控制所述焊炬的位置和/或取向的电子控制器；以及，
外部对准机构，其用于操纵至少一个管段的纵轴线相对于另一管段的纵轴线的取向；
其中，所述焊接机构还包括：配置以固定所述焊接机构在所述管段中的纵向位置的托架，其包括在所述焊炬一边的一个内部对准机构，所述内部对准机构可以沿径向扩展，以接合所述两个管段的一个的内表面；焊接部，其能够在所述管段内相对于支撑部旋转；以及在所述焊炬另一边的一个额外内部对准机构，所述额外内部对准机构可以沿径向扩展以接合所述两个管段的另一个的内表面；并且
所述焊炬和所述激光传感器可旋转地由所述焊接部支撑，使得在焊接期间，当所述焊炬围绕所述纵轴线旋转时，所述焊炬沿着所述端面连接处跟随所述激光传感器。
7.根据权利要求6所述的系统，其中，所述外部对准机构通过与至少一个管段的外部接触来操纵所述两个管段的一个相对于另一管段的沿纵轴线的取向。
8.根据权利要求7所述的系统，其中，所述电子控制器配置为以接收来自所述激光传感器的信号，使得所述外部对准机构响应所述信号，以基于预定对准参数调节所述管段的相对位置。
9.根据权利要求6所述的系统，其中，所述托架包括第三个内部对准机构，所述第三个内部对准机构可以沿径向扩展，以接合所述管段的内表面。
10.根据权利要求9所述的系统，其中，所述激光传感器位于两个所述内部对准机构之间。
11.根据权利要求6所述的系统，其中，所述焊炬可于焊接操作时通过所述焊接部旋转以作360°或180°的焊接。
12.根据权利要求6所述的系统，其中，所述焊炬位于两个所述内部对准机构之间。
13.根据权利要求12所述的系统，进一步包括第三个内部对准机构。
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US20140346163A1 (en) 2014-11-27
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US10040141B2 (en) 2018-08-07
RU2015154971A (ru) 2017-06-27
WO2014190156A1 (en) 2014-11-27
AU2014268528B2 (en) 2018-03-01
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