CN107614193A - System and method for the pipeline section of welded pipeline - Google Patents

System and method for the pipeline section of welded pipeline Download PDF

Info

Publication number
CN107614193A
CN107614193A CN201580080511.1A CN201580080511A CN107614193A CN 107614193 A CN107614193 A CN 107614193A CN 201580080511 A CN201580080511 A CN 201580080511A CN 107614193 A CN107614193 A CN 107614193A
Authority
CN
China
Prior art keywords
welding
pipeline
data
inspection
processors
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.)
Pending
Application number
CN201580080511.1A
Other languages
Chinese (zh)
Inventor
桑卡·T·拉贾戈帕兰
西达尔特·马利克
布莱恩·L·柯克
约瑟·C·布什
詹森·W·克勃
乔纳森·B·凯特凯博
劳伦斯·施耐德曼
沙雷斯·瑞达凯斯南
马库斯·简斯
贾里德·普罗格勒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kevin Kerrey Line International Ltd
CRC Evans Pipeline International Inc
Original Assignee
Kevin Kerrey Line International Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=56978897&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN107614193(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from PCT/US2015/022665 external-priority patent/WO2015148765A1/en
Priority claimed from PCT/US2015/047603 external-priority patent/WO2016033568A1/en
Application filed by Kevin Kerrey Line International Ltd filed Critical Kevin Kerrey Line International Ltd
Priority to CN202011391383.1A priority Critical patent/CN112589320A/en
Priority to CN202110266287.2A priority patent/CN113001070A/en
Publication of CN107614193A publication Critical patent/CN107614193A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B23K37/02—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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • 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
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0953—Monitoring or automatic control of welding parameters using computing 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
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
    • 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
    • B23K9/23—Arc welding or cutting taking account of the properties of the materials to be welded
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L13/00—Non-disconnectible pipe-joints, e.g. soldered, adhesive or caulked joints
    • F16L13/02—Welded joints
    • 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
    • B23K2101/06—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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/10—Pipe-lines
    • 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
    • B23K2103/00—Materials to be soldered, welded or cut
    • B23K2103/02—Iron or ferrous alloys
    • B23K2103/04—Steel or steel alloys

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Geometry (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Arc Welding In General (AREA)

Abstract

The application is related to a kind of fielded system and method that can be disposed in pipeline welding application.The fielded system provides many embodiments related to pipeline welding system and method, and the embodiment can be with combination with one another or exclusive use.Such welding system and method are included for example, such as interior welds system and method, weld system and method, pipeline inspection system and method, pipe handling system and method, internal pipeline cooling system and method, non-invasive test system and method and remote interface and database system and method (uLog).The application further relates to welded pipe line caused by thus some or all of class process.

Description

System and method for the pipeline section of welded pipeline
Background
The cross reference of related application
The application is the PCT/US2015/047603 submitted on the 28th of August in 2015 part continuation application, the PCT/ US2015/047603 requires the priority for the U.S. Provisional Application No. 62/043,757 that August in 2014 is submitted on the 29th.The application It is the U.S. Patent Application No. 14/ submitted 28, PCT/US2015/022665 and 2014 on the March submitted on March 26th, 2015 228,708 part continuation application.PCT/US2015/022665 requires the rights and interests of U.S. Patent Application No. 14/228,708.This The U.S. Patent application submitted in 8, PCT/US2014/039148 and 2014 on Mays that application and on May 22nd, 2014 submit Numbers 14/272,914 part continuation application, the PCT/US2014/039148 and the U.S. Patent Application No. 14/272, 914 both be required to the priority of U.S. Provisional Application No. 61/826,628 submitted on May 23rd, 2013.PCT/US2014/ 039148 requires the rights and interests of U.S. Patent Application No. 14/272,914.The application also requires the U.S. submitted on June 12nd, 2015 The priority for the U.S. Provisional Application No. 62/189,716 that Provisional Application No. 62/175,201 and on July 7th, 2015 submit.It is all The content of these applications is incorporated herein in its entirety by reference.
Field
Present patent application is related to the various fielded systems and method of the purpose of the pipeline section for welded pipeline.
Pipeline system may include comprising steel, stainless steel or other types metal elongation pipe section or pipeline section (for example, Several miles of pipeline section), the pipeline system is used between the two positions (for example, from can be the source based on land or water Source is to suitable storage location) trandfer fluid, such as water, oil and gas.The construction of pipeline system, which is usually directed to, passes through example If it the solder joint of tight seal be provided will be connected with suitable diameter with the pipeline section of lengthwise dimension for the pipeline section of connection Together.
Welding is formed between two pipeline sections (for example, two pipeline sections with same or similar lateral cross-sectional dimension) During seam, by the end of a pipe section or pipeline section and second pipe part or the end of pipeline section close to or contact. Pipeline section is fixed relative to each other, and solder joint is formed using suitable welding process, to connect the two of pipeline section ends. After weld part is completed and is cleared up, weld part can be examined.After inspection, it may be desirable to apply outer protection to solder joint Property coating.
Normal internal welding machine often includes radial outward dilations to contact the inside registration mechanism inside pipeline.When central structure The extended element of part completes two pipeline sections when being contacted on seam either side close to pipeline section joint face inside pipeline, from inner side Alignment, as U.S. Patent number 3,461,264,3,009,048,3,551,636,3,612,808 and GB 1261814 (its each It is incorporated herein in its entirety by reference) shown in.For solder joint, the structure of expander should be configured to allow enough skies Between to accommodate rotary welding torch.It is therefore advantageous that provide the sufficient space for being allowed for rotation or Articulating welding torch Inside alignment, or by pipeline section in outside alignment to eliminate to there may be the need of significant internal chaotic inner dilator Will.
In addition, normal internal welding process is usually directed to the internal or external alignment and insertion of internal welding machine so that welding torch Alignd with face seam.In the process, assess the positioning generally of internal welding machine and accuracy that welding torch specifically positions sometimes It is difficult.The accurate of welding torch position is assessed when welding torch traverses insides of pipes in welding process along the orbital path of pipeline Property is even more difficult.It is therefore advantageous that provide structure or the positioning at pipeline edge of the tracking at pipeline junction surface System, to control welding torch by using the junction surface state followed the trail of.Specifically, junction surface is followed the trail of first by laser Profile then send signal to electronic controller and engaged to be oriented to welding torch relative to the pipeline followed the trail of the position of contouring It is favourable for putting and being orientated.
In addition, the conventional pipeline welding system of outside registration mechanism is used to support two sections generally on roller and regulate and control The position of section and orientation, untill alignment is satisfactory.Whether alignment is satisfactory generally for example depending on industry can connect The height gauge received, the gauge are fairly accurate and manually operated and are positioned at discrete location and do not manage entirely On road junction surface.Under any circumstance, the profile at the junction surface such as from the inner side of pipeline or structure are not usually matter of aliging The Consideration of amount.It is therefore advantageous that provide during outside alignment procedure such as by laser reading on junction surface The information of profile is used as the alignment of input parameter.Specifically, it is advantageous to the information of laser will be controlled from welding torch It is supplied to using described information to control the controller of outside registration mechanism.
In addition, generally lack the energy for the welding for visually examining welding torch to be applied for welding the conventional pipeline system of pipeline section Power.It is therefore advantageous that the video camera for following welding torch welding to apply and the display for showing weld part image are provided, with Convenient to operate personnel visually examine welding quality.Other advantages of the disclosure will be apparent by checking present disclosure.Can Those highlighted in the advantages of obtaining patent not limited to this part.In addition, herein the advantages of emphasizing be considered as it is only each other It is vertical and not depending therefrom, unless herein it is manifestly intended that.The claim that additional advantage also provides in this application It is described in book.
In welding operates, pipeline is generally preheated to suitable temperature before welding, and during welding process Also significant heat is generated.
After weld part is completed and is cleared up sometime, weld part can be examined.Wish compared to elevated welding temperature Weld part is examined at a temperature of spending closer to pipe operations temperature.Accordingly, it may be desirable to cooled down after the welding process, Test afterwards.After inspection, it may be desirable to apply external protective coating to seam., can in order to be advantageous to this coating Heat is added to pipeline, is used to apply the pipe temperature required for some external skins (for example, polypropylene) to raise.
After heating herein, ideally pipe connection portion is allowed to be cooled to suitable temperature, generation afterwards is performed to enter The procedure of processing of one step is (for example, the pipe section that winding connects at other a certain correct positions in water or on land afterwards Point or processing/placement pipe section).
(for example, after being welded and before inspection) during some pipeline manufacturing steps, it is coupled pipeline It is a selection that exterior section, which can be easy to touch and cooling is carried out at outer surface,.However, in this process some During part (for example, after some materials have been externally applied the outer surface of pipeline), outer surface for It is disabled to implement tube-cooled process thereon.
When available (that is, or even in outside cooling) during some parts of manufacturing process, internal cooling can be It is available.Due to the size of pipeline and the difficulty of the interior section of pipe section touched at or near solder joint, It can be challenging that internal cooling is carried out in pipeline.Therefore, it is particularly desired to which internal cooling is provided so that in the process The untouchable part in pipeline external surface during, achievable cooling come adjust pipeline more quickly for need compared with The future steps (for example, winding) of low temperature.
Existing pipeline welding checkout procedure (such as ultrasonic tesint and x-ray photography) is probably challenging. For example, some processes may need the large-scale troop (for example, 4 or more personnel) of well-trained personnel to advance to construction The remote locations of pipeline；May need that durable computer is transported into the remote locations with adverse circumstances simultaneously by specialized truck And the computer is used in the remote locations；There is provided；Using fastening (" fastening ") by grid line to special durable The inspection equipment of computer equipment and truck；It is probably that efficiency is low, because every member of troop may be only for the mistake Some steps of journey are desirable；Well-trained skilled worker is needed to explain test result at the scene；And need to complete it is expected Analysis and write the result on pipeline, troop may proceed to examine next weld part afterwards.Certainly, these are general feelings Condition, and not all these problems are present in all systems.
Currently, pipe link technology is still and depends on to avoid the field of mistake by applying the worker of welding.Some Welding technique needs enough data management, job control and activity monitoring.Due to such challenge, welding quality, deadline It is also likely to be challenging with economy
Present patent application provides the improvement better than prior art system and method.
General introduction
The application is related to a kind of fielded system and method that can be disposed in pipeline welding application.The fielded system provides The many embodiments related to pipeline welding system and method, the embodiment can with it is in combination with one another or individually make With.Such welding system and method are included for example, for example, interior welds system and method, weld system and method, Pipeline inspection system and method, pipe handling system and method, internal pipeline cooling system and method, non-invasive test system and Method and remote interface and database system and method (uLog).The application further relate in thus class process some or it is complete Welded pipe line caused by portion.
The one side of present patent application provides a kind of fielded system for being used to weld two pipelines.The fielded system bag Include：First pipeline engaging structure；Second pipe engaging structure；Examine detector；Motor；One or more processors；And Welding torch.First pipeline engaging structure is configured to engage the interior surface of the first pipeline, so that the first pipeline engaging structure It can be fixed relative to the first pipeline.Second pipe engaging structure is configured to engage the interior surface of second pipe, so that the Two pipeline engaging structures can be fixed relative to second pipe.Detector is examined to be positioned at the first pipeline engaging structure and the second pipe Between road engaging structure, the inspection detector is configured to send inspection radiation beam.Motor is with examining detector operability Ground is associated, and radiation beam is examined to be oriented to along the junction surface region between pipeline.One or more processors detect with examining Device is operatively associated, to determine the profile in the junction surface region between pipeline.Welding torch be configured to based upon pipeline it Between the profile in junction surface region produce welding between tubes.
The other side of present patent application provides a kind of fielded system for being used to weld two pipelines.The fielded system Including：First pipeline engaging structure；Second pipe engaging structure；Examine detector；One or more orientation motor；One or Multiple processors；And welding torch assembly.First pipeline engaging structure is configured to engage the interior surface of the first pipeline, So that the first pipeline engaging structure can be fixed relative to the first pipeline.Second pipe engaging structure is configured to the pipe of engagement second The interior surface in road, so that second pipe engaging structure can be fixed relative to second pipe.Detector axial is examined to be positioned at Between first pipeline engaging structure and second pipe engaging structure, it is described examine detector be configured to examine pipeline between connect Conjunction portion region and based on its generate outline data.One or more orientation motor is to examining detector operatively related Connection, radiation beam is examined to be oriented to along the junction surface region between pipeline.One or more processors are with examining detector operation Property be associated, and be configured to from examining detector to receive outline data to determine one of the junction surface region between pipeline Individual or multiple characteristics.Welding torch assembly includes welding torch and at least one welding torch motor, the welding torch Activated with least one welding torch motor by one or more processors, with based on the junction surface between pipeline One or more characteristics in region produce welding between tubes.
The another aspect of present patent application provides a kind of fielded system for being used to weld two pipelines.The fielded system bag Include：Framework, it is configured to be placed in pipeline；Multiple rollers, it is configured to be pivotably supported framework；Drive motor, Its driven roller is so that framework moves in pipeline；Brakes, its desired locations that framework is fixed in pipeline do not move； Detector is examined, it is carried by framework, the characteristic in the junction surface region for examining detector to be configured to detect between pipeline； Welding torch, it is carried by framework；One or more battery unit, it is carried by framework, one or more of battery units It is configured to as drive motor, examines detector and welding torch power supply；And one or more processors, itself and driving are electric Motivation, detector and welding torch is examined to be operatively connected.
The another aspect of present patent application provides a kind of method for a pair of isolated pipes to be welded to one another.Each pipeline Including inside the metallic conduit that is surrounded by insulating material.The end sections of pipeline to be welded make exposure inside metallic conduit.Institute The method of stating includes：By exposing metal pipeline end part aligning to be welded；Exposed metallic conduit end is welded to one another；Heating weldering The exposed end part in adapter road；Insulator is applied to the exposed end part of the heating of welded pipe line so that insulator glues The outer surface inside metallic conduit is closed, so that the end sections insulation of the previous exposure of pipeline；And will out of pipeline Cooling energy is applied to the interior surface of metallic conduit.
The another aspect of present patent application provides a kind of system for a pair of isolated pipes to be welded to one another.Each pipeline Including inside the metallic conduit that is surrounded by insulating material.The end sections of pipeline to be welded make exposure inside metallic conduit.Institute The system of stating includes：Welding torch, it is configured to exposed metallic conduit end being welded to one another；Heater, it is configured to Heat the exposed end part of welded pipe line；Insulator is supplied, and it is configured to insulating material being applied to welded pipe line The exposed end part of heating so that insulator is adhered to the outer surface inside metallic conduit, so that pipeline is previous sudden and violent The end sections insulation of dew；And chiller system, it is configured to be positioned in pipeline, after insulating material is applied, The chiller system will cool down energy and be applied to the interior surface of metallic conduit to promote the cooling of metallic conduit.
The another aspect of present patent application provides a kind of method for a pair of isolated pipes to be welded to one another.Each pipeline Including inside the metallic conduit that is surrounded by insulating material.The end sections of pipeline to be welded make exposure inside metallic conduit.Institute The method of stating includes：By exposing metal pipeline end part aligning to be welded；Exposed metallic conduit end is welded to one another；Heating weldering The exposed end part in adapter road；Insulator is applied to the exposed end part of the heating of welded pipe line so that insulator glues The outer surface inside metallic conduit is closed, so that the end sections insulation of the previous exposure of pipeline；And insulated applying After body, cooling energy is applied to the interior surface of metallic conduit out of pipeline；And execution pipeline deployment process.Apply cold But energy reduces the stand-by period applied between insulator and execution pipeline deployment process.
The another aspect of present patent application provides a kind of welded pipe line assembly.The welded pipe line assembly includes：The One metallic conduit, its external diameter with least 30 ' length and less than 24 "；Second metallic conduit, it has at least 30 ' length Degree and the external diameter less than 24 "；Welding material, the first pipeline is connected by it with second pipe, and the welding material includes multiple welderings Channel layer is connected, the multiple weld pass layer includes root channel layer and the passage of heat being arranged on the top of root channel layer Layer, wherein passage of heat layer are positioned to the inside longitudinal direction closer to the first pipeline and second pipe welded than root channel layer Axis.
The another aspect of present patent application provides a kind of welded pipe line assembly.The assembly includes：First metal tube Road, its external diameter with least 30 ' length and less than 24 "；Second metallic conduit, it is with least 30 ' length and is less than 24 " external diameter；Solder joint, it connects first metallic conduit and the second metallic conduit, and the solder joint includes being formed the The first inner chamfer in one metallic conduit and form the second inner chamfer in the second metallic conduit and be arranged on by the The root channel layer of welding material in the region that one inner chamfer and the second inner chamfer limit.
The another aspect of present patent application provides a kind of tube-cooled system.The tube-cooled system includes framework, more Individual roller, drive motor, brakes, cooler and one or more processors.Framework is configured to be placed on welded pipe In road.Multiple rollers are configured to be pivotably supported framework.Drive motor driven roller is so that framework moves in pipeline.Braking The desired locations that framework is fixed in pipeline by system do not move.Cooler is by the cooler of framework carrying, the cooling Device will cool down energy and be applied to the interior surface of metallic conduit to promote the cooling of welding metal pipeline.One or more processors It is operatively connected with drive motor, brakes and cooler.One or more processors operating cooler with will welding The temperature of pipeline is reduced to predeterminated level.
The another aspect of present patent application provides a kind of welded pipe line assembly.Welded pipe line assembly includes：First gold medal Metal conduit；Second metallic conduit；And welding material, the first metallic conduit is connected by it with the second metallic conduit.First metal External diameter of the pipeline with least 30 feet of length and less than 24 inches.Second metallic conduit with least 30 feet length and External diameter less than 24 inches.Welding material includes multiple weld pass layers.Multiple weld pass layers include root channel layer and set Put the passage of heat layer on the top of root channel layer.Passage of heat layer is positioned to than root channel layer closer to welded The inside longitudinal axis of one pipeline and second pipe.
The another aspect of present patent application provides a kind of welded pipe line assembly.Welded pipe line assembly includes：First gold medal Metal conduit；Second metallic conduit；And solder joint, it connects the first metallic conduit and the second metallic conduit.First metal tube External diameter of the road with least 30 feet of length and less than 24 inches.Second metallic conduit is with least 30 feet of length and small In 24 inches of external diameter.Solder joint includes the first inner chamfer formed in the first metallic conduit and formed in the second metal The second inner chamfer in pipeline and the welding being arranged in the region limited by the first inner chamfer and the second inner chamfer The root channel layer of material.
The another aspect of present patent application provides a kind of fielded system for being used to weld two pipelines.The fielded system bag Include：First pipeline engaging structure, it is configured to the interior surface for engaging the first pipeline, so that the first pipeline engaging structure can Fixed relative to the first pipeline；Second pipe engaging structure, it is configured to the interior surface for engaging second pipe, so that second Pipeline engaging structure can be fixed relative to second pipe；One or more welding torch, it is configured to be positioned in pipeline, To produce interior welds at junction surface region between tubes；Motor, its with one or more welding torch operatively It is associated, so that one or more welding torch rotate along the junction surface region between pipeline；And one or more processing Device, it controls motor and one or more welding torch, and one or more of processors operate motor and one or more Individual welding torch is with by making one or more welding torch be rotated along junction surface region on single direction of rotation until complete Come into complete circumferential weld part along the complete circumferential weld part of junction surface Area generation.
The another aspect of present patent application provides a kind of two pipelines welded for the pending end of Pre-testing to end Between junction surface region checking system.The system includes：Framework, it is configured to be placed in pipeline；Multiple rollers, its It is configured to be pivotably supported framework；Drive motor, its driven roller is so that framework moves in pipeline；Brakes, its The desired locations that framework is fixed in pipeline do not move；The sensor that can be moved together with framework, it is detected between pipeline Junction surface region；Detector is examined, it is configured to based upon the profile generation signal in the junction surface region between pipeline；It is electronic Machine, it makes inspection detector rotatably be moved along junction surface region；And one or more processors, it is electronic with driving Machine, sensor, it is associated with examining detector and motor operation, one or more of processor operation drivings are electronic Machine so that framework be moved through it is at least one in pipeline, untill sensor detects junction surface region, it is one or Multiple processor operation brakes are not moved with the appropriate position that framework is fixed in pipeline, will be examined in the opening position Detector is tested relative to junction surface zone location so that inspection detector can detect the profile in the junction surface region between pipeline； One or more of processor performance tests detectors and motor are responded with scanning the junction surface region between pipeline In the one or more undesirable characteristics for detecting junction surface region, one or more of processors are referred to based on its transmission Order.
The another aspect of present patent application provides a kind of two pipelines welded for the pending end of Pre-testing to end Between junction surface region fielded system.The system includes：Framework, it is configured to be placed in pipeline；Multiple rollers, its It is configured to be pivotably supported framework；Drive motor, its driven roller is so that framework moves in pipeline；Brakes, its The desired locations that framework is fixed in pipeline do not move；Detector is examined, it is configured to based upon the engagement between pipeline The profile generation signal in portion region；One or more orientation motor, its make inspection detector along junction surface region rotatably It is mobile；And one or more processors, it is with drive motor, with examining detector and motor operation associated, institute State one or more processors operation brakes not move with the appropriate position that framework is fixed in pipeline, in institute's rheme The place of putting will examine detector relative to junction surface zone location so as to examine detector to detect the junction surface area between pipeline The profile in domain；One or more of processor performance tests detectors and motor are to scan the junction surface region between pipeline To generate welding front profile data, and in response to detecting one or more undesirable spies of welding front profile data Property, one or more of processors are based on its transmission instruction.
The another aspect of present patent application provides a kind of two pipelines welded for the pending end of Pre-testing to end Between junction surface region method.Methods described includes：Make at least one interior movement of the framework in pipeline to be welded；Detection Junction surface region between pipeline；Framework is fixed at junction surface region between tubes and not moved；Between detection pipeline The profile in junction surface region；And in response to detecting one or more undesirable spies in the junction surface region between pipeline Property, based on its generation instruction.
The another aspect of present patent application provides a kind of tube-cooled system.The tube-cooled system includes：Framework, its It is configured to be placed in welded pipe line；Multiple rollers, it is configured to be pivotably supported framework；Drive motor, it drives Roller is so that framework moves in pipeline；Brakes, its desired locations that framework is fixed in pipeline do not move；Cooling Device, it is carried by framework, and the cooler will cool down energy and be applied to the interior surface of metallic conduit to promote welding metal pipe The cooling in road；And one or more processors, it is operatively connected with drive motor, brakes and cooler, institute One or more processors operating cooler is stated so that the temperature of welded pipe line is reduced into predeterminated level.
The one side of present patent application provides a kind of method for welding two pipelines.Methods described includes：Use first Fixture internally clamps the first pipeline；Second pipe is internally clamped using the second fixture, clamps the first pipeline and second pipe, So that they are set with the neighbouring relations of end to end, wherein junction surface region is in-between；From in pipeline and pressing from both sides Position scanning junction surface region between tool, to obtain outline data from junction surface region；Based on outline data with end to end Portion's relation welds two pipelines；And internally examine welded pipe line from the position in pipeline and between fixture
The one side of present patent application provide it is a kind of be used to promoting pipeline welding away from being used in the first pipeline and the The soldering system of the fielded system of pipeline welding operation is performed between two pipelines.For example, the remote scene system includes： Detector is examined, it, which is configured to send, examines radiation beam to scan the junction surface region between the first pipeline and second pipe Profile；And welding torch, it is configured to based upon the profile in the junction surface region between the first pipeline and second pipe, first Welding is produced between pipeline and second pipe.The soldering system includes：Receiver, it is configured to from remote welding system System receives the outline data according to determined by the scanning to the junction surface region between pipeline for examining detector to carry out；One or Multiple processors, it is configured to one or more characteristics of the outline data of junction surface sector scanning and predetermined junction surface area One or more characteristics of the predefined outline data in domain are compared, and are configured to based upon described relatively determine remotely The control operation data of fielded system；And transmitter, it is configured to control operation data being transmitted into remote scene system. Control operation data are configured to cause to perform one or more welding behaviour on the junction surface region of welding torch between tubes Make.
The one side of the application provides a kind of method for welded pipe line.Methods described includes：By to be welded two The end part aligning of individual pipeline, the pipeline is included inside the metallic conduit by insulating material encirclement, inside the metallic conduit It is exposed at the part adjacent with the end of pipeline to be welded of pipeline；The alignment end of pipeline is welded each other out of pipeline Connect to form solder joint；Welding data is generated in the welding process of alignment end, the welding data corresponds to and welding Associated welding parameter；Solder joint is examined to draw internal welding socket part check number using inspection laser out of welded pipe line According to；Solder joint is examined to draw radiation examinations data using radiation source is examined；By welding data, internal welding socket part check number According to and radiation examinations data be transmitted into remote computer system to draw other welding data；And receive what is drawn Other welding data.The other welding data is from the data launched and by remote system from the inspection to other pipelines The other inspection data received is drawn.
The one side of present patent application provides a kind of scene for being used to promote on-the-spot test and the physical operations based on it System.The fielded system includes：Field device, it is configured to carry out the operation for physically influenceing object；Verifying attachment, its It is configured to scan object；And one or more processors, it is communicably connected to verifying attachment and is configured to from inspection Experiment device receives the inspection data associated with the scanning to object.One or more of processor communications it is connected to long-range Computer system, and be configured to inspection data being transmitted into remote computer system.One or more of processor quilts It is configured to respond to receive the data related to performing operation from remote computer system in transmitting inspection data, and based on operation Related data causes field device to perform the operation for physically influenceing object.Operate related data from inspection data and with to another Another associated inspection data of the independent scanning of individual object is drawn.
The one side of present patent application provides a kind of method for promoting on-the-spot test and the physical operations based on it. Methods described includes：Object is scanned with by the inspection data associated with the scanning to object by the verifying attachment of fielded system One or more processors are provided；Inspection data is transmitted into remote computation by the one or more processors of fielded system Machine system；Received by one or more processors in response to transmitting inspection data from remote computer system with performing physically Influence the related data of the operation of object；And based on operation related data, cause live system by one or more processors The field device of system performs the operation for physically influenceing object.Operate related data from inspection data and with to another object Individually another associated inspection data of scanning is drawn.
The one side of present patent application provides a kind of for promoting on-the-spot test and based on the remote of its physical operations The computer system of fielded system where generation on-the-spot test and physical operations.The remote scene system includes：Examine dress Put, it is configured to scan object；And field device, it is configured to carry out the operation for physically influenceing object.The calculating Machine system includes：Receiver, it is configured to receive from remote scene system and object is swept with what is carried out by verifying attachment Retouch associated inspection data；One or more processors, it is configured to handle inspection data to generate and perform physically Influence the related data of the operation of object；And transmitter, it is configured to operation related data being transmitted into remote scene system System, with cause remote scene system perform physically influence object operation, wherein it is described operation based on operation related data come Perform.
The one side of present patent application provides a kind of for promoting on-the-spot test and based on the remote of its physical operations The method of fielded system where generation on-the-spot test and physical operations.The remote scene system includes：Verifying attachment, its quilt Configure to scan object；And field device, it is configured to carry out the operation for physically influenceing object.Methods described includes：It is logical Cross receiver and the inspection data associated with the scanning to object carried out by verifying attachment is received from remote scene system；It is logical Cross one or more processors processing inspection data physically influences the related data of operation of object to performing to generate；And Remote scene system is transmitted into by related data is operated by transmitter, physically influences thing to cause remote scene system to perform The operation of body, wherein the operation is performed based on operation related data.
The one side of present patent application provides a kind of on-the-spot test for promoting to carry out at system at the scene and is based on The computer system of its physical operations.The fielded system includes：Verifying attachment, it is configured to scan object；With one Or multiple field devices, it is configured to carry out the one or more operations for physically influenceing object.The computer system bag Receiver is included, it is configured to receive the inspection associated with the scanning to object carried out by verifying attachment from fielded system Data.Object is physically being influenceed by the execution of one or more field devices by the scanning on object that verifying attachment is carried out One or more operations after.It is one or more of to operate with first group of input parameter to perform.The department of computer science System also includes one or more processors, and it is configured to：The defects of related to object, is detected based on inspection data；In response to lacking Fall into detection and generate the operating protocol associated with least one action type of one or more of operations, wherein the operation Agreement includes second group of input parameter for being different from first group of input parameter with least one input parameter；Selection operation agreement For performing and at least one similar subsequent operation in one or more of operations；And based on operating protocol at least One input parameter generation data related to performing subsequent operation.The computer system also includes transmitter, and it is configured Operation related data is transmitted into one or more fielded systems, it is follow-up to cause one or more of fielded systems to perform Operation.The subsequent operation is performed based on operation related data.
The one side of present patent application provide for promote at the scene at system carry out on-the-spot test and based on its The method of physical operations.The fielded system includes：Verifying attachment, it is configured to scan object；With one or more scene Device, it is configured to carry out the one or more operations for physically influenceing object.Methods described is included by receiver from now Field system receives the inspection data associated with the scanning to object carried out by verifying attachment.Carried out by verifying attachment Scanning on object is after performing the one or more for physically influenceing object by one or more field devices and operating.Institute State one or more and operate with first group of input parameter to perform.Methods described also includes：Based on inspection data, pass through one Or multiple processors detect the defects of related to object；In response to defects detection, pass through one or more processors generation and institute The associated operating protocol of at least one action type of one or more operations is stated, wherein the operating protocol includes having extremely A few input parameter is different from second group of input parameter of first group of input parameter；Select to grasp by one or more processors Make agreement be used for perform with least one similar subsequent operation in one or more of operations；Based on operating protocol extremely A few input parameter, pass through the one or more processors generation data related to performing subsequent operation；And pass through transmitting Device is transmitted into one or more fielded systems by related data is operated, follow-up to cause one or more of fielded systems to perform Operation.The subsequent operation is performed based on operation related data.
The one side of present patent application provides a kind of on-the-spot test for promoting to carry out at system at the scene and is based on The computer system of its physical operations.The fielded system includes：Verifying attachment, it is configured to scan object；With one Or multiple field devices, it is configured to carry out the one or more operations for physically influenceing object.The computer system bag Receiver is included, it is configured to receive the inspection data associated with the scanning to object from fielded system.Scanning to object After the one or more operation for physically influenceing object is performed.It is one or more of to operate with first group of input parameter To perform.The computer system also includes one or more processors, and it is configured to：Object is determined based on inspection data Whether the quality of one or more aspects is more than the matter indicated by predefined quality profile as caused by one or more operations Amount standard；The generation operating protocol associated with least one action type of one or more of operations, wherein in response to The quality of the one or more aspects of object exceedes the quality standard indicated by predefined quality profile, and operating protocol is generated With one or more of input parameter including described group；Selection operation agreement is used to perform and one or more of operations In at least one similar subsequent operation；And at least one input parameter based on operating protocol, generation are follow-up with performing Operate related data.The computer system also includes transmitter, and it is configured to operation related data being transmitted into one Or multiple fielded systems, to cause one or more of fielded systems to perform subsequent operation.The subsequent operation is based on operation Related data performs.
The one side of present patent application provides a kind of on-the-spot test for promoting to carry out at system at the scene and is based on The method of its physical operations.The fielded system includes：Verifying attachment, it is configured to scan object；And one or more Field device, it is configured to carry out the one or more operations for physically influenceing object.Methods described includes passing through receiver The inspection data associated with the scanning to object is received from fielded system.Scanning on object physically influences object in execution One or more operations after.It is one or more of to operate with first group of input parameter to perform.Methods described is also wrapped Include：Based on inspection data, by one or more processors determine object one or more as caused by one or more operation Whether the quality of individual aspect exceedes the quality standard indicated by predefined quality profile；Generated by one or more processors The operating protocol associated with least one action type of one or more of operations, wherein one in response to object or The quality of many aspects exceedes the quality standard indicated by predefined quality profile, and operating protocol is generated with including described group One or more of input parameter；By one or more processors selection operation agreement be used for perform with it is one or At least one similar subsequent operation in multiple operations；At least one input parameter based on operating protocol, by one or Multiple processor generations data related to performing subsequent operation；And related data will be operated by one or more processors One or more fielded systems are transmitted into, to cause one or more of fielded systems to perform subsequent operation.The follow-up behaviour Make to perform based on operation related data.
The one side of present patent application provides a kind of calculating for being used to promote on-the-spot test and the physical operations based on it Machine system.The computer system includes one or more processors, and it is configured to：Obtained from one or more fielded systems The related data of the observations of one or more operations to being performed in multiple objects.The multiple object includes：(i) it is determined The one or more objects for the defects of being produced with the operation by one or more observation；One of (ii) no described defect Or multiple objects.One or more of processors are also configured to：Based on observation related data, defect will be determined to have Object on first group of observation of operation for performing and the operation that is performed on not having other defective one or more objects Other one or more groups of observations are compared；Based on the comparison, determine possessed by first group of observation with other group or more The common difference of group observation；And based on the common difference, operation triggering is caused to be implemented so that when corresponding to described common The situation of difference causes live system when occurring during physically influenceing the subsequent operation of one or more other objects System performs the operation associated with operation triggering.
The one side of present patent application provides a kind of method for promoting on-the-spot test and the physical operations based on it. Methods described is included by one or more processors from one or more fielded systems obtain and perform in multiple objects The data of the observation correlation of one or more operation.The multiple object includes：(i) it is determined to have and is observed by one or more Operation produce the defects of one or more objects；The one or more objects of (ii) without the defect.Methods described Also include：Based on observation related data, will be performed by one or more processors on the object for be determined to have defect First group of observation of operation and the operation that is performed on not having defective other objects of one or more other are one or more groups of Observation is compared；Based on the comparison, by one or more processors determine possessed by first group of observation with other one Group or the common difference of multigroup observation；And based on the common difference, operation is caused to trigger by one or more processors It is implemented so that when the situation corresponding to the common difference is physically influenceing the follow-up behaviour of one or more other objects When occurring during work, fielded system is caused to perform the operation associated with operation triggering.
The one side offer of present patent application is a kind of to be used for what two sections of pipeline were alignd and welded together System.The system includes：Welding mechanism, it is used to apply welding to the face seam of two sections, and the welding mechanism includes Carry out Articulating welding torch, for reading face seam profile laser sensor and for being connect from laser sensor Collection of letters information signal is to control the electronic controller of the position of welding torch and/or orientation；Registration mechanism, it is used to regulate and control in section extremely Few one longitudinal axis is relative to another orientation；And wherein welding mechanism also includes：Bracket, it is used for bonding machine The position of structure in the duct is fixed；And welding portion, it can be relative to support section in pipeline internal rotation；And wherein welding torch It is pivotably supported with laser sensor by welding portion so that in welding process, welding torch follows laser sensing along face seam Device.
The one side of present patent application provides a kind of method that two sections by pipeline align and welded together. It the described method comprises the following steps：First pipeline section is placed in alignment means；By the inside with laser and welding torch Welding robot is inserted into the first pipeline section；Second pipeline section is generally alignd with the first pipeline section and interior welds machine；Clamping the The exterior section of one pipeline section and the second pipeline section to adjust the axial location of interior welds machine, so as to generally with the first pipeline section and The face seam alignment of second pipeline section；Based on the signal from internal welding machine, the first pipeline section and the second pipe are adjusted by alignment means The alignment relative of section；Start the root weld cycle, in the root weld cycle, laser scans face seam, welding torch follows Laser, and the position for the welding torch for carrying out joint motions is controlled using the output from laser, wherein control welding torch phase Position and orientation for face seam are welded to produce quality；Face joint profile is determined from laser；Discharge alignment means and Interior welds machine is removed from opening tube section ends；And repositioned in outside registration mechanism next order pipeline section with Prepare to weld next seam.
The one side of present patent application provides a kind of inner heat exchanger (IHEX) for pipeline welding.The inside Heat exchanger includes：Drive system, its be configured to by IHEX be moved at least one pipe section with another In position near the solder joint position of pipe section；Cooling segment, it includes being configured to optionally cooling down at least one The cooling structure of one or more interior surface portions of individual pipe section；And controller, its communicated with cooling structure and It is configured to activate cooling segment when the opening positions of the IHEX at least one pipe section.
The one side of present patent application provides a kind of welding system.The welding is included with system：Multiple welding benches, Each welding bench includes welding bench computer and welding system communicate with welding bench computer, each welding bench including one or Multiple sensors, one or more of sensors, which are configured to measurement, includes the welding data of wire speed data；Multiple nothings Line apparatus, it communicates one or more of with welding bench computer includes the welding of measured wire speed data to receive Data；And Cloud Server, itself and wireless device, the Cloud Server are configured to handle including wire speed data Welding data, and the amount that can consume welding material in preset time section used in multiple welding benches is configured to determine, its Described in Cloud Server be configured to be sent to the used amount for consuming welding material in wireless device one or more It is individual.
The one side of present patent application puies forward system for welding.The welding is included with system：Welding bench, the welding Platform includes welding bench computer and the welding system to be communicated with welding bench computer, and the welding system supplies including welding material Should, welder and the welding supply motor assembly that welding material is moved to welder device；Weighing device, its with Connect to welding bench computer operation, and be configured to measure the weight of welding material supply and supply welding material Weight welding bench computer is sent in the form of weight data；And sensor, it is with welding supply motor assembly Connected with welding bench computer operation, so as to which the speed for welding supply motor assembly is passed in the form of speed data It is sent to welding bench computer；Wherein welding bench computer operation it is connected to welding supply motor assembly and is configured Carry out the speed based on weight data control motor unit piece installing.
The one side of present patent application provides a kind of method for controlling welding.Methods described includes：At the very first time, The first weight supplied using Weight-measuring device measurement welding material；At the second time after the first time, weight is used Second weight of measuring device measurement welding material supply；Calculated using computer and surveyed between the first weight and the second weight The difference of the weight obtained, the difference of measured weight correspond to the measured welding material used；Assembled based on motor Part feeds the speed of welding material to welder, and the theoretical weight of the welding material used is calculated using computer；Pass through meter Calculation machine is by the theoretical weight of the welding material used compared with the measured weight of the welding material used；And pass through The speed of computer adjustment motor unit piece installing is so as to the sliding of correcting motor assembly.
The one side of present patent application provides a kind of welding system.The welding is included with system：Multiple welding benches, Each welding bench includes welding bench computer and welding system communicate with welding bench computer, each welding bench including one or Multiple sensors, one or more of sensors, which are configured to measurement, includes the welding data of wire speed data；Multiple nothings Line apparatus, it communicates one or more of with welding bench computer includes the welding of measured wire speed data to receive Data；And the welding system processing that each welding bench computer is configured to communicate with includes the weldering of wire speed data Data are connect, welding bench computer is configured to determine in preset time section the amount that welding material can be consumed used in welding system And consumption data is generated based on it.
The one side of present patent application provides a kind of system for test pipeline.The system includes test device, It is suitable at least one of non-invasive test data of the generation about weld part；The test device is by the non-invasive test Data are sent to the second device suitable for receiving the non-invasive test data；And the test device is suitable to away from analysis institute The device for stating non-invasive test data is operated.
The one side of present patent application provides a kind of system for non-invasive test pipeline.The system includes：Into As equipment, it is suitable to the non-invasive test data of a part of the generation about welded pipe line；Remote processing device, it is suitable to receive And handle the inspection data of the part about the welded pipe line.
The one side of present patent application provides a kind of method of non-invasive test pipeline.Methods described includes following step Suddenly：Imaging device is provided；Generate non-invasive test data；The non-invasive test data is provided for for analysis Device；And the non-invasive test data is provided for away from the part of detecting of pipeline and the part of detecting of adjacent conduit The opening position of equipment analyzed.
The one side of present patent application provides a kind of system for pipeline construction.The system includes being used for remembering in real time The system for recording welding data；And the welding data is provided for by the device of computerization and/or special by theme Family is analyzed.
The one side of present patent application provides a kind of computer program product for being used to weld support.The computer journey Sequence product includes：Computer-readable program code means, it provides welding data to computer storage；Computer-readable program Code device, it provides the data from the data group including pipeline data to the memory；Computer readable program code Device, it handles the welding data and the pipeline data to provide record output.
The one side of present patent application provides a kind of method of the data management performed on computers.Methods described bag Include following steps：The first data from first device are sent to second device, first data are relevant pipeline constructions Data；First data are handled by the network equipment based on cloud.
The one side of present patent application provides a kind of computer system.The system includes first device, and it has place The processor of pipeline construction data is managed, pipeline construction data are sent to the memory based on cloud, institute by the first device State pipeline and construct data by being handled based on the processor of cloud.
These and other aspects and associated structural elements of present patent application and the operating method and function of part combination And manufacture economy will become more apparent after refer to the attached drawing considers the following description and the appended claims book, all accompanying drawings The part of this specification is formed, wherein same reference numbers represent the corresponding part in each figure.At one of present patent application In embodiment, construction package shown in this article is drawn to scale.However, it should be expressly understood that accompanying drawing is merely to illustrate and described Purpose, and it is not intended to define the limitation of present patent application.It should also be understood that the feature of an embodiment disclosed herein can For in other embodiments disclosed herein.As used in specification and in detail in the claims, singulative " one (kind) (a/an) " and it is " described " include plural referents, unless the context clearly indicates otherwise.In addition, such as in specification and power Used in sharp claim, term "or" means "and/or", unless the context clearly indicates otherwise.It should also be understood that begged for herein Some in the component and feature of opinion can discuss only in conjunction with one (odd number) in this class component, and can be public herein The other similar component opened can in order to reduce it is tediously long for the sake of without being discussed in detail.Only for citing, single welding is being described In the case of welding torch head, identical configuration can be used for (for example, internally in welding system) offer in identical system Other welding torch head, and can be additionally used in other welding systems (such as, welding machine inside joint) as described herein.Class As, various assemblies (such as fixture, seal, brake, welding consumption detecting system or other assemblies as described herein) can It is used together with various embodiments as described herein.For example, such as brakes described in one embodiment, electronic Machine, fixture, seal may be used on other embodiments as described herein, as understood as those skilled in the art.
Brief description
Figure 1A and Figure 1B shows the block diagram for being used to weld the method for pipeline section of the embodiment according to present patent application, wherein Figure 1A shows the high level block diagram of methods described, and Figure 1B shows the more detailed block diagram of methods described；
Fig. 2 shows cuing open according to the solder joint of the pipeline of connection first of the embodiment of present patent application and second pipe View；
Fig. 2A and Fig. 2 B show the seam between single pipeline section and two pipeline sections according to the embodiment of present patent application The inclined-plane details of (before welding)；
Before Fig. 2 C-2F show the inclined-plane meter for metering conduit inclined-plane according to the embodiment of present patent application View, perspective view, side view and detailed view；
What Fig. 2 G-2I were shown according to the embodiment of present patent application with the solder joint formed between its pipeline The sectional view of pipeline, wherein Fig. 2 G show root channel welds layer and passage of heat weld layer is formed by interior welds system and The solder joint that filling channel weld layer and capping channel welds layer are formed by outside weldings system, Fig. 2 H show root passage Weld layer is formed by interior welds system and passage of heat weld layer, filling channel weld layer and capping channel welds layer pass through The solder joint that outside weldings system is formed, and Fig. 2 I show the solder joint that is formed by outside weldings system；
Fig. 3-7 shows the method being used for for different welding situations welding pipeline section of the embodiment according to present patent application Block diagram；
Fig. 7 A and Fig. 7 B show according to the embodiment of present patent application be used to clip together pipeline from outside it is outer The view of portion's fixture；
Fig. 8 shows the perspective view for being used to weld the system of two pipeline sections of the embodiment according to present patent application；
Fig. 9 shows the pipeline of two pipeline sections of Fig. 8 to be used of the embodiment according to present patent application system welding The zoomed-in view at junction surface；
Fig. 9 A are shown according to the welding torch of the embodiment of present patent application with inner chamfer desired alignment (along pipeline Longitudinal axis) pipeline phantom；
Figure 10-1 shows the Fig. 8 being inserted into according to the interior welds system of the embodiment of present patent application in the first pipeline section System；
Figure 10-2 and Figure 10-3 shows to be inserted into the first pipe according to the interior welds system of the embodiment of present patent application In section and Fig. 8 system that the second pipeline section aligns with the first pipeline section；
Figure 10 A and Figure 10 B show have to be respectively positioned at according to being constructed and arranged for embodiment of present patent application The pipeline for having the external diameter of 26 to 28 inch outer diameters neutralizes the interior welds system in the pipeline with the external diameter less than 24 inches View；
Figure 10 C and Figure 10 D show according to the embodiment of present patent application be used to carry and mobile first pipeline and the The left side perspective view and bottom perspective view of the support of two pipelines；
Figure 10 E and Figure 10 F show two kinds of pipe alignment mistakes, and wherein Figure 10 E show angle pipe alignment mistake, and scheme 10F shows position pipeline alignment errors；
Figure 11 shows the interior welds system for being used to weld two pipeline sections of the embodiment according to present patent application；
Figure 11 A show the umbilical cables for being operatively connectable to interior welds system of the embodiment according to present patent application View；
Figure 12 shows the detailed view of the whose forwardmost end portions of the interior welds system according to the embodiment of present patent application；
Figure 13-22 shows various groups of the whose forwardmost end portions of the interior welds system according to the embodiment of present patent application The view of part；
Figure 22 A show the exemplary bonding wire spool of the embodiment according to present patent application；
Figure 22 B show to feed assembly according to the exemplary weld of the embodiment of present patent application；
Figure 23 and Figure 24 shows the forward sight of the middle body of the interior welds system according to the embodiment of present patent application Figure and sectional view；
Figure 25-31 shows the various assemblies of the middle body of the interior welds system according to the embodiment of present patent application View；
Figure 32 A and Figure 32 B show the side of the drive part of the interior welds system according to the embodiment of present patent application View and top view；
Figure 33 shows the center of the interior welds system being positioned on the inside of pipeline section of the embodiment according to present patent application Partial view, wherein both fixture and seal engage the inner surface of pipeline, and some components of wherein middle body are It is not shown for the sake of clear；
Figure 34 shows the center of the interior welds system being positioned on the inside of pipeline section of the embodiment according to present patent application Some components of partial sectional view, wherein middle body are for the sake of clarity not shown；
Figure 35 shows the center of the interior welds system being positioned on the inside of pipeline section of the embodiment according to present patent application Partial view, wherein the only inner surface of fixture engagement pipeline, and wherein some components of middle body are for the sake of clarity It is not shown；
Figure 35 A and Figure 35 B show cuing open for the middle body of the interior welds system according to the embodiment of present patent application View, wherein fixture are respectively in its extended position and advanced position, and wherein some components of middle body are in order to clear Chu Qijian is not shown；
Figure 35 C show side view (front) figure according to the interior welds system of the embodiment of present patent application；
Figure 36 shows the view according to the fixture of the interior welds system of the embodiment of present patent application braking hoop；
Figure 37 shows the view of the star-wheel component of the fixture of the interior welds system according to the embodiment of present patent application；
Figure 38 shows to brake regarding for hoop pin component according to the fixture of the interior welds system of the embodiment of present patent application Figure；
Figure 39 and Figure 40 shows regarding for the wheel hub of the fixture of the interior welds system according to the embodiment of present patent application Figure, fixture braking hoop pin component and link component are connected to the wheel hub；
Before Figure 41 and Figure 42 shows the soldering tip assembly according to the interior welds system of the embodiment of present patent application Perspective view and rear view；
Figure 43 show the soldering tip assembly of the interior welds system according to the embodiment of present patent application another after Perspective view, the welding torch of wherein soldering tip assembly, which is raised to, it is expected welding position；
Figure 44-46 show the left side perspective view of the soldering tip assembly according to the embodiment of present patent application, perspective view and Some components of sectional view, wherein soldering tip assembly are for the sake of clarity not shown；
Figure 47, Figure 48 and Figure 49 show the perspective view of the soldering tip assembly according to the embodiment of present patent application, wherein Welding torch is positioned in its axial location placed in the middle by axially position system in Figure 47, and welding torch passes through axial direction and determined Position system is positioned in right axial location and left axial location in Figure 48 and Figure 49 respectively；
Figure 50 and Figure 51 shows left side perspective view and the decomposition of the soldering tip assembly according to the embodiment of present patent application Figure, some components of wherein soldering tip assembly are for the sake of clarity not shown；
Figure 52 shows the bottom perspective of the top align member of the soldering tip assembly according to the embodiment of present patent application Figure；
Figure 53 shows the top orthogonal view of the soldering tip assembly according to the embodiment of present patent application, and wherein soldering tip assembles Some components of part are for the sake of clarity not shown；
Figure 54 shows the sectional view of the soldering tip assembly according to the embodiment of present patent application, and wherein welding torch positions In normal, non-inclined position；
Figure 55 and Figure 56 is shown respectively according to the rear view of the soldering tip assembly of the embodiment of present patent application and cutd open View, wherein welding torch navigate to+5 ° of angle tilt by sloped position system；
Figure 56 A show the sectional view of the soldering tip assembly according to the embodiment of present patent application；
Figure 57 and Figure 58 is shown respectively according to the rear view of the soldering tip assembly of the embodiment of present patent application and cutd open View, wherein welding torch navigate to -5 ° of angle tilt by sloped position system；
Figure 59 shows the exploded view of the soldering tip assembly according to the embodiment of present patent application, wherein soldering tip assembly Some components are for the sake of clarity not shown；
Figure 60 A-63 show having a welding torch, examine video camera and two according to the embodiment of present patent application The schematic diagram of the interior welds system of individual inspection detector；
Figure 64-69 shows having two welding torch, examine video camera and inspection according to the embodiment of present patent application Test the schematic diagram of the interior welds system of detector；
Figure 70 shows to flow through the signal of interior welds system according to the display compressed air of the embodiment of present patent application Figure；
Figure 71 shows display electric power (including weld power), communication data and the control according to the embodiment of present patent application The schematic diagram for flowing through interior welds system of data processed；
Figure 72 shows to flow through the signal of interior welds system according to the display protective gas of the embodiment of present patent application Figure；
Figure 72 A, Figure 72 B and Figure 72 C are shown respectively used in prior art systems and the interior welds system in The close-up view of portion's welding torch, wherein pipeline have gap and radial deflection (mismatch (Hi-Lo)) alignment；
Figure 72 D show the exemplary weld for ascents and descents welding sequence of the embodiment according to present patent application Parameter；
Figure 73 shows two outsides for being used for welding and being supported in registration mechanism of the embodiment according to present patent application The perspective view of the system of alignment pipeline section；
Figure 74 shows the pipe of two pipeline sections of Figure 73 to be used of the embodiment according to present patent application system welding The amplification external view at road junction surface；
Figure 75 shows the system being inserted into according to the welding system of the embodiment of present patent application in pipeline section, wherein pipeline section In one be for the sake of clarity not shown；
Figure 76 show Figure 75 of the embodiment according to present patent application show to be positioned to be used for welded in pipeline section One in the zoomed-in view of the part of the welding portion of the welding system connect, wherein pipeline section is for the sake of clarity not shown.
Figure 77 shows that Figure 76's of the embodiment according to present patent application shows various welding along axis B-B interceptions The sectional view of the arrangement of subelement；
Figure 78 and Figure 79 shows the side view of Figure 75 of the embodiment according to present patent application welding system, its middle pipe Section is for the sake of clarity not shown；
What Figure 80 showed Figure 73 of the embodiment according to present patent application is in the configuration of the first process in showing The perspective view of system, in first process, pipeline section is placed in outside registration mechanism；
Figure 81 shows the configuration of Figure 73 of the embodiment according to the present patent application process after Figure 80 is shown In system perspective view, in the process, welding system is inserted into pipeline section；
Figure 82 shows the side view of the welding portion of Figure 73 of the embodiment according to present patent application system；
Figure 83 shows the amplification of a part for the welding portion of Figure 73 of the embodiment according to present patent application system Perspective view；
Figure 84 shows the another of a part for the welding portion of Figure 73 of the embodiment according to present patent application system Individual enlarged perspective；
Figure 85 shows the enlarged perspective of the rotating mechanism of Figure 73 of the embodiment according to present patent application system；
Figure 86 shows the purging and checking system of the embodiment according to present patent application；
Figure 87 shows to be regarded according to the purging of the embodiment of present patent application and the detailed of whose forwardmost end portions of checking system Figure；
Figure 88 shows the purging assembly of the purging and checking system according to the embodiment of present patent application；
Figure 89 and Figure 90 is shown according to before the purging of the embodiment of present patent application and the middle body of checking system View and sectional view；
Figure 91 shows the purging seal of the purging and checking system according to the embodiment of present patent application；
Figure 92 shows the rotatable wheel hub of the purging and checking system according to the embodiment of present patent application；
Figure 93 shows the detailed view according to the purging of the embodiment of present patent application and the drive part of checking system；
Figure 94 shows to cross purging according to the display flow of purge gas of the embodiment of present patent application and checking system shows It is intended to；
Figure 95 shows to cross purging according to the display compressed air stream of the embodiment of present patent application and checking system shows It is intended to；
Figure 96 shows to cross purging according to the display flow of purge gas of another embodiment of present patent application and examines system The schematic diagram of system；
Figure 97 shows the partial view of the purging and checking system according to the embodiment of present patent application；
Figure 98 shows the outside weldings system used in purging and checking system of the embodiment according to present patent application The close-up view of the outside weldings welding torch of system；
Figure 99 and Figure 100 shows the outside weldings used respectively in prior art systems and the purging and checking system The close-up view of the outside weldings welding torch of system, wherein pipeline have gap and radial deflection (mismatch) alignment；
Figure 101 shows the joint interior welds system according to the embodiment of present patent application；
Figure 102 shows regarding in detail for the partial power of the joint interior welds system according to the embodiment of present patent application Figure；
Figure 103 show according to the display electric power (including weld power) of the embodiment of present patent application, communication data and Control data flows through the schematic diagram of joint interior welds system；
Figure 103 A show the section view of the middle body of the joint interior welds system according to the embodiment of present patent application Figure, wherein fixture is in its advanced position, and some components of wherein middle body are for the sake of clarity not shown；
Figure 103 B show to be used for two pipe alignments, the pending end of Pre-testing according to the embodiment of present patent application Examined behind two junction surface region, welding pipelines, welding between two pipelines that portion is welded to end between two pipelines The method of the solder joint of formation；
Figure 103 C show the side view of the joint interior welds system according to another embodiment of present patent application；
Figure 103 D show the perspective view of the joint interior welds system according to another embodiment of present patent application；
Figure 103 E show to be assembled according to the soldering tip of the joint interior welds system of another embodiment of present patent application The perspective view of part；
Figure 103 F show to be assembled according to the soldering tip of the joint interior welds system of another embodiment of present patent application The front view of part；
Figure 103 G-103J show to be existed according to one or more soldering tip assemblies of another embodiment of present patent application Operate in clockwise and counterclockwise direction to perform the process of welding operation in joint interior welds system；
Figure 104 shows the example internal cooling system for pipeline welding of the embodiment according to present patent application Perspective view；
Figure 105 shows Figure 104 that will be inserted in the end of pipe section of the embodiment according to present patent application Inner cooling system perspective view；
Figure 106 shows to be fixed to second pipe part by solder joint according to being located at for embodiment of present patent application The first pipe section in Figure 104 inner cooling system perspective view；
Figure 107 shows to be located at the first pipeline section and the second pipeline section according to the inner cooling system of the embodiment of present patent application The inherent correct position relative to solder joint sentence Figure 106 for promoting the internal cooling at solder joint another regard Figure；
Figure 108 shows Figure 104 being connected with joint clamp of the embodiment according to present patent application internal cooling system The perspective view of system；
Figure 109 shows Figure 104 being connected with joint clamp of another embodiment according to present patent application inside The perspective view of cooling system；
The pipeline welding that is used for according to another embodiment of present patent application is shown respectively in Figure 110 A and Figure 110 B The perspective view of inner cooling system and fragmentary, perspective view；
Figure 111 A and Figure 111 B show the inside for pipeline welding of another embodiment according to present patent application The part of the fragmentary, perspective view of the part of cooling system, wherein inner heat exchanger is in two be fixed to one another by solder joint In pipeline section, and water pump is provided in the end of a part for pipe section；
Figure 112 A and Figure 112 B show the inside for pipeline welding of another embodiment according to present patent application The part of the fragmentary, perspective view of the part of cooling system, wherein inner heat exchanger is in two be fixed to one another by solder joint In pipeline section, and water pump is provided in the end of a part for pipe section；
Figure 113 shows the sectional view of the pipeline of the embodiment according to present patent application, wherein the exposure of the pipeline Metallic conduit end part aligning；
Figure 114 shows the sectional view of the pipeline of the embodiment according to present patent application, and wherein solder joint is formed in institute Between the metallic conduit end for stating the exposure of pipeline；
The sectional view and perspective view of the pipeline of the embodiment according to present patent application is shown respectively in Figure 115 A and Figure 115 B, Wherein solder joint is formed between the metallic conduit end of the exposure of the pipeline, and heater is positioned on the pipeline To heat the exposed end part of welded pipe line；
The sectional view and perspective view of the pipeline of the embodiment according to present patent application is shown respectively in Figure 116 A and Figure 116 B, Wherein solder joint is formed between the metallic conduit end of the exposure of the pipeline, and insulator supply is positioned at the pipe Insulating material is applied with the exposed end part of the heating to welded pipe line on road；
Figure 117 A and Figure 117 B show the sectional view and perspective view of the pipeline of the embodiment according to present patent application, wherein Solder joint is formed between the metallic conduit end of the exposure of the pipeline, and insulator supply is positioned on the pipeline Insulating material is applied with the exposed end part of the heating to welded pipe line；
Figure 118 shows the sectional view of the pipeline of the embodiment according to present patent application, and wherein solder joint is formed in institute Between the metallic conduit end for stating the exposure of pipeline, and insulator is adhered to the outer surface inside metallic conduit, so that The end sections insulation of the previous exposure of pipeline；
Figure 119 shows the perspective view of the chiller system of the embodiment according to present patent application, the chiller system Energy will be cooled down by, which being configured to after insulating material is applied, is applied to the interior surface of pipeline to promote the cooling of pipeline；
Figure 120 shows the broken section of the chiller system being positioned in pipeline of the embodiment according to present patent application Figure；
Figure 121 and Figure 122 shows the chiller system being positioned in pipeline of the embodiment according to present patent application Partial sectional view, wherein Figure 121 show that chiller system is positioned to contact with the interior surface of welded pipe line with from welded pipe Road remove heat heat exchanger, and Figure 122 show heat exchanger be in its advanced position and not with welded pipe line Interior surface contacts；
Figure 123 shows the perspective view of the chiller system of another embodiment according to present patent application, there is shown with It is configured to cooling liquid being applied in the interior surface of welded pipe line to remove the fluid tip of heat from welded pipe line；
Figure 124 and Figure 125 shows the heat exchanger of the chiller system of another embodiment according to present patent application The perspective view and front view of element or fin members；
Figure 126-128 shows the perspective view of the system of another embodiment according to present patent application, the system quilt Configure to be advantageous to the taking-up of placement of the chiller system in pipeline and/or chiller system from pipeline；
Figure 129 shows the fragmentary, perspective view of the chiller system of another embodiment according to present patent application, wherein Show to be configured to engage multiple rollers of the interior surface of one or more of pipeline and to be configured to driven roller cold to make But the drive motor of the frame assemblage movement of device assembly；
Figure 130 shows the perspective view of the chiller system of another embodiment according to present patent application；
Figure 131 shows to be carried according to the frame assemblage by chiller system of another embodiment of present patent application Motor power top view；
Figure 132 shows the heat exchanger of the chiller system of another embodiment according to present patent application, the heat Exchanger is oriented to contact with the interior surface of welded pipe line to remove heat from welded pipe line；
Figure 133 and Figure 134 shows the perspective view of the chiller system of another embodiment according to present patent application；
Figure 135 and Figure 136 show the chiller system of another embodiment according to present patent application perspective view and Partial sectional view；
Figure 136 A show the perspective view of the ultrasonic examination platform according to the embodiment of present patent application, the ultrasonic examination platform It is configured to examine the weld part between welding metal pipeline；
Figure 136 B show the method for showing pipeline deployment process of the embodiment according to present patent application；
Figure 136 C and Figure 136 D show to lay process and J-type laying process according to the S types of the embodiment of present patent application Schematic diagram；
Figure 136 E are shown according to the laying of the S types of the embodiment of present patent application and J-type laying unwinding barge；
Figure 137 A show to be tested or its behaviour according to the fielded system that is used to promote of another embodiment of present patent application The system of work；
Figure 137 B show that the remote computer system of another embodiment according to present patent application, fielded system show Communication link between field computation machine system and the other assemblies of fielded system；
Figure 137 C show the remote computer system according to another embodiment of present patent application with being counted without scene Communication link between the component of the fielded system of calculation machine system；
Figure 138 show according to another embodiment of present patent application be used for on-the-spot test is promoted by fielded system With the flow chart of the method for the physical operations based on it；
Figure 139-142 show according to other embodiments of present patent application be used to promote by computer system it is live Test and the flow chart of method based on its physical operations；
Figure 143 describes the example of the pipeline of another embodiment according to present patent application；
Figure 144 shows the welding bench of another embodiment according to present patent application；
Figure 145 shows multiple pipeline welding platforms of another embodiment according to present patent application；
Figure 146 is that have multiple welding benches and multiple controls and daily record according to another embodiment of present patent application The schematic diagram of the system of collection table communication；
Figure 147 is that have multiple welding benches and multiple controls and daily record according to another embodiment of present patent application The schematic diagram of the system of collection table communication；
Figure 148 is by WiFi connecting weldings platform and network service according to another embodiment of present patent application Schematic diagram；
Figure 149 is by global network (internet) multiple operations according to another embodiment of present patent application The schematic diagram that point communicates with Cloud Server；
Figure 150 (is guided with intermediate computations device according to multiple welding benches of another embodiment of present patent application Skilled worker, inspector, engineer etc.) (itself and then communicated by internet with Cloud Server) communication schematic diagram；
Figure 151 is more by wireless (for example, WiFi) communication channel according to another embodiment of present patent application The schematic diagram that individual welding bench communicates with intermediary computer systems (engineer, quality and technology terminal)；
Figure 152 is more by wireless (for example, WiFi) communication channel according to another embodiment of present patent application The schematic diagram that individual welding bench communicates with computer system；
Figure 153 is the multiple welding benches and multiple intermediary computer systems according to another embodiment of present patent application The schematic diagram of (engineer, quality and technology terminal) (itself and then communicated with Cloud Server) communication；
Figure 154 is shown according to another embodiment of present patent application at welding bench, in intermediary computer systems Place or the conventional data based on cloud realized at Cloud Server by computer system record " main screen " of the application of (uLog) Exemplary graphical user (" GUI ")；
Figure 155 shows the current versus time at one welding bench of display according to another embodiment of present patent application Based on cloud conventional data record (uLog) application " live daily record " screen exemplary GUI；
Figure 156 shows to include welding event type, time, area according to the display of another embodiment of present patent application Domain, welding gait of march, the welding data parameter of lead gait of march based on cloud conventional data record (uLog) application " acquisition daily record " screen exemplary GUI；
Figure 157 shows to include weld interval, welding station identification according to the display of another embodiment of present patent application The Top Line Report screen of the application of the record of the conventional data based on cloud (uLog) of the various welding parameters of numbering, welding arc voltage etc. Exemplary GUI；
Figure 158 shows to be remembered according to the various conventional datas based on cloud of display of another embodiment of present patent application Record the exemplary GUI of " saving the data in daily record " screen of the application of (uLog)；
Figure 159 shows to be used to select performed analysis type according to the display of another embodiment of present patent application " analytic approach " of the application of the record of the conventional data based on cloud (uLog) of two icons of (for example, trend, moving average) The exemplary GUI of screen；
Figure 160 shows to be used to select pending function type according to the display of another embodiment of present patent application Two change based on cloud conventional datas record (uLog) application " welding parameter " screen exemplary GUI；
Figure 161 A schematically describe according to another embodiment of present patent application be configured to carry bonding wire The example of spool；
Figure 161 B schematically describe according to another embodiment of present patent application be configured to measure spool Weight wheel hub transducer lateral view；
Figure 161 C descriptions are shown for being installed to wheel hub in spool according to another embodiment of present patent application Measured when upper the wheel hub transducer of the positioning of the element of transducer or strain transducer/deformeter of weight strain another is lateral View；
Figure 162 schematically describes according to another embodiment of present patent application wherein by motor unit piece installing The bonding wire that is installed in the spool of wheel hub is pulled for line 82 to be fed to the arrangement of welder (not shown)；
Figure 163 is that description is fed according to another embodiment of present patent application by measured weight and based on line The flow chart for the process that the theoretical weight that speed determines is compared；
Figure 164 A and Figure 164 B describe the amplification of the motor unit piece installing of another embodiment according to present patent application Side sectional view；
Figure 165 is the welding according to the interconnection of the various assemblies of the trace system of another embodiment of present patent application With the figure of the configuration of system；
Figure 166 shows to be summarized according to the non-invasive test system of another embodiment of present patent application；
Figure 167 shows the general embodiment party of the non-invasive test system of another embodiment according to present patent application Case；
Figure 168 shows that the ultrasonic tesint of the non-invasive test system of another embodiment according to present patent application is implemented Scheme；With
Figure 169 shows that the radiography of the non-invasive test system of another embodiment according to present patent application is surveyed Try embodiment.
It is described in detail
Figure 1A and Figure 1B shows to be used for the pipe section of pipeline 1024 (as shown in Figure 2) or pipeline section 1022 (for example, as schemed 1022a and 1022b shown in 2) block diagram of method 1000 that welds together.For example, Figure 1A shows the advanced frame of method 1000 Figure, while Figure 1B shows the more detailed block diagram of method 1000.
Fig. 2 shows the section view of the solder joint 1026 of the pipeline section 1022 (for example, 1022a and 1022b) of connecting pipeline 1024 Figure.Pipeline section 1022 (for example, 1022a and 1022b) can be referred to as pipeline or pipe section interchangeably herein.In a reality Apply in scheme, solder joint 1026 be (for example, 1022a and 1022b) end of pipeline section 1022 is circumferentially connected to end it is complete Complete cycle is to weld part.In one embodiment, solder joint 1026 may refer to as girth weld or butt welding socket part.One In individual embodiment, as described in detail below, pipeline section 1022a and 1022b welds together at its beveled ends part.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b has at least 30 feet of length. In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b are with least 31.5 feet of length.In an implementation In scheme, the first pipeline section 1022a and the second pipeline section 1022b are with least 33 feet of length.In one embodiment, first Pipeline section 1022a and the second pipeline section 1022b has at least 34.5 feet of length.In one embodiment, the first pipeline section 1022a There is at least 36 feet of length with the second pipeline section 1022b.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b has 24 inches or smaller of external diameter. In one embodiment, the external diameter of pipeline section may also refer to the outer dia for pipeline section.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b has 24 inches or smaller nominal outer Footpath.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b each has 24.1875 inches or smaller outer Footpath.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b each has 23.8125 inches or smaller outer Footpath.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b has 22.8 inches or smaller outer Footpath.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b has 21.6 inches or smaller of external diameter.One In individual embodiment, the first pipeline section 1022a and the second pipeline section 1022b are each with 20.4 inches or smaller of external diameter.At one In embodiment, the first pipeline section 1022a and the second pipeline section 1022b are each with 19.2 inches or smaller of external diameter.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b each has in 26 to 28 inch ranges In external diameter.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b are made up of metal material.In a reality Apply in scheme, the first pipeline section 1022a and the second pipeline section 1022b are made up of carbon steel material.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b are made up of alloy steel material.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b is made up of low-alloy steel material.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b are by stainless steel Material is made.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be by American Petroleum Institute's specifications (API) 5L grades X52 (that is, 52000PSI SMYSs and 66000PSI minimum tensile strengths) material is made.At one In embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be by API 5L grades X60 (that is, the minimum surrenders of 60000PSI Intensity and 75000PSI minimum tensile strengths) material is made.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be completely or partially by corrosion-resistant Alloy (CRA) is made.In one embodiment, corrosion resisting alloy may include the alloy based on iron (such as various grades be not Become rusty steel) or both alloy based on nickel (that is, generally known with trade name inconel (Inconel))
In one embodiment, some CRA materials may need protective gas on the both sides of weld part.In a reality Apply in scheme, in the case, purging and checking system 7001 can be used in pipeline 1022a, 1022b (as with reference to figure 86- 100 will be described in), to provide purge gass body cavity in insides of pipes to be welded (at junction surface region in the pipeline) Room, and outside weldings system 7500 (as shown in Figure 81) can be used on the outside of pipeline 1022a, 1022b.In an embodiment In, outside weldings system 7500 can be configured on the outside of pipeline to be welded (for example, in seam crossing of the pipeline) and provide guarantor Protect gas.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be manufactured from the same material.At one In embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be made from a different material.
In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be made up of bimetallic material, wherein The interior section of pipeline section is CRA materials, and the exterior section of pipeline section can be carbon steel or the CRA material different from interior section Material.
In one embodiment, as shown in Figure 2 G, the first pipeline section 1022a and the second pipeline section 1022b include by insulator/ 5244 inside the metallic conduit that coating material 5246 surrounds.In one embodiment, the first pipeline section 1022a to be welded and Two pipeline section 1022b end sections remove insulator/coating material 5246 and make 5244 exposure inside metallic conduit.
In one embodiment, when the first pipeline section 1022a and the second pipeline section 1022b corrosive atmosphere (for example, sea/ Salt solution/ocean, chemicals etc.) in use, the first pipeline section 1022a and the second pipeline section 1022b can be coated on its outer surface There is resistant material/coating.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be in its outer surfaces It is upper to be coated with anti-abrasive material/coating.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be outside them Insulating material/coating is coated with portion surface.In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can Coated with resistant material/coating, anti-abrasive material/coating, insulator coating/material or its combination in interior surface thereof. In one embodiment, the first pipeline section 1022a and the second pipeline section 1022b can be in both interior surface thereof and outer surface Coated with resistant material/coating, anti-abrasive material/coating, insulator coating/material or its combination.
In one embodiment, as shown in Figure 2 A and 2 B, pipeline 1022a end 1038a is soldered to pipeline 1022b the second end 1038b.In one embodiment, pipeline 1022a end 1038a has internal ramp surface 5228 and outer ramp surface 5230.In one embodiment, pipeline 1022b end 1038b has internal ramp surface 5232 and outer ramp surface 5234.In one embodiment, such as will be apparent according to following discussion, when using internal welding When welding system 5004 deposits root channel welds layer out of pipeline 1022a, 1022b, the welding material quilt of root channel welds layer It is arranged in the region IBR limited by the first internal ramp surface 5228 and the second internal ramp surface 5232.
In one embodiment, outer ramp surface 5230 and 5234 can each include the first outer ramp surface respectively 5230a and 5234a and the second chamfered surface 5230b and 5234b.In one embodiment, the first outer ramp surface 5230a and 5234a is relative to the axis N-N of the longitudinal axis A-A perpendicular to pipeline section 1022a, 1022b with angle EB1Beveling. In one embodiment, angle EB1It can be 5 °.
In one embodiment, the second outer ramp surface 5230b and 5234b relative to axis N-N with angle EB2Tiltedly Cut.In one embodiment, angle EB2More than angle EB1.In one embodiment, angle EB2It can be 45 °.
In one embodiment, outer ramp surface 5230 and 5234 can each include single chamfered surface.At one In embodiment, outer ramp surface 5230 and 5234 can each include the single continuous surface with J-shaped configuration.
In one embodiment, internal ramp surface 5228 and 5232 is chamfer relative to axis N-N with angle IB.One In individual embodiment, angle IB can be 37.5 °.In one embodiment, internal ramp surface 5228 and 5232 can have The distance B measured along axis N-N from its corresponding inner tube surface 5130 and 5132.In one embodiment, along The distance B that axis N-N measures from its corresponding inner tube surface 5130 and 5132 is 0.05 inch.
In one embodiment, outer ramp surface 5230 and 5234 and internal ramp surface 5228 and 5232 can lead to Non- chamfered surface is crossed to be separated from each other.In one embodiment, non-chamfered surface can have the distance measured along axis N-N NB.In one embodiment, it is 0.05 inch along the axis N-N distance NB measured.In one embodiment, non-inclined-plane Surface is optional, and outer ramp surface 5230 and 5234 and its corresponding internal ramp surface 5228 and 5232 can be each other Adjacent (and contact).
In one embodiment, pipeline section 1022a, 1022b internal ramp surface 5228 and 5232 can have identical Bevel angle.In one embodiment, pipeline section 1022a, 1022b outer ramp surface 5230 and 5234 can have identical Bevel angle.In another embodiment, the bevel angle of pipeline section 1022a, 1022b internal ramp surface 5228 and 5232 Alterable.In another embodiment, the bevel angle on pipeline section 1022a, 1022b outer ramp surface 5230 and 5234 can Change.
In one embodiment, the size B of internal ramp surface, the size NB of non-chamfered surface and bevel angle IB、EB1And EB2Alterable and the thickness T for depending on pipeline section 1022a, 1022b.
In one embodiment, pipeline 1022a end 1038a and pipeline 1022b end 1038b be coupled with The welding groove 5236 formed in-between.In one embodiment, welding groove 5236 can have V-shaped section.At one In embodiment, pipeline 1022a end 1038a and pipeline 1022b end 1038b are constructed and arranged to have J-shaped to match somebody with somebody Put so that by the way that pipeline 1022a end 1038a and pipeline 1022b end 1038b are bound up the welding slope to be formed Mouth has U-shaped configuration.In another embodiment, the shape of welding groove depends on welding parameter or condition.
With reference to figure 2, in one embodiment, welding material 1034 is configured to connect the first pipeline section 1022a and second Pipeline section 1022b.In one embodiment, welding material 1034 may include inconel material or inconel material (Inconel alloy material).In one embodiment, welding material 1034 may include the material with than pipeline The material of higher intensity.In one embodiment, welding material 1034 can be the materials different from pipeline material.Example Such as, in one embodiment, welding material may include inconel material or inconel material, and the first pipeline section 1022a and the second pipeline section 1022b material may include stainless steel material.
In one embodiment, welding material 1034 and/or solder joint 1026 include multiple channel welds layers 1014, 1016th, 1018 and 1020.For example, in one embodiment, the multiple channel welds layer 1014,1016,1018 and 1020 It may include root channel welds layer 1014, passage of heat weld layer 1016, one or more filling channel weld layers 1018 and lid Face channel welds layer 1020, as explained in detail below.Channel welds layer can be referred to as channel layer interchangeably herein. In one embodiment, weld pass (for example, root passage, the passage of heat, filling channel, capping passage) can be Welder The single advance of tool or welding system along solder joint 1026.In one embodiment, bead or weld layer are as each The result of weld pass and formed.
In one embodiment, with reference to figure 1A, Figure 1B and Fig. 2, for by pipe section or pipeline section 1022a and 1022b The method 1000 welded together generally includes root channel welds process 1002, passage of heat welding sequence 1004, filling and lid Face channel welds process 1006, weld part inspection process 1008, heating process 1010 and coating process 1012.In an implementation In scheme, filling and capping channel welds process 1006 may include filling channel welding sequence 1006a and capping channel welds work One or more of sequence 1006b.In one embodiment, method 1000 is typically multichannel welding or multilayer Welder Sequence, the process include such as root channel welds process 1002, passage of heat welding sequence 1004 and filling and cover welding Process 1006.
In one embodiment, the weld pass of multichannel welding or multilayer welding method 1000 is (for example, root leads to Road, the passage of heat, filling channel, capping passage) one or more of can the different time by identical welding system or Instrument performs.In one embodiment, weld pass can be sequentially performed by identical welding system or instrument.Example Such as, in one embodiment, root channel welds process and passage of heat welding sequence can be by interior welds systems 5004 (such as Described in detail below) performed from pipeline internal sequence.In one embodiment, filling and capping channel welds process It can be sequentially performed by outside weldings system 7500 from pipeline external.
In one embodiment, interior welds system 5004 is often configured to from the inner side of pipeline 1024 welding pipeline section 1022a and 1022b, and outside weldings system 7500 be often configured to from the outside of pipeline 1024 welding pipeline section 1022a and 1022b.In one embodiment, the welding performed by interior welds system 5004 can cause K shapes bead or weld layer, and And the welding performed by outside weldings system 7500 can cause J-shaped bead or weld layer.
In one embodiment, passage of heat welding sequence, filling and capping channel welds process can pass through outside weldings System 7500 is sequentially performed from pipeline external, at the same only root channel welds process by interior welds system 5004 (such as with Under will be described in) performed inside pipeline.
In one embodiment, the weld pass of multichannel or multilayer welding method 1000 is (for example, root passage, heat Passage, filling channel, capping passage) one or more of can the identical or different time by different welding systems or Instrument performs.In one embodiment, weld pass can be sequentially performed by different welding system or instrument.
In one embodiment, each in passage of heat welding sequence, filling and capping channel welds process can be at it Performed in corresponding welding canopy (weld shack) from pipeline external.In one embodiment, it is such as about 12 to weld canopy Foot is wide, 10 feet long and 8 feet high of relatively small housing, wherein installation outside weldings system and the outside weldings system System is carried to next solder joint by rear end trailer from a solder joint.It is typically covered with foil to weld canopy Light-weight metal framework.Welding canopy has special bottom, and the bottom is designed to be pivoted up being reduced to allow to weld canopy On pipeline, and then pivot downwards to allow to be readily accessible to pipeline.In one embodiment, one or more fillings are logical In road welding sequence it is each can each with outside weldings system different welding canopies in perform.
In one embodiment, root channel welds process 1002 is the first of multichannel or multilayer welding method 1000 Welding sequence.In one embodiment, root channel welds process 1002 is performed by interior welds system 5004.One In individual embodiment, root channel welds process 1002 can pass through the joint interior welds system 3001 with airborne weld power (as will be described in detail) performs.
In one embodiment, root channel welds process 1002 can consume when being performed using interior welds system 5004 When 1.03 minutes.In one embodiment, the circulation time of root channel welds process be 4 minutes (this timing from pull bar or Umbilical cables 5034 start to calculate when being arranged to advance automatically).In one embodiment, channel welds process in root is (by interior Portion's welding system 5004 performs) the total cycle times of three circulations to be 13.15 minutes (including change for spool/bonding wire 2.30 minutes of process), and the mean circulation time (MCT) of root channel welds process (being performed by interior welds system 5004) It is 4.42 minutes.
In one embodiment, root channel welds process 1002 can be performed by outside weldings system 7500. In one embodiment, root channel welds process 1002 can be used purging and checking system 7001, pass through outside weldings system 7500 perform.In one embodiment, joint clamp can be used, by outside weldings system in root channel welds process 1002 Unite to perform.In one embodiment, root channel welds process 1002 can be used the internal fixture 7050 set, 7052, Performed by outside weldings system 7500.In one embodiment, the internal fixture set can be standard fixture or blow Sweep fixture (for example, purging and checking system 7001).
In one embodiment, root channel welds process 1002 forms root channel welds layer 1014.In a reality Apply in scheme, as shown in FIG. 1A and 1B, root channel welds layer 1014 is deposited with multichannel or multilayer welding method 1000 The first bead or weld layer.In one embodiment, root channel layer may also refer to for root sealer thing pearl or root it is close Seal nitride layer.In one embodiment, root channel welds process 1002 by gas metal arc welding (GMAW) come Perform.In one embodiment, root channel welds process 1002 is performed by gas tungsten arc welding (GTAW). In one embodiment, root channel welds process 1002 is held by short-circuited gas shield metal-arc welding (SMAW) (GMAW-S) OK.In another embodiment, root channel welds process 1002 by such as understood by those skilled in the art its His welding procedure performs.
In one embodiment, passage of heat welding sequence 1004 is the second weldering of multichannel or multilayer welding method 1000 Connect process.In one embodiment, passage of heat welding sequence 1004 is performed by interior welds system 5004.In a reality Apply in scheme, passage of heat welding sequence 1004 can be held by the joint interior welds system 3001 with airborne weld power OK.
In another embodiment, passage of heat welding sequence 1004 is performed by outside weldings system 7500.One In individual embodiment, passage of heat welding sequence 1004 is performed using the fixture of inside setting, by outside weldings system.One In individual embodiment, the fixture that inside is set can be standard fixture or purging and inspection jig.In another embodiment, Passage of heat welding sequence 1004 manually welding machine can perform.In this embodiment, pipe end is configured to include 30 ° Bevel angle.
In one embodiment, passage of heat welding sequence 1004 using outside weldings system (in canopy is welded) and 1.06 minutes can be taken when being performed in irrigation canals and ditches side position.In one embodiment, passage of heat welding sequence 1004 is using Outside weldings system (in canopy is welded) and in the side position that works perform when can take 58 seconds.In one embodiment, The circulation time of passage of heat welding sequence is that (this timing was counted since when passage of heat welding canopy is arranged on pipeline in 2.38 minutes Calculate).In one embodiment, three of the passage of heat welding sequence performed by the outside weldings system in canopy is welded follow The total cycle time of ring is 11.35 minutes, and the passage of heat Welder performed by the outside weldings system in canopy is welded The mean circulation time (MCT) of sequence is 3.45 minutes.
In one embodiment, passage of heat welding sequence 1004 forms passage of heat weld layer 1016.In an embodiment party In case, as shown in Fig. 2 passage of heat weld layer 1016 is the second bead or weldering with multichannel or the deposition of multilayer welding method 1000 Connect layer.In one embodiment, passage of heat welding sequence 1004 is after root channel welds process 1002.At one In embodiment, passage of heat welding sequence 1004 is performed by gas metal arc welding (GMAW).In an implementation In scheme, passage of heat welding sequence 1004 is performed by gas tungsten arc welding (GTAW).In one embodiment, Passage of heat welding sequence 1004 is performed by short-circuited gas shield metal-arc welding (SMAW) (GMAW-S).In another embodiment In, passage of heat welding sequence 1004 is performed by other welding procedures such as understood by those skilled in the art.
In one embodiment, filling and capping channel welds process 1006 filling channel welding sequence 1006a and One or more of cover welding process 1006b is performed by outside weldings system 7500.In one embodiment, fill out Fill and can be performed with capping channel welds process 1006 at multiple.In another embodiment, filling and the weldering of capping passage Connecing process 1006 manually welding machine can perform.In this embodiment, pipe end is configured to include 30 ° of angles of chamfer Degree.
In one embodiment, one or more filling channel welding sequence 1006a are connected on passage of heat welding sequence After 1004 (or being performed after passage of heat welding sequence 1004).In one embodiment, one or more filling channels Welding sequence 1006a forms filling channel weld layer 1018.Filling channel weld layer 1018 is configured to fill welding groove simultaneously And it is substantially flush with the pipeline section 1022a and 1022b of pipeline 1024 surface.In one embodiment, multichannel or multilayer The quantity of filling channel welding sequence 1006a in welding method 1000 can change.In one embodiment, multichannel or more The quantity of filling channel welding sequence 1006a in layer welding method 1000 may depend on the pipe of the pipeline 1024 welded together Section 1022a and 1022b thickness.
In one embodiment, filling channel welding sequence 1006a passes through gas metal arc welding (GMAW) To perform.In one embodiment, filling channel welding sequence 1006a is held by gas tungsten arc welding (GTAW) OK.In one embodiment, filling channel welding sequence 1006a passes through pulse gas-shielded metal arc welding (GMAW-P) To perform.In another embodiment, filling channel welding sequence 1006a passes through as understood by those skilled in the art Other welding procedures perform.
In one embodiment, capping channel welds process 1006b be multichannel or multilayer welding method 1000 most Afterwards or final welding sequence.In one embodiment, capping channel welds process 1006b is connected on filling channel welding sequence After 1006a (or being performed after filling channel welding sequence 1006a).In one embodiment, as shown in Fig. 2 capping Channel welds layer 1020 is the bead or weld layer deposited after filling channel welding sequence 1006a.In an embodiment In, capping channel welds process 1006b may also refer to cover channel welds process.In one embodiment, capping passage Welding sequence 1006b forms capping channel welds layer 1020.In one embodiment, as shown in Fig. 2 capping channel welds layer 1020 be the last or final bead with multichannel or the deposition of multilayer welding method 1000.In one embodiment, capping leads to Road weld layer 1020 is configured to be substantially higher than the pipeline section 1022a and 1022b of pipeline 1024 surface.
In one embodiment, capping channel welds process 1006b passes through gas metal arc welding (GMAW) To perform.In one embodiment, capping channel welds process 1006b is held by gas tungsten arc welding (GTAW) OK.In one embodiment, capping channel welds process 1006b passes through pulse gas-shielded metal arc welding (GMAW-P) To perform.In another embodiment, capping channel welds process 1006b passes through as understood by those skilled in the art Other welding procedures perform.
In one embodiment, root channel welds process 1002 can be multichannel or multilayer welding method 1000 Uniquely by interior welds system 5004 come the channel welds process that performs, at the same passage of heat welding sequence 1004 and filling and Capping channel welds process 1006 is performed using outside weldings system 7500.
In another embodiment, the root channel welds process 1002 and heat of multichannel or multilayer welding method 1000 The both of which of channel welds process 1004 is performed by interior welds system 5004, while is filled and capping channel welds process 1006 are performed using outside weldings system 7500.
In yet another embodiment, root channel welds process 1002, passage of heat welding sequence 1004 and filling and lid Face channel welds process 1006 is performed using outside weldings system 7500.In one embodiment, purging and inspection jig Used on the inside of pipeline 1022a, 1022b, while outside weldings system 7500 performs root channel welds process 1002, the passage of heat Welding sequence 1004 and filling and capping channel welds process 1006.
Fig. 2 G-2I show the sectional view of the pipeline 1024 with the solder joint 1026 formed in-between.
Fig. 2 G show the sectional view of the pipeline 1024 with the solder joint 1026 formed in-between.For example, Fig. 2 G Solder joint 1026 includes the root channel welds layer being internally formed by interior welds system 5004 from pipeline 1022a, 1022b 1014 and passage of heat weld layer 1016, while one or more filling channel weld layers 1018 and capping channel welds layer 1020 are logical Outside weldings system 7500 is crossed to be formed outside pipeline 1022a, 1022b.
Individual weld pass layer is (for example, root channel welds layer 1014, passage of heat weld layer 1016, filling channel weld Layer 1018 and capping channel welds layer 1020) it can also can be clearly seen in fig. 2.Welding material 1034 and pipeline material 1036 it Between boundary 1032 can easily and clearly distinguish in fig. 2.In one embodiment, have a common boundary 1032 shape (as logical Line ABCDE is crossed to show) for being welded from the inner side of pipeline 1024 (for example, root channel welds process 1002 and/or the passage of heat are welded Process 1004) pipeline 1024 be unique.
In one embodiment, when multichannel or the root channel welds process 1002 and heat of multilayer welding method 1000 When the both of which of channel welds process 1004 is performed by interior welds system 5004 from the inner side of pipeline 1024, root channel welds layer 1014 and the position of passage of heat weld layer 1016 will exchange (for example, when with root channel welds process passing through interior welds system 5004 are held from the execution of the inner side of pipeline 1024 and passage of heat welding sequence 1004 by outside weldings system from the outside of pipeline 1024 When capable solder joint is compared).In one embodiment, as shown in Fig. 2 and Fig. 2 G, passage of heat weld layer 1016 positions Into than root channel welds layer 1014 closer to the first pipeline 1022a of welding and second pipe 1022b inside longitudinal axis Line A-A.
In one embodiment, at least a portion 5238 of the passage of heat weld layer 1016 of welding material 1034 is arranged to Interior surface 5130,5132 than welded pipe line 1022a and 1022b is closer to longitudinal axis A-A, described at least a portion 5238 on welded pipe line 1022a and the 1022b opposite side in welding material 1034 with welding material 1034 close to region In 5240 and 5242.In one embodiment, as shown in Fig. 2 and Fig. 2 G, when multichannel or the root of multilayer welding method 1000 Portion's channel welds process 1002 and passage of heat welding sequence 1004 are performed by interior welds system 5004 from the inner side of pipeline 1024 When, the necked-in region 1028 of solder joint 1026 further occurs from the inwall 5130,5132 of pipeline 1024.
In one embodiment, root channel welds layer 1014 is arranged on the first pipeline 1022a and second pipe 1022b Internal ramp surface 5228,5232 in, and passage of heat weld layer 1016 is arranged on the top of root channel welds layer 1014 Above (that is, closer to internal longitudinal axis A-A).In one embodiment, interior welds system 5004 is constructed and arranged To perform more than one weld pass from the inner side of pipeline 1024.In one embodiment, interior welds system 5004 is constructed And arrange to activated in radial directions so that interior welds system 5004 can adjust welding torch 5502 in two passages Height between (for example, root channel welds process 1002 and passage of heat welding sequence 1004).
In one embodiment, weld pass layer in addition may be provided on the top of passage of heat layer 1016, and fixed Position is into specific heat channel layer 1016 closer to the first pipeline 1022a welded and second pipe 1022b inside longitudinal axis A-A.For example, in one embodiment, one or more filling channel weld layers 1018 can pass through interior welds system 5004 To perform so that one or more filling channel weld layers 1018 are arranged on the top of passage of heat layer 1016, and are positioned to Specific heat channel layer 1016 is closer to the first pipeline 1022a welded and second pipe 1022b inside longitudinal axis A-A. For example, in one embodiment, one or more filling channel weld layers 1018 and capping channel welds layer 1020 can pass through Interior welds system 5004 performs so that one or more filling channel weld layers 1018 and capping channel welds layer 1020 set Put on the top of passage of heat layer 1016, and be positioned to specific heat channel layer 1016 closer to the first pipeline welded 1022a and second pipe 1022b inside longitudinal axis A-A.
In another embodiment, one or more filling channel weld layers 1018 and capping channel welds layer 1020 are set Put in the first pipeline 1022a and second pipe 1022b outer ramp surface 5230,5234, and outside weldings can be passed through System 7500 performs from the outside of pipeline 1024.
Fig. 2 H show the sectional view of the pipeline 1024 with the solder joint 1026 formed in-between.For example, Fig. 2 H Solder joint 1026 includes the root channel welds layer being internally formed by interior welds system 5004 from pipeline 1022a, 1022b 1014, while passage of heat weld layer 1016, one or more filling channel weld layers 1018 and capping channel layer 1020 are by outer Portion's welding system 7500 is formed outside pipeline 1022a, 1022b.In one embodiment, root channel welds layer 1014 is set Put in the first pipeline 1022a and second pipe 1022b inner chamfer 5228,5232.In one embodiment, the passage of heat Weld layer 1016, one or more filling channel weld layers 1018 and capping channel welds layer 1020 are arranged on the first pipeline In 1022a and second pipe 1022b outer ramp surface 5230,5234.
Fig. 2 I show the sectional view of the pipeline 1024 with the solder joint 1026 formed in-between.For example, Fig. 2 I Solder joint 1026 includes the root channel welds layer formed by outside weldings system 7500 outside pipeline 1022a, 1022b 1014th, passage of heat weld layer 1016, one or more filling channel weld layers 1018 and 1020.In one embodiment, root Portion's channel welds layer 1014, passage of heat weld layer 1016, one or more filling channel weld layers 1018 and the weldering of capping passage Layer 1020 is connect to be arranged in the first pipeline 1022a and second pipe 1022b outer ramp surface 5230,5234.
In one embodiment, can be in the process of weld part inspection process 1008 after the completion of solder joint 1026 Middle inspection solder joint 1026.In one embodiment, weld part inspection process 1008 is in filling and capping channel welds work Performed after sequence 1006.In one embodiment, solder joint 1026 can be cleared up before weld part inspection process 1008. In one embodiment, significant heat can be generated during welding sequence (for example, process 1002,1004 and 1006). In one embodiment, weld part inspection process 1008 is implemented under the operation temperature less than higher welding temperature.At one , can be by inner cooling system 2010 or 6500 (as retouched in detailed below before weld part inspection process 1008 in embodiment State) cooling solder joint 1026.In one embodiment, weld part inspection process 1008 may include to solder joint 1026 Any kind of non-invasive test/inspection.
In one embodiment, weld part inspection process 1008 may include that automatic ultrasonic tests (AUT).In a reality Apply in scheme, the test of the automatic ultrasonic of solder joint 1026 can be used on the bank both with offshore pipelines welding application.One In individual embodiment, AUT is configured in high production environment.In one embodiment, AUT is configured for detecting Welding flaw simultaneously measures its size.
In one embodiment, automatic ultrasonic test passes through AUT beam scanner systems (for example, as shown in Figure 136 A 6801) perform.In one embodiment, AUT beam scanner systems include ultrasonic sensor system.In an embodiment In, AUT beam scanner systems can be portable.In one embodiment, AUT beam scanner systems may also include data acquisition System, the data collecting system are operatively connectable to ultrasonic sensor system.In one embodiment, sonac System may include emitter stage, and the emitter stage is configured to such as ultrasonic signal (for example, wave impulse) being sent to pipeline section 1022a In girth weld 1026 with 1022b and/or in-between.In one embodiment, ultrasonic signal or pulse can be in 1Hz Sent under to 20,000Hz speed.In one embodiment, the frequency of ultrasonic/sonic wave can change to from 0.5MHz 23MHz。
In one embodiment, the ultrasonic signal or pulse sent by emitter stage is configured to from girth weld The border reflection that 1026 density changes.In one embodiment, ultrasonic sensor system may include receiver, the reception Device is configured to receive/detect reflected impulse.In one embodiment, receiver is configured to measure the intensity of reflected impulse And produce the electronic signal proportional to the intensity of reflected impulse.In one embodiment, the hair of ultrasonic sensor system Emitter-base bandgap grading and receiver can have multiple element or component.In one embodiment, the emitter stage of ultrasonic sensor system can quilt Optionally activate so that ultrasonic pulse targets ad-hoc location.
In one embodiment, the scope of automatic ultrasonic test (AUT) may include flight diffraction time (ToFD), phase Bit array (PA), corrosion mapping, and/or complete solder portion examine.In one embodiment, when assessing multiple welding inclined-planes When, it flight diffraction time (ToFD) ultrasonic can be used to examine.
In one embodiment, AUT weld parts inspection process may include that all standing pulse-echo ultrasound weld part is examined. In one embodiment, pulse-echo ultrasound inspection technology uses phased array (PA) probe, is examined with reference to ToFD, to carry For very accurately welding flaw measurement.In one embodiment, weld part is divided into region (the region mirror individually assessed Not), wherein result is pooled in comprehensive Welding Analysis again.In one embodiment, linear and sectoring can provide excellent Different weld part inspection.In one embodiment, ToFD ultrasonics, which are examined, can be used for supplement all standing pulse echo to surpass Sonic soldering socket part is examined.
In yet another embodiment, weld part inspection process 1008 may include that X-ray art is tested.In an embodiment party In case, the test of X-ray art is performed by X-ray art system.In one embodiment, X-ray art system System includes emitter stage, and the emitter stage is configured to X-ray radiation being sent to pipeline section 1022a and 1022b and in-between Girth weld 1026 in.In one embodiment, the intensity of X-ray radiation can by pipeline section 1022a and 1022b and The material decay of girth weld 1026 between it.In one embodiment, X-ray art system includes receiver, The receiver is configured to measure the material of girth weld 1026 through pipeline section 1022a and 1022b and in-between X-ray radiation intensity.
In one embodiment, weld part inspection process 1008 may include that γ and close-range photography art are examined.At one In embodiment, weld part inspection process 1008 may include magnetic powder test (MPI) or Dye penetrant inspection (DPI).In a reality Apply in scheme, weld part inspection process 1008 may include any other non-invasive test (NDT), such as, but not limited to guided wave ultrasound Test, Eddy current test, hardness test, bottom land test (MFL), positive material differentiate, corrode mapping exploration etc..In an embodiment party In case, non-invasive test (NDT) can generally refer to be configured to identify weld part defect without damaging pipeline and/or its it Between any test of weld part for being formed.
With reference to figure 2G, in one embodiment, as discussed above, each pipeline section 1022a, 1022b are included by outer 5244 inside the metallic conduit that portion's protective coating (for example, insulating material) 5246 surrounds.In one embodiment, it is to be welded Pipeline section 1022a, 1022b for connecing end sections 5248 and 5250 make exposure inside metallic conduit.
In one embodiment, after weld part inspection process 1008, external protective coating, which is applied in, returns to weldering Seam 1026.For example, insulator is applied to welded pipe line 1022a, 1022b exposed end part 5248,5250 so that Insulator 5246A is adhered to inside metallic conduit 5244 outer surface 5254 (as shown in Figure 118), so that pipeline 1022a, The end sections 5248,5250 of 1022b previous exposure insulate.
In one embodiment, in order to be advantageous to apply external protective coating or insulator, the He of solder joint 1026 The pipeline section 1022a and 1022b of pipeline 1024 peripheral part are heated to predetermined application temperature.In one embodiment, add Thermal weld pipeline 1022a, 1022b exposed end part 5248,5250.In one embodiment, predetermined application temperature is Apply the temperature required for external protective coating or insulator.In one embodiment, predetermined application temperature is configured to Good bonding between external protective coating or insulator and pipeline 1024 or bonding are provided.
In one embodiment, heating process 1010 performs after weld part inspection process 1008.In an implementation In scheme, sensing preheating process can be used for the welded pipe line that pipeline 1024 is heated when preparing to apply coating material or insulator 1022a, 1022b exposed end part 5248,5250.
In one embodiment, heating process 1010 (is shown by heating system 5304 with reference to figure 115A and Figure 115 B And explain) perform.In one embodiment, heating system may include electric heating system.In one embodiment, heat System may include hyperfrequency (UHF) induction coil, and the hyperfrequency induction coil is configured to the welded pipe line of pipeline 1024 1022a, 1022b exposed end part 5248,5250 are heated rapidly to required application temperature.In an embodiment In, heating system is also configured to adjust welded pipe line 1022a, 1022b of pipeline 1024 exposed end part 5248,5250 Temperature to maintain suitable coating to apply temperature.In one embodiment, heating system may include：Heat reponse system, It is configured to enable heating system to realize and maintains required application temperature；And temperature sensor, it operatively joins It is connected to reponse system.In one embodiment, temperature sensor can be contact or non-contact temperature sensor.In a reality Apply in scheme, heating reponse system may include one or more sensors, and one or more of sensors are configured to sense Other specification-heat time of heating process etc..
In one embodiment, coating process 1012 is immediately performed after heating process 1010.In an embodiment party In case, coating process 1012 performs in the coating canopy (that is, constructively similar with welding canopy) with coating head, the painting Cover head and be constructed and arranged and insulator/coating/epoxy resin composition application/is sprayed/provided the weldering of pipeline 1024 Adapter road 1022a, 1022b exposed end part 5248,5250.In one embodiment, head is coated less than one point Coating process is completed in clock.In one embodiment, coating head completed to coat process in 50 seconds.
In one embodiment, insulator/coating be applied to the heating of welded pipe line exposed end part 5248, 5250 so that insulator/coating 5246A is adhered to the outer surface 5254 inside metallic conduit (as shown in Figure 118), so that The end sections 5248,5250 of pipeline 1022a, 1022b previous exposure insulate.
In one embodiment, coating be applied to pipeline section 1022a and 1022b around the outside of solder joint 1026 Surface or region are to provide insulation barrier, to prevent the corrosion at welding region or to minimize the corrosion.
In one embodiment, coating may include polypropylene coating.In one embodiment, coating may include poly- second Ene coatings.In one embodiment, coating may include polyurethane coating.In one embodiment, coating may include to insulate (for example, heat loss) coating.In one embodiment, coating may include erosion shield.In one embodiment, coating It may include abrasion-resistant coatings.In one embodiment, coating may include fusion-bonded epoxy (FBE).In an embodiment In, coating may include polypropylene (CMPP) or polyethylene (CMPE) the Shuan Fen basic units of fusion-bonded epoxy (FBE) plus chemical modification. In one embodiment, the polypropylene (CMPP) of chemical modification or polyethylene (CMPE) layer then followed by polypropylene (PP) or Polyethylene (PE) band.In one embodiment, coating may include multicomponent liquid coating (MCL) (for example, being based on amino first The MCL coatings of acid esters and epoxy resin).In one embodiment, coating may include live seam coating (field joint coating)(FJC)。
In one embodiment, coating may include to be molded polypropylene.In this embodiment, pipeline 1024 is preheated To 180 DEG C of temperature to receive injection polypropylene coating.
In one embodiment, automation equipment can be used for applying coating material at solder joint 1026.At one In embodiment, coating delivery system may include as with reference to shown in figure 117A and Figure 117 B and be described in detail injection coat system System.In one embodiment, coating delivery system may include flame-spraying system.In one embodiment, insulant/painting The usable spray nozzle device of layer is applied to the exposed region of solder joint.In one embodiment, spray nozzle device be configured to by Insulating materials is sprayed at the welding region on the exposed region of pipeline.In one embodiment, spray nozzle device reference chart 116A-116B shows and described.
In one embodiment, abrasive blasting process can be used for making pipeline 1024 prepare to be used to be coated.In an implementation In scheme, abrasive blasting process can perform before heating process 1010.In one embodiment, pipeline welded joint is aoxidized to carry out Blasting treatment is to remove all pollutants.
In one embodiment, application system may include：Reponse system is coated, it is configured to enable application system Desired coating is realized on pipeline 1024；With one or more sensors, it is operatively connectable to coat reponse system. In one embodiment, one or more sensors are configured to sense following parameter-heat time of coating process, heating temperature Degree, coating material temperature, coating material volume etc..
In one embodiment, method 1000 may include other processes not shown in figure ia.In an embodiment party In case, these other processes of method 1000 show and explained with reference to figure 1B in fig. ib.
In one embodiment, method 1000 may include pipeline preparatory process 1040, pipe alignment process 1042, optionally Weld part inspection process 1044, reparing process 1046, refrigerating work procedure 1048 and pipeline deployment process 1050.In a reality Apply in scheme, in these processes is each optional.
In one embodiment, pipeline preparatory process 1040 performs before root channel welds process 1002.One In individual embodiment, pipeline preparatory process 1040 performs before pipe alignment process 1042.
In one embodiment, pipeline preparatory process 1040 may include cutting action 1040a.In an embodiment In, cutting action 1040a is performed for making pipeline section 1022a, 1022b edge or end sections prepare to be used to be welded. In one embodiment, during cutting action 1040a, the pipeline section 1022a and 1022b to be welded being connected together is cut Into desired size.In one embodiment, cutting action 1040a can perform in the opening position of manufacturer.
In one embodiment, methods described may include stringing process, and wherein pipeline is allocated according to planned design (before pipe link/welding sequence).In one embodiment, each seam of pipeline section has specifically in pipeline Side.Stringing personnel ensure that every pipeline is placed on the opening position belonging to it.Inspector checks the specified numbering of pipeline, to ensure to connect It is sewn in correct order.
In one embodiment, methods described may include bending operation, and wherein pipe bending is to be adapted to line corridor Pattern.In one embodiment, pipeline is inserted into bending machine, and mandrel is then positioned in pipeline.Mandrel is constructed And arrange to apply pressure in insides of pipes to prevent flexing occur in bending.Operating personnel's targeted duct is simultaneously bent. Pipeline removes from bending machine after being bent.After bending operation, every pipeline is set in position.
In one embodiment, pipeline preparatory process 1040 may include to chamfer process 1040b.In an embodiment In, beveling process 1040b is executed for making pipeline section 1022a and 1022b edge or end sections prepare to be used to weld.One In individual embodiment, during process 1040b is chamfer, the pipe section being connected together or pipeline section 1022a and 1022b to be welded End sections be chamfered to desired size.In one embodiment, desired inclined-plane can be machined into pipeline section 1022 In end sections.In one embodiment, pipeline butt machine inserts in the duct and anchors to pipeline (by raising it Internal jigging braking hoop).In one embodiment, beveling process 1040b can take 10 seconds.In one embodiment, grasp The inclined-plane meter 5801 shown in Fig. 2 C-2F can be used to manually review the inclined-plane to be formed as personnel.Fig. 2 C-2E are shown respectively Front view, perspective view and the side view of inclined-plane meter 5801, while Fig. 2 F show the detailed view of the details A in Fig. 2 C. In one embodiment, beveling process 1040a, 1040b can perform in the opening position of manufacturer.
In one embodiment, the standard inclined plane depth of the Site Welding carried out from insides of pipes is .050 inches. In one embodiment, bead is about 3 millimeters of height so that bead projects from the surface 0.05 to 0.07 inch.In order to manufacture two Weld pass (for example, root channel welds and the passage of heat welding), in one embodiment, inclined-plane it is cleavable into 0.150 to 0.170 inch of depth.
In one embodiment, pipe alignment process 1042 performs before root channel welds process 1002.One In individual embodiment, pipe alignment process 1042 is held between pipeline preparatory process 1040 and root channel welds process 1002 OK.In one embodiment, preheating process can perform before welding sequence (that is, root channel welds process) that will manage Road is heated to more than 100 DEG C, to evaporate all moisture from pipe surface.
In one embodiment, with reference to figure 2G, pipe alignment process 1042 may include the second of the first pipeline 1022b Second pipe 1022a is provided at the 1038b of end, and by the first pipeline 1022a and second pipe 1022b to be welded end 1038a, 1038b align.In one embodiment, interior welds system 5004 may include reponse system (for example, using inspection Detector 5056, one or more processors 5140, orientation motor 5030,5074, outside support 5330,6010A, 6010B, Internal jigging 5144,5144,7050,7052, as explained in detail below), its be configured to sense the first pipeline 1022a and Whether second pipe 1022b end 1038a, 1038b suitably aligns.Term " motor " as used herein broadly refers to For any kind of electromechanical motor, only for citing, such as motor, fluid pressure motor, pneumatic motor.
In one embodiment, optional weld part inspection process 1044 can be in passage of heat welding sequence 1004 and filling Performed between cover welding process 1006.In one embodiment, optional weld part inspection process 1044 may include that X is penetrated Line photography is examined.In one embodiment, X-ray art upchecks X-ray art system to perform.At one In embodiment, X-ray art system includes emitter stage, and the emitter stage is configured to radiation, x-ray being sent to pipeline section In 1022a and 1022b and the root channel welds layer and passage of heat weld layer that are formed in-between.In an embodiment In, the intensity of X-ray radiation can be by pipeline section 1022a and 1022b and the He of the root formed in-between channel welds layer 1014 The material decay of passage of heat weld layer 1016.In one embodiment, X-ray art system includes receiver, described to connect Receive device and be configured to measurement through pipeline section 1022a and 1022b and the root channel welds layer 1014 formed in-between and heat The intensity of the radiation, x-ray of the material of channel welds layer 1016.In another embodiment, weld part inspection process 1044 can Examined including γ and close-range photography art.
In one embodiment, reparing process 1046 is after weld part inspection process 1008 and in heating process 1010 perform before with coating process 1012.In one embodiment, reparing process 1046 is configured to repair in weld part Any weld part defect detected during inspection process 1008.
It is referred to herein go out weld part reparing process can be one kind in all kinds.In one embodiment, exist Other welding is performed on the top of previous weld part to operate to repair any weld part defect.In another embodiment, Implement it is any it is follow-up repair welding operation before, can polish or optionally cut away (manually or automatically) deficiency completely Weld part.
In one embodiment, after heating process 1010 and coating process 1012, pipeline 1024 is made to be cooled to conjunction Suitable temperature, step can be further processed afterwards (for example, other a certain suitable positions in water or on land afterwards Put the pipeline section or processing/placement pipeline section of place's winding connection).In one embodiment, refrigerating work procedure 1048 is in coating process Performed after 1012.In one embodiment, refrigerating work procedure 1048 by cooling system 2010,2110,2210,6500 (such as Shown in Figure 104-112B and Figure 119-136 and with reference to figure 104-112B and Figure 119-136 description) perform, the cooling system System 2010,2110,2210,6500 is configured to remove heat from welded pipe line, so as to which its temperature is reduced to for active volume Around acceptable temperature.For example, pipeline should be less than predetermined temperature (for example, 50 to 70 DEG C) to implement rolling step, the laying of S types Process etc..In one embodiment, cooling system can be configured to out of the cooling of the inner side of pipeline 1024 welded pipe line Portion's cooling system.
In one embodiment, welded pipe line can be also made to carry out air cooling with the time.In one embodiment, weld Adapter road can spray or pour water filling to cool down on the outside by insulant/coating on pipeline.In one embodiment, Water sprays or cast process can be implemented in one or more platforms.
In one embodiment, refrigerating work procedure 1048 is performed for example to connect for barge welding sequence, spool base Head welding sequence (spool base Tie-in welding procedure) and spool base main line welding sequence. In one embodiment, main line welding sequence and weld process can not have single refrigerating work procedure on the bank on the bank.
In one embodiment, pipeline is disposed/transferred process 1050 and performed after process 1012 is coated.In a reality Apply in scheme, pipeline is disposed/transferred process 1050 and performed after refrigerating work procedure 1048.
In one embodiment, pipeline deployment process 1050 may include that rolling step 1050a, S type lay process 1050b or pipeline decentralization process 1050c.
In one embodiment, rolling step 1050a is configured to pipeline being wound up on ship, and the ship will manage Line transports its final destination or position.In one embodiment, pipeline should be less than predetermined temperature (for example, 50 to 70 DEG C) To implement rolling step 1050a.In one embodiment, predetermined temperature (for example, 50 to 70 DEG C) is configured to avoid rolling up Any damage during process 1050a.
In one embodiment, S types laying process is the offshore pipeline paving that pipeline is transferred to during sea is horizontal If process.In one embodiment, during S types laying process 1050b, pipeline pushed away from ship with sigmoid curve End.In one embodiment, pipeline should be less than predetermined temperature (for example, 50 to 70 DEG C) to implement S types laying process 1050b.In one embodiment, predetermined temperature (for example, 50 to 70 DEG C) is configured to avoid in S types laying process 1050b During any damage.
Rolling step, S types laying process and J-type laying process are described in detail with reference to figure 136B-E.
In one embodiment, pipeline decentralization process 1050c is configured to locating pipeling/transfer to what is excavated in advance In irrigation canals and ditches.
In one embodiment, pipeline welding situation/situation can be categorized into five kinds of classifications, i.e. main line Welder on the bank Sequence, on the bank weld process, spool base main line welding sequence, spool base weld process and barge weldering Connect process.
On the bank main line welding sequence figure 3 illustrates.On the bank main line welding sequence generally at ground level and with pipe The adjacent execution of the irrigation canals and ditches excavated in advance that line is disposed therein.In one embodiment, on the bank pipeline with such as up to 1 mile Long part welds together.The welding bench welded on the bank is located adjacent one another.On the bank before the welding of welding process process and welding after The ivory-towered welding sequence of process is in itself so that process can be carried out by the speed of their own before welding and after welding.In pipeline Section weld together after, they are delegated in the irrigation canals and ditches excavated in advance.
On the bank weld process figure 4 illustrates.Weld process generally carries what pipeline was disposed therein on the bank Carried out in the irrigation canals and ditches of preceding excavation.That is, part or section are cut into certain length and are welded in the irrigation canals and ditches excavated in advance Together.
Spool base main line welding sequence figure 5 illustrates.Spool base main line welding sequence is generally in similar work Performed in the setting of factory.The all process steps of spool base main line welding sequence in the setting of similar factory and are coordinating Assembly line during occur.For example, pipeline is welded along front, examined and applied coated with formation pipe rod (pipe Stalk) (for example, 7 kms are grown sometimes).Pipe rod is stored, until they can be wound up on ship for transporting Its final destination.That is, when ship/barge is away from spool base, welded pipe line is stored with long part.Pipe rod is in barge On be wound on big spool (be typically J-type laying) and when barge arrives at job position by unwinding.
Spool base weld process figure 6 illustrates.Spool base weld process is used in group in advance The line segments or section of dress are coupled to together when being wound up on ship/ship, and the ship/ship generally transports pipeline It is defeated to arrive its final position.Limitation winding speed is the cooling for coating this seam carried out afterwards.Spool base weld All process steps performed at same.
Barge welding sequence figure 7 illustrates.Similar factory of the barge welding sequence generally on the ship of floating is loaded in Setting in perform.The all process steps of barge welding sequence are generally in the setting of similar factory and in the assembly line mistake of cooperation Performed in journey.As pipeline leaves ship, pipeline is deployed in its final position.
It is each with the one or more welding sequences described with reference to figure 1A and Figure 1B in these pipeline welding situations. The one or more systems described in this patent application are (for example, interior welds system 5004, joint interior welds system 3001st, purging and checking system 7001, outside weldings system 7500 and inner cooling system 2010) it can be used for these pipelines In the operational sequence of welding situation.
For example, with reference to figure 3, main line welding sequence is started with pipeline preparatory process on the bank, in the pipeline preparatory process, The friendly inclined-plane of automatic welding is machined into each end of pipeline.This can pass through the work at relatively short distance before welding personnel The previous personnel made are carried out.After pipeline preparatory process, root channel welds process is performed.In one embodiment, Root channel welds process can be performed by interior welds system 5004.In another embodiment, root channel welds Process can be used positioned internal fixture 7050,7052, performed by outside weldings system 7500.In root channel welds work After sequence, passage of heat welding sequence is performed.Passage of heat welding sequence by outside weldings system or can pass through interior welds system 5004 perform.
In one embodiment, passage of heat welding sequence and root channel welds process both of which pass through interior welds system System 5004 performs.In another embodiment, only channel welds process in root is performed by interior welds system 5004, Passage of heat welding procedure is performed by outside weldings system 7500 simultaneously.
In one embodiment, filling and capping channel welds process perform after passage of heat welding sequence.One In individual embodiment, filling and capping channel welds process can be performed by outside weldings system 7500.In an embodiment party In case, filling and capping channel welds process can perform at multiple.
Filling with after capping channel welds process, performing weld part inspection process.For example, ultrasonic examination, x-ray are taken the photograph Shadow art is examined or magnetic test can be used for examining welding region.Any weld part detected during weld part inspection process lacks It is trapped in during weld part reparing process and is repaired.Welded pipe line is coated with fusion-bonded epoxy coating.Fusion-bonded epoxy Coating is applied to (heating) the exposed end part of welded pipe line so that fusion-bonded epoxy coating is adhered to inside pipeline Outer surface.Coating process can be carried out by the autonomous personnel to be worked after reparation personnel.Then pipeline is transferred to and carried In the irrigation canals and ditches of preceding excavation.Pipeline decentralization process can be carried out by the autonomous personnel to be worked after coating personnel.
With reference to figure 4, weld process is started with pipeline preparatory process on the bank.Accurate duct length is pre- unknown before this , so overlapping be designed into weld process on the bank.Once pipeline is in irrigation canals and ditches, a pipeline is to cut into just True length and desired inclined-plane is machined into the end of pipeline.After pipeline preparatory process, the weldering of root passage is performed Connect process.
In one embodiment, channel welds process in root can be performed by joint interior welds system 3001. In another embodiment, root channel welds process can be held by joint clamp system, using outside weldings system 7500 OK.In another embodiment, the outside fixture positioned can be used in channel welds process in root, manually welding machine is held OK.
After the channel welds process of root, passage of heat welding sequence is performed.In one embodiment, the passage of heat is welded Process can be performed by joint interior welds system 3001.In another embodiment, passage of heat welding sequence can pass through Outside weldings system 7500 performs.In another embodiment, passage of heat welding sequence manually welding machine can perform.
In one embodiment, passage of heat welding sequence and root channel welds process both of which pass through joint internal welding Welding system 3001 performs.In another embodiment, only channel welds process in root passes through joint interior welds system 3001 are performed, while passage of heat welding sequence performed by outside weldings system 7500.
Filling and capping channel welds process perform after passage of heat welding sequence.In one embodiment, fill It can be performed with capping channel welds process by outside weldings system 7500.In another embodiment, filling and capping Channel welds processes manually welding machine can perform.Filling and capping channel welds process are carried out from pipeline external.Filling After capping channel welds process, weld part inspection process is performed.For example, ultrasonic examination, x-ray photography are examined or magnetic inspection Test and can be used for examining welding region.Weld part inspection process is carried out by the autonomous personnel to be worked after welding personnel. Any weld part defect detected during weld part inspection process is repaired during weld part reparing process.Repair Process is performed by the autonomous personnel to be worked after reviewer.Welded pipe line is coated with fusion-bonded epoxy coating.It is molten Knot epoxy coating is applied to (heating) the exposed end part of welded pipe line so that fusion-bonded epoxy coating bonds Outer surface inside to pipeline.Coating process can be carried out by the autonomous personnel to be worked after reparation personnel.
With reference to figure 5, spool base main line welding sequence is started with pipeline preparatory process, in the pipeline preparatory process In, appropriate inclined-plane is machined into the end of pipeline.After pipeline preparatory process, root channel welds process is performed. In one embodiment, root channel welds process can be performed by interior welds system 5004.In another embodiment In, root channel welds process can be performed by purging and checking system 7001, using outside weldings system 7500.Another In individual embodiment, root channel welds process can be performed by Internal jigging, using outside weldings system.
After the channel welds process of root, passage of heat welding sequence is performed.In one embodiment, the passage of heat is welded Process can be performed by interior welds system 5004.In another embodiment, passage of heat welding sequence can pass through outside Welding system 7500 performs.
In one embodiment, passage of heat welding sequence and root channel welds process both of which pass through interior welds system System 5004 performs.In another embodiment, only channel welds process in root is performed by interior welds system 5004, Passage of heat welding sequence is performed by outside weldings system 7500 simultaneously.In yet another embodiment, root channel welds work Sequence is performed using internal sweep fixture 7001 by outside weldings system 7500, while passage of heat welding sequence is welded by outside Welding system 7500 performs.
X-ray art weld part inspection process performs after passage of heat welding sequence.X-ray art weld part is examined It is optional to test process.
Filling and capping channel welds process are after passage of heat welding sequence and X-ray art weld part inspection process Perform.In one embodiment, filling and capping channel welds process can be performed by outside weldings system.In a reality Apply in scheme, filling and capping channel welds process can perform at multiple.
Filling and after capping channel welds process, performing weld part inspection process to perform the welding to solder joint Examine in portion.For example, ultrasonic examination, x-ray photography are examined or magnetic test can be used for examining welding region.In weld part inspection man Any weld part defect detected in program process is repaired during weld part reparing process.Welded pipe line is coated with note Mould polypropylene coating.Injection polypropylene coating is applied to (being preheated to 180 DEG C) exposed end part of welded pipe line, makes The outer surface that polypropylene coating is adhered to inside pipeline must be molded.Refrigerating work procedure performs after process is coated.Pipeline can be made Air cooling is carried out with the time.
With reference to figure 6, spool base weld process is started with pipeline preparatory process, in the pipeline preparatory process In, appropriate inclined-plane is machined into the end of pipeline.After pipeline preparatory process, root channel welds process is performed. In one embodiment, root channel welds process can be performed by joint interior welds system 3001.In another implementation In scheme, root channel welds process can be by purging chucking appliance system 7001, be performed using outside weldings system 7500.Another In one embodiment, root channel welds process can be performed by Internal jigging, using outside weldings system.
After the channel welds process of root, passage of heat welding sequence is performed.In one embodiment, the passage of heat is welded Process can be performed by joint interior welds system 3001.In another embodiment, passage of heat welding sequence can pass through Outside weldings systems performs.
In one embodiment, passage of heat welding sequence and root channel welds process both of which pass through joint internal welding Welding system 3001 performs.In another embodiment, only channel welds process in root passes through joint interior welds system 3001 perform.
X-ray art weld part inspection process performs after passage of heat welding sequence.X-ray art weld part is examined It is optional to test process.
Filling and capping channel welds process perform after passage of heat welding sequence.In one embodiment, fill It can be performed with capping channel welds process by outside weldings system.In one embodiment, filling and the weldering of capping passage Connecing process can perform at multiple.
Filling and after capping channel welds process, performing weld part inspection process to perform the welding to solder joint Examine in portion.For example, ultrasonic examination, x-ray photography are examined or magnetic test can be used for examining welding region.In weld part inspection man Any weld part defect detected in program process is repaired during weld part reparing process.Welded pipe line is coated with note Mould polypropylene coating.Injection polypropylene coating is applied to (being preheated to 180 DEG C) exposed end part of welded pipe line, makes The outer surface that polypropylene coating is adhered to inside pipeline must be molded.Refrigerating work procedure performs after process is coated.In a reality Apply in scheme, pipeline can be cooled down by the outer surface upper or spraying water in insulant.In another embodiment, Pipeline can be cooled down by inner cooling system.In one embodiment, pipeline can be wound up into ship after refrigerating work procedure On.In one embodiment, pipeline should be less than the temperature between 50 and 70 DEG C during rolling step, to avoid winding Any damage during process.In one embodiment, all process steps of spool base weld order can be same One opening position occurs.
With reference to figure 7, barge welding sequence is started with pipeline preparatory process, and in the pipeline preparatory process, appropriate is oblique Face is machined into the end of pipeline.After pipeline preparatory process, root channel welds process is performed.In an embodiment In, root channel welds process can be performed by interior welds system 5004.In another embodiment, root passage welds Connect process can be by purging chucking appliance system 7001, be performed using outside weldings system 7500.In another embodiment, root Portion's channel welds process can be performed by Internal jigging, using outside weldings system 7500.
After the channel welds process of root, passage of heat welding sequence is performed.In one embodiment, in root passage After welding sequence is completed, pipeline proceeds to passage of heat welding sequence.In one embodiment, passage of heat welding sequence can lead to Interior welds system 5004 is crossed to perform.In another embodiment, passage of heat welding sequence can pass through outside weldings system To perform.
In one embodiment, passage of heat welding sequence and root channel welds process both of which pass through interior welds system System 5004 performs.In another embodiment, only channel welds process in root is performed by interior welds system 5004. X-ray art weld part inspection process performs after passage of heat welding sequence.X-ray art weld part inspection process is Optional.
Filling and capping channel welds process are after passage of heat welding sequence and X-ray art weld part inspection process Perform.In one embodiment, filling and capping channel welds process can be performed by outside weldings system.In a reality Apply in scheme, filling and capping channel welds process can perform at multiple.
Examined filling and after capping channel welds process, performing weld part inspection process with performing weld part.For example, Ultrasonic examination, x-ray photography are examined or magnetic test can be used for examining welding region.Detected during weld part inspection process To any weld part defect repaired during weld part reparing process.Welded pipe line applies coated with injection polypropylene Layer.Injection polypropylene coating is applied to (being preheated to 180 DEG C) exposed end part of welded pipe line so that injection poly- third Ene coatings are adhered to the outer surface inside pipeline.Refrigerating work procedure performs after process is coated.In one embodiment, manage Road can be cooled down by the outer surface upper or spraying water in insulant.In one embodiment, refrigerating work procedure can be Performed at multiple.In another embodiment, pipeline can be cooled down by inner cooling system.In an embodiment In, pipeline can configure the end for pusheding away from ship with S-shaped.In one embodiment, pipeline should in S types lay process Less than the temperature between 50 and 70 DEG C, to avoid any damage in S types laying process.
In one embodiment, there is provided for welding two pipelines 1022a, 1022b fielded system 5000.As herein Term " fielded system " used is general term, and it refers to for the system and/or son disclosed herein as entirety System in itself in any one.Only for citing, " fielded system " may refer to internal inspection system, outside welding machine, internal pipeline Cooler and ultrasound non-invasive test system are together with long-range uLog processing systems (for example, remote computer system 13704) Combination.In another example, " fielded system " may refer to such as only interior welds system, only internal inspection system, only interior Portion's cooling system, only joint welding machine.That is, " fielded system " may refer to such as only interior welds system 5004, only internal inspection system System 7001, only inner cooling system 6500, only joint welding machine 3001.
As shown in Fig. 8, Fig. 9, Figure 10-1, Figure 10-2 and Figure 10-3, in one embodiment, each pipeline section 1022a or 1022b has the longitudinal axis as shown in arrow A-A.Such as it will be apparent according to following discussion, fielded system 5000 is configured To support multiple pipeline section 1022a, 1022b and adjust its position and/or orientation, until pipeline section 1022a, 1022b are aligned to Only so that its longitudinal axis A-A be conllinear and pipeline section 1022a, 1022b in an each end at junction surface edge Place's adjoining.Fig. 9 shows that edge forms putting for the Fig. 8 of pipeline junction surface 5002 (also known as " assembling " seam) fielded system 5000 Big detailed view.In one embodiment, fielded system 5000 includes interior welds system 5004, the interior welds system The 5004 laterally inside application welding at junction surface 5002 out of assembling pipeline section 1022a, 1022b.In order to the inside of seam 5002 Apply welding, interior welds system 5004 is rolled in the end of one in pipeline section 1022b, as shown in Figure 10-1.Then put Put and regulate and control the second pipeline section 1022a, untill pipeline section 1022a, 1022b both of which is satisfactorily alignd.In an embodiment In, interior welds system 5004 lateral pipeline section 1022a, 1022b face or edge joint out of pipeline section 1022a, 1022b apply weldering Connect (for example, gas metal arc welding " GMAW ") and apply and be welded to by two pipeline sections 1022a, 1022b inclined-plane In the v-shaped opening (other section shapes in addition to v-shaped opening can also be used) that change/chamfered edge is formed.
Fig. 9 A show to show the welding torch 5502 of interior welds system 5004 and internal ramp surface 5228 and 5232 The partial sectional view of the pipeline 1024 of desired alignment (along pipeline 1022a, 1022b longitudinal axis A-A).In shown implementation In scheme, pipeline 1022a, 1022b ideally align and without any mismatch (that is, pipelines after pipe alignment each other Difference in height between 1022a, 1022b bevel edge).
In one embodiment, fielded system 5000 may include to be used to be clipped in one from outside (in pipeline external) by pipeline The outer clamp 5302 risen.In one embodiment, outer clamp 5302 have can across the bar of solder joint and welding Manually carry out.In one embodiment, outer clamp 5302 can be operated with hydraulic way, or mechanically operate (example Such as, using handle).For example, in one embodiment, outer clamp 5302 can be tipton as shown in figures 7 a and 7b Fixture.
In one embodiment, interior welds system 5004 is connected to outside by umbilical cables 5034 (as shown in Figure 10-1) Portion's structure/system (that is, welding pipeline 1022a, 1022b outside).In one embodiment, external system is long-range ULog processing systems.In one embodiment, umbilical cables 5034 can be it is long between 40 and 80 feet (for example, for 40 or 80 feet of long pipelines).In one embodiment, umbilical cables 5034 may refer to as pull bar.In one embodiment, draw Bar/umbilical cables 5034 are solidly associable to interior welds system 5004.That is, pull bar/umbilical cables 5034 are interior welds systems 5004 permanent part.In one embodiment, umbilical cables 5034 include protection cable, wiring and flexible pipe (for example, connection is outer Portion's structure/system and interior welds system 5004) in whole structure tubular element against damages.
In one embodiment, when interior welds system 5004 advances to next pipe from pipeline (welding) seam During road (welding) seam, umbilical cables 5034 disconnect at cut-off point DP (as shown in Figure 10-2) place.This disconnection be advantageous to it is new/introduce Pipeline section 1022a is placed in position relative to the first pipeline 1022b.Figure 10-2 is shown in the end of pull bar/umbilical cables 5034 Cable, flexible pipe and the wiring (for example, connection external structure/system and interior welds system 5004) at place disconnect, and new/draw Enter pipeline section 1022a to place in position relative to the first pipeline 1022b.
As shown in Figure 10-3, in one embodiment, placed introducing pipeline 1002a relative to the first pipeline 1002b After in position, umbilical cables 5034 can protrude/extend distance HD from pipeline 1002a is introduced.In one embodiment, Umbilical cables 5034 can be from the distance HD that introducing pipeline 1002a is protruded/extended between 1 and 5 foot.
Umbilical cables 5034 are generally used for transmitting fluid (compression between external structure/system and interior welds system 5004 Air), send electric signal and/or send signal of communication.In one embodiment, joint interior welds system 3001 does not include Pull bar or umbilical cables.
For example, umbilical cables 5034 may include weld power line, the weld power line is configured to electric power delivery to weldering Connect welding torch.In one embodiment, umbilical cables 5034 include three weld power lines, with independently by electric power delivery to inside Three associated welding torch in welding system 5004.In one embodiment, the weld power in umbilical cables 5034 The quantity of line can change and depending on the quantity of the welding torch in interior welds system 5004.
In one embodiment, umbilical cables 5034 may include order wire, and the order wire is configured to detect with examining Device 5056, video camera 5112, and/or other electronic modules of interior welds system 5004 are examined (for example, for starting or stopping Welding) communication.In one embodiment, can wirelessly perform with interior welds system 5004 (including with examine detector 5056th, with examining video camera 5112, and/or other electronic modules with interior welds system 5004) communication.It should be understood that In the case that multiple welding torch are provided, multiple inspection detector/lasers 5056 are may also provide.
In one embodiment, umbilical cables 5034 may include fluid communication line, the fluid communication line be configured to by Compressed air is fed to interior welds system 5004.In one embodiment, umbilical cables 5034 may include another (individually ) power line, the power line is configured to electric power delivery to battery 5116 to be recharged to it.In an embodiment party In case, the single power line recharged to battery 5116 is optional.In one embodiment, umbilical cables 5034 can Including single power line, the power line is configured to the one or more electricity of electric power delivery to interior welds system 5004 Submodule and/or motor.In another embodiment, this single power line is optional.
In one embodiment, interior welds system 5004 is used for 26 to 28 inches of internal diameter, with 0 to 1 English The pipeline of writing brush wall thickness.Therefore, interior welds system 5004 is configured to fit in the hole between 24 and 28 inches.One In individual embodiment, interior welds system 5004 is used for the internal diameter with 24 inches or smaller, the thickness of pipe wall with 0 to 1 inch The pipeline of degree.In one embodiment, interior welds system 5004 is used for the pipeline with 24 inches or smaller of external diameter. In one embodiment, interior welds system 5004 is used for the pipeline with 26 to 28 inches of external diameter.
Figure 10 A show to construct, be sized and be positioned at the internal diameter with 26 inches, the pipe with 1 inch of pipe thickness Interior welds system 5004 in road.For example, in one embodiment, for the internal diameter with 26 inches (with 1 inch pipe Wall thickness) pipeline, the external diameter of the frame structure of interior welds system 5004 is 23.32 inches.For example, for 26 inch inner diameters Pipeline (there is 1 inch of pipe thickness), the external diameter of the frame structure (not including its wheel) of interior welds system 5004 is 23.32 inches.
Figure 10 B show to construct, be sized and be positioned at the internal diameter with 24 inches, the pipe with 1 inch of pipe thickness Interior welds system 5004 in road.For example, in one embodiment, for the internal diameter with 24 inches (with 1 inch pipe Wall thickness) pipeline, the external diameter of the frame structure of interior welds system 5004 is 21.32 inches.For example, for 24 inch inner diameters Pipeline, the external diameter of the frame structure (not including its wheel) of interior welds system 5004 is 21.32 inches.
In one embodiment, the diameter of the framework of interior welds system 5004 can be interior welds system and compatibly lead to The function of piping bending section.In one embodiment, the standard minimum bending radius of pipeline is 30 times of D, and wherein D is pipe The external diameter or outer dia in road.That is, the radius of pipe centerline be pipeline outer dia or 30 times of external diameter.For example, for The pipeline of 26 " outer dias or external diameter, interior welds system 5004 need the minimum bending radius traversed be 780 inches (i.e., (26 inches) x 30).For example, for 24 " outer dias or the pipeline of external diameter, interior welds system 5004 needs the minimum traversed Bending radius is 720 inches (that is, (24 inches) x 30).In one embodiment, the framework structure of interior welds system 5004 Make longer, it must just become narrower.
In one embodiment, as shown in Figure 10 C and Figure 10 D, fielded system 5000 may include to be used to carry and movement First pipeline 1022a and second pipe 1022b support 5330.In one embodiment, including support 5330 is configured to The frame assemblage of portion's welding system 5004 be positioned at the first pipeline 1022b the second end 1038b after by second pipe 1022a is provided at the first pipeline 1022b the second end.In one embodiment, support 5330 may refer to as to quasi-mode Block (Line Up Module) (LUM).
In one embodiment, it is understood that there may be more support as supporting pipeline 1022a, 1022b required.Example Such as, if pipeline 1022a or 1022b is smaller and be flexible, it there may be the length along pipeline 1022a or 1022b Up to four supports at interval.If pipeline 1022a or 1022b is larger and is rigid, there may be along pipeline As little as two supports of 1022a or 1022b length.
In one embodiment, two supports can be used for carrying and movement pipeline so that each support is positioned at pipeline End.In one embodiment, three supports can be used for carrying and movement pipeline so that two supports are positioned at pipeline End and a support be positioned at the central portion office of pipeline.In one embodiment, the support quilt of centrally-located Configuration supports to simply provide and is not configured to carry out joint motions.In one embodiment, for introducing pipeline 1022a support 5330 can all be configured as activatable, to carry, mobile introduce pipeline 1022a and be provided (internally the frame assemblage of welding system 5004 is positioned at the first pipeline 1022b at the first pipeline 1022b the second end The second end at after), and outline data determines to need to make introducing pipeline 1022a right again in the event that adjusts before welding Together.
In one embodiment, support 5330 may include one group of actuation roller 5332 outside pipeline 1022a, 1022b. In one embodiment, the roller 5332 of support 5330 may refer to as outer rotatable component.In one embodiment, first Pipeline 1022a and/or second pipe 1022b outer surface 5346 and/or 5348 (as shown in Figure 2 G) is by outer rotatable structure Part 5332 movably engages, be advantageous to based on the instruction adjustment pipeline 1022a from one or more processors 5140, 1022b relative positioning.
In one embodiment, support 5330 includes：Fixed frame 5334, it is configured to be fixedly connected to surface (for example, ground)；First movable framework 5336, its be configured as it is moveable so that pipe level position；And second Movable framework 5338, it is configured as moveable so that pipeline vertically positions.
In one embodiment, support 5330 can be operated with hydraulic way.For example, it is positioned at the side of support 5330 Hydraulic cylinder 5340 on side can be configured to move the second movable framework 5338.In one embodiment, it is positioned at branch The hydraulic cylinder 5342 of the lower section of frame 5330 can be configured to move the first movable framework 5336.In one embodiment, prop up The motion of frame 5330 (two ends for being positioned at pipeline) can coordinate to adjust pipeline 1022a or 1022b in all three sides The linear movement of (top to bottom, left and right, front and rear) upwards, and adjust pipeline 1022a or 1022b in the two directions (pitching, partially Turn)) angled movement.
In one embodiment, support 5330 is operatively associated with one or more processors 5140.At one In embodiment, support 5330 is connected to one or more processors 5140 wirelessly or with wired connection so that is welding Front profile data are determined in the event that needs adjust, based on welding front profile data point reuse hydraulic cylinder 5340 and 5342 so as to introduce Pipeline 1022a is moved and alignd again.In one embodiment, the roller 5332 of outside positioning be operatively connected to one or Multiple processors 5140 and can by the first movable framework 5336 and/or second by one or more of processors 5140 Mobility framework 5338 controls.
In one embodiment, support 5300 can be operated electrically.For example, Figure 73 is shown electrically The support 6010A and 6010B operated.In one embodiment, support 6010A and 6010B roller can be driven by motor It is dynamic so that pipeline 1022a or 1022b linearly and/or are angularly displaced from.In one embodiment, support 6010A and 6010B may include motor, is connected to the motor operation and realizes the first movable framework and/or the second removable frame The driving screw arrangement of the movement of frame.
In general, when making pipe alignment for welding sequence, it is understood that there may be two kinds of pipe alignment mistakes, such as angle Spend pipe alignment mistake and position pipeline alignment errors.As shown in figure 10e, between angular alignment mistake causes on pipeline side Gap 5344.As shown in figure 10f, aligned in position mistake causes relative mismatch, i.e., high on side (for example, 1022b), another It is low on side (for example, 1022a).
In one embodiment, support 5330 or support 6010A and 6010B can be used for offshore pipelines alignment and Welder In sequence.In pipeline application at sea, angles and positions pipe alignment mistake both of which can be by from one or more processors 5140 send control signal (to control associated roller 5332) to correct to support 5330 or support 6010A and 6010B.Cause This, one or more processors 5140 be configured to by control support 5330 or support 6010A and 6010B adjust pipeline it Between relative positioning (to correct its alignment errors).In one embodiment, one or more processors 5140 are configured to Based on welding front profile data manipulation support 5330 to realize the relative shifting between the first pipeline 1022a and second pipe 1002b It is dynamic, so as to before welding operates based on instruction change pipeline 1022a, 1022b from one or more processors 5140 it Between junction surface region 5136.
In one embodiment, pipeline 1022a, 1002b can be alignd by crane and fixture (internal or external). In one embodiment, fixture can be constructed and arranged to make two pipelines 1022a, 1002b horizontally and vertically right Together.In one embodiment, crane is configured to control axial location and two angles (pitching and deflection).
In one embodiment, whose forwardmost end portions 5006, middle body are included with reference to figure 11, interior welds system 5004 5008 and drive part 5010.
In one embodiment, the framing component of whose forwardmost end portions 5006, middle body 5008 and drive part 5010 The frame assemblage or framework for interior welds system 5004 can be may refer to together.In one embodiment, interior welds system The framework or frame assemblage of system 5004 can be configured to support whose forwardmost end portions 5006, middle body 5008 and drive part Each all component in 5010.In one embodiment, the framework of interior welds system 5004 or frame assemblage can Including whose forwardmost end portions framework 5026 (as shown in figure 12), middle body framework 5068 (as shown in figure 23) and drive part framework 5278 (as shown in fig. 32 a).In one embodiment, the framework of interior welds system 5004 or frame assemblage are configured to It is placed in pipeline 1022a, 1022b.
In one embodiment, whose forwardmost end portions 5006 are to come from external system/structure (in pipeline external to be welded) External cable, the part that is connected with flexible pipe of wiring.In one embodiment, whose forwardmost end portions 5006 be configured to receive as All welding supporting assemblies following detailed description of.In one embodiment, middle body 5008 is configured to make pipeline section 1022a, 1022b align and perform welding sequence.In one embodiment, drive part 5010 is configured to make internal welding Welding system 5004 is moved to next pipeline joint-seam from a pipeline joint-seam.In one embodiment, drive part 5010 is gone back The remainder for being configured to receive interior welds system 5004 carries out operating required battery, compressed air and protection gas Body.
In one embodiment, some components of interior welds system 5004 are located so that the half in the component The remaining half in whose forwardmost end portions 5006 and in the component is positioned to be centrally located in part 5008.In a reality Apply in scheme, some components of interior welds system 5004 are positioned at one in three parts of interior welds system 5004 In, but be attached in three parts of interior welds system 5004 another.For example, one of interior welds system 5004 Component is positioned in the whose forwardmost end portions 5006 of interior welds system 5004, and is connected only in interior welds system 5004 Entreat part 5008.
Figure 12 shows the detailed view of the whose forwardmost end portions 5006 of interior welds system 5004.In one embodiment, The whose forwardmost end portions 5006 of interior welds system 5004 include traction hookup 5012, front end electronic module 5014, preceding slip ring 5016th, front jig control valve 5018, line feeding assembly 5020, front position sensor 5022, adjustable swash plate 5024, front end Part frame 5026, guide wheel 5028, preceding electric rotating motivation 5030 and preceding rotary unions 5032.In an embodiment In, front end electronic module 5014 may include one or more processors 5014.In one embodiment, front jig control valve 5018th, front position sensor 5022 and preceding electric rotating motivation 5030 are operatively connected to one or more processors 5140。
Figure 13-22 shows the view of the various assemblies of the whose forwardmost end portions 5006 of interior welds system 5004.It is for example, corresponding Ground, Figure 13 show traction hookup 5012, and Figure 14 shows preceding rotary unions 5032, and Figure 15 shows preceding slip ring 5016, Figure 16 Whose forwardmost end portions framework 5026 is shown, Figure 17 shows adjustable swash plate 5024, and Figure 18 shows guide wheel 5028, and Figure 19 shows preceding rotation Motor 5030, Figure 20 show front jig control valve 5018, and Figure 21 shows front position sensor 5022, and Figure 22 shows that line is presented Send assembly 5020.
Figure 11 A show the view of umbilical cables 5034, and wherein interior welds system 5004 is configured to be attached at umbilical cables At 5034 first end 5035, and operating personnel's control system 5039 is configured to be attached to the second end of umbilical cables 5034 Portion 5037.In one embodiment, the first end 5035 of umbilical cables 5034 be connected to interior welds system 5004 most before Hold the traction hookup 5012 of part 5006.In one embodiment, (interior welds system 5004) and Ulog systems Communication is configured to occur by one or more of operating personnel's control system 5039 processor or module.In an implementation In scheme, operating personnel's control system 5039 is positioned at outside pipeline 1022a, 1022b of welding.
In one embodiment, whose forwardmost end portions framework 5026 is constructed and arranged to accommodate/support interior welds system The all component of the whose forwardmost end portions 5006 of system 5004.In one embodiment, whose forwardmost end portions framework 5026 is constructed simultaneously Arrange and provide mount point come all component at the front portion for welding system 5004 internally and protect these components from damage It is bad.In one embodiment, whose forwardmost end portions framework 5026 be constructed and arranged guide new pipeline section with it is old/existing Pipeline section aligns.In one embodiment, whose forwardmost end portions framework 5026 can be by steel or as managed by those skilled in the art Any other material of solution is made.
In one embodiment, front end framework 5026 is constructed and arranged to have head tapered configurations, to incite somebody to action New pipeline section when welding, enables interior welds system 5004 to be easily moved to new pipe with old/existing pipeline section is coupled/ Duan Zhong.In one embodiment, the head tapered configurations of front end framework 5026 may act as being configured to be advantageous to make the second pipe The alignment structures that road 1022b aligns with the first pipeline 1022a.In one embodiment, nose cone shape alignment structures are configured to It is protruding to be advantageous to make second pipe 1022b to be alignd with the first pipeline 1022a from the first pipeline 1022a the second end.
In one embodiment, sensor 5352, the sensor are included with reference to figure 12, whose forwardmost end portions framework 5026 5352 frameworks for being configured to welding system 5004 internally sense when a pipeline returns to pipeline tapping afterwards before welding The end of pipeline.In one embodiment, can be configured to can be with the framework one of interior welds system 5004 for sensor 5352 Play movement.In one embodiment, sensor 5352 be operatively connectable to one or more processors 5140 or with it is described One or more processors 5140 are associated.
In one embodiment, sensor 5352 can be rotary switch.Extended downwardly from for example, rotary switch can have Rod or line, the rod or line be biased into inner tube surface and be configured to slidably engage inner tube surface, directly Pipeline is reached to it and is extended downwardly after pipe end is reached to activate rotary switch, so as to detect the end of pipeline. For example, when the end of the arrival pipeline of whose forwardmost end portions framework 5026, (in the end, a part for pipeline is overhang to pipeline For receiving the end of next pipeline to be welded) when, the line is configured to stretch out to examine from its normal position The end in test tube road.In another embodiment, sensor 5352 can be linear encoder, the linear encoder by with Put to be operatively connectable to wheel/roller of interior welds system 5004, with determine that interior welds system 5004 advanced away from From and using duct length known to this information sensed/detected end.
In one embodiment, sensor 5352 is configured to detect the junction surface area between pipeline 1022a, 1022b Domain 5136.In one embodiment, one or more processors 5140 are configured to operate drive motor 5124, so that interior The framework of portion's welding system 5004 be moved through it is at least one in pipeline 1022a, 1022b, until sensor 5352 detects Untill junction surface region 5136.In one embodiment, sensor 5352 is configured to the frame of welding system 5004 internally Frame is detected when being positioned at the junction surface region between pipeline 1002a, 1022b.In one embodiment, sensor 5352 can examine sensor 5056.In one embodiment, sensor 5352 can be laser.In an embodiment party In case, sensor 5352 can examine video camera 5112.In one embodiment, examine detector 5056 and/or examine Video camera 5112 is configured to also perform the sensing function of sensor 5352.
In one embodiment, with reference to figure 12, the company of being configured to of end sections 5208 of whose forwardmost end portions framework 5026 It is connected to the flange portion 5210 (as shown in figure 23) of the front jig 5142 of middle body 5008.In one embodiment, before most The end sections 5208 of end part frame 5026 are configured to use fastening member (for example, bolt 5212 (as shown in figure 23)) even It is connected to the flange portion 5210 of the front jig 5142 of middle body 5008.
Preceding rotary unions 5032 in whose forwardmost end portions 5006 are shown in Figure 12 and Figure 14.Rotary unions lead to It is often to be constructed and arranged articulation or the shaft joint that the component to allow two to combine/combine is rotated.It is rotary living Joint is constructed and arranged to provide between fixed feed path (pipeline or pipe) and rotating member (rotating cylinder, cylinder or rotating shaft) Sealing, to allow flow of fluid into rotating member and/or flow rotating member.Generally make together with rotary unions Fluid includes compressed air and purge gas.Rotary unions generally include shell, axle, seal and bearing.Bearing And seal is assembled in around axle.Bearing is used to allow the component (axle or shell) of rotary fastener to be rotated.Seal Being constructed and arranged when coming in operation prevents fluid media (medium) (for example, compressed air or purge gas) from leaking into rotary loose joint Head outside.Rotary unions are locked on transfer valve, while are rotated to converge with outlet valve.During this time, stream Body is flow in rotary unions from its source, and is maintained at rotary unions in the moving process of the articulation It is interior.When valve opening is converged in rotary course, this fluid leaves rotary unions, and for rotating next time, in addition Fluid again flows into rotary unions.
In one embodiment, preceding rotary unions 5032 are configured to allow compressed air to be flowed through from it. In one embodiment, preceding rotary unions 5032 (such as described in conjunction with Figure 25) are constructed and arranged from rear Rotary unions 5072 (for example, by rear slip ring 5080, rotatable wheel hub 5078 and preceding slip ring 5016) receive compressed air. Rotary unions have the component substantially the same with preceding rotary unions 5032 and with substantially the same with its afterwards Mode is operated, and therefore not to be shown with the preceding identical details of rotary unions 5032.
In one embodiment, preceding rotary unions 5032 are constructed and arranged will be received by valve 5204 A part for compressed air is sent to front jig control valve 5018 (to activate and operate front jig 5142).In an embodiment In, preceding rotary unions 5032 are constructed and arranged to be sent to the remainder of the compressed air received by valve 5204 Compressor or extraneous air charging-tank 5029 (as shown in Figure 74) (are compressed with being refilled to system for example, being filled with tank Air).In one embodiment, the compressed air received is sent to compressor or extraneous air charging-tank 5029 (such as Shown in Figure 70) remainder pass through preceding rotary unions 5032.
In one embodiment, with reference to figure 70, what two valves 5115 and 5117 were configured to close, until refilling work Untill sequence starts.During process is refilled, the compressed air from extraneous air charging-tank 5029 is advanced through valve 5115th, 5117 and 5204 preceding rotary unions 5032 are arrived, from preceding rotary unions 5032 to rear rotary unions 5072, And compressed air cylinder 5128 is then arrived by valve 5198,5196,5194 and 5113, so that compressed air cylinder 5128 is back filled with Compressed air.In one embodiment, the whole fluid between outside air supply tank 5029 and compressed air cylinder 5128 Communication path (or supply fluid communication line) is in the case where maintaining pressure tank during refilling process.
In one embodiment, the preceding rotary unions 5032 in whose forwardmost end portions 5006 are also configured to allow to press Contracting air is connected to line feeding assembly 5020 from umbilical cables 5034, during the line feeding assembly 5020 is rotatably installed in On the rotatable wheel hub 5078 for entreating part 5008.
Preceding slip ring 5016 in whose forwardmost end portions 5006 is shown in Figure 12 and Figure 15.Slip ring is constructed and arranged to permit Perhaps electric power and signal of communication are transferred to the electromechanical assembly (electric connector) of rotational structure from stationary structure.Slip ring can be used for passing Needed when transmission of electricity power and/or data-signal in the unconfined any Mechatronic Systems continuously rotated.Slip ring includes stationary structure (brush), the stationary structure rub in the outside diameter of rotational structure.When rotational structure rotates, electric current or electric signal The rotational structure being attached is transmitted to by stationary structure.Stationary structure can be graphite or hard contact (brush), And rotational structure can be becket.If necessary to more than one circuit, then other ring/brush is stacked along rotation axis Assembly.It is that fixed and another component is rotated in brush or ring.
In one embodiment, preceding slip ring 5016 is configured to allow signal of communication to be passed from front end electronic module 5014 The defeated line feeds electrons module 5046 to line feeding assembly 5020.In one embodiment, preceding slip ring 5016 is also configured To allow to transmit (welding) electric power and transmission signal of communication to interior welds system 5004 from umbilical cables 5034.
In one embodiment, as shown in Figure 12 and Figure 17, adjustable swash plate 5024 is constructed and arranged to improve pipe Section 1022a, 1022b alignment.In one embodiment, adjustable swash plate 5024 is constructed and arranged to adjustable, with Adapt to different duct sizes.In one embodiment, swash plate 5024 is can adjust to be constructed and arranged to protect middle body 5008 shock from introducing pipeline section 1022b.In one embodiment, the adjustable swash plate 5024 of interior welds system 5004 Be constructed and arranged to it is adjustable, so that than retraction fixture braking hoop, (that is, fixture in its advanced position brakes hoop 5157) extend little more, but than extending clamp braking hoop (that is, the fixture braking hoop 5157 in its extended position) Extend less.
In one embodiment, as shown in Figure 12 and Figure 18, guide wheel 5028 is constructed and arranged to prevent from introducing pipeline section 1022b scrapes the side of whose forwardmost end portions 5006.In one embodiment, guide wheel 5028 is constructed and arranged to can adjust , to adapt to different duct sizes.In one embodiment, guide wheel 5028 is driven member.
In one embodiment, as shown in figure 12, before front end electronic module 5014 includes to umbilical cables 1034 and arrived The communication connection of slip ring 5016.For example, in one embodiment, front end electronic module 5014 is configured to umbilical cables 5034 transmission electric power and signal of communication simultaneously transmit electric power and signal of communication from umbilical cables 5034, and are configured to slip ring forward 5016 transmission electric power and signal of communication simultaneously transmit electric power and signal of communication from preceding slip ring 5016.
In one embodiment, front end electronic module 5014 is also configured to control preceding electric rotating motivation 5030 with before The operation of clamper control valve 5018.In one embodiment, front end electronic module 5014 is further configured to from anteposition Put the reception signal of sensor 5022.
Preceding electric rotating motivation 5030 in whose forwardmost end portions 5006 is shown in Figure 12 and Figure 19.In an embodiment In, preceding electric rotating motivation 5030 and the rear electronics of electric rotating motivation 5074 being centrally located in part 5008 (described herein below) It is synchronous.In one embodiment, what two electric rotating motivations 5030 and 5074 were configured to make together middle body 5008 can Rotary hub 5078 rotates, while maintains front jig 5142 and rear jig 5144 to fix.
In one embodiment, preceding electric rotating motivation 5030 may include to offset gear drive (because packaging constrains). For example, in one embodiment, preceding electric rotating motivation 5030 include the rotary shaft rotated with rotor, by rotor and Supported by rotary electric arbor and in the motor of the outer gear 5021a thereon with outer teeth.Outer gear 5021a Engageable skew gear 5021b, the skew gear 5021b also have outer teeth.Offset gear 5021b opposed end With outer teeth 5021c.The outer teeth 5021c of outside/drive gear is constructed and arranged feeds assembly with line The internal gear teeth 5023 (as shown in figure 19) formed on inner circumferential surface on 5020 driven (annular) gear part 5021 is nibbled Close, moment of torsion is transferred to line feeding assembly 5020 from preceding electric rotating motivation 5030.In one embodiment, outside/drive The outer teeth 5021c of moving gear be constructed and arranged use train arrangement (see Figure 19) with line feeding assembly 5020 from The internal gear teeth 5023 formed on dynamic (annular) gear part 5021 is engaged, and moment of torsion is transferred to from preceding electric rotating motivation 5030 Line feeds assembly 5020.
In one embodiment, as shown in Figure 12 and Figure 20, front jig control valve 5018 is configured in the past rotary The affixed side of articulation 5032 receives compressed air.
In one embodiment, front jig control valve 5018 is operatively coupled to be connect from front end electronics module 5014 Receive control signal.In one embodiment, front jig control valve 5018 is configured at it from front end electronic module 5014 Compressed air is supplied during reception signal to activate and operate front jig 5142.
In one embodiment, as shown in Figure 12 and Figure 21, front position sensor 5022 can be proximity transducer simultaneously And especially briefly describe encoder wheel.In one embodiment, encoder wheel is constructed and arranged to be rotatably mounted On online feeding assembly 5020, to be rotated together with rotatable wheel hub 5078.
In one embodiment, front position sensor 5022 is operatively coupled is sent out with forward end electronic module 5014 Send control signal.In one embodiment, the proximity transducer of front position sensor 5022 can be configured in the sensing Device sends control signal when being in encoder wheel at high point to front end electronic module 5014.In one embodiment, Front end electronic module 5014 is configured to use the signal received from preceding position sensor 5022 and determines whose forwardmost end portions 5006 Relative to the orientation of the remainder (for example, rotatable wheel hub 5078) of interior welds system 5004.
In one embodiment, as shown in Figure 12, Figure 22, Figure 22 A and Figure 22 B, line feeding assembly 5020 includes line Spool keeper 5036, line straightener 5038, bonding wire Bao (bowden) (guiding) pipe 5040, protective gas control valve 5042nd, line feeder system 5044, line feeds electrons module 5046 and line feeding assembly framework 5048.In an embodiment party In case, exemplary bonding wire spool 5272 is shown in Figure 22 A.In one embodiment, line straightener 5038, protective gas Control valve 5042 and line feeder system 5044 are operatively connected to one or more processors 5140.In an implementation In scheme, line feeds electrons module 5046 may include one or more processors 5140.
In one embodiment, line feeding assembly 5020 is constructed and arranged to accommodate for interior welds system Each coil of wire bobbin 5272 in three shown welding torch 5502, coil of wire bobbin in 5004 middle body 5008 are kept Part, line straightener, line feeder system and protective gas control valve.In the embodiment illustrated, line feeding assembly 5020 Including three associated coils of wire of three shown welding torch 5502 in the middle body 5008 with interior welds system 5004 5038, three, the line straightener of bobbin keeper 5036, three bonding wire Bao, 5040, three protective gas control valves of (guiding) pipe 5042 and three line feeder systems 5044.In one embodiment, the coil of wire bobbin in interior welds system 5004 is kept The number of part, line straightener, bonding wire Bao (guiding) pipe, protective gas control valve, bonding wire/welding rod spool and line feeder system Measure alterable and depending on the quantity of welding torch.
In one embodiment, bonding wire spool 5272 has the size and 10 pounds of weight of 7 (7/8) inches.One In individual embodiment, the size of welding rod or bonding wire is 0.03 inch.In one embodiment, welding rod or bonding wire are by carbon steel material It is made.In one embodiment, welding rod or bonding wire are the ER70S-6 carbon steels for example manufactured by Chicago electric welding with system MIG bonding wires.In one embodiment, welding rod or bonding wire are designed to and various protective gas mixtures such as 100% 2 Carbonoxide (CO2), 75% argon gas and 25%CO2Mixture or 98% argon gas and 2%O2Mixture be used together.
In one embodiment, what line feeding assembly 5020 was constructed and arranged to be connected to middle body 5008 can Rotary hub 5078 so that line feed module 5020 is transferred directly to rotatable wheel hub by the rotation of preceding electric rotating motivation 5078.In one embodiment, line feeding assembly 5020 is constructed and arranged arrives to fasten (for example, using fastening member) The rotatable wheel hub 5078 of middle body 5008.In one embodiment, line feeding assembly 5020 is also constructed and arranged To accommodate the electronic device of all motor fed for operation lines in assembly 5020 and rotatable wheel hub 5078.
In one embodiment, line feeding assembly framework 5048 is constructed and arranged to hollow, to allow electricity Power, signal of communication, protective gas, bonding wire/welding rod, Motor control signal and compressed air are through wherein, pass simultaneously from it And pass through.
In one embodiment, as shown in figure 22, coil of wire bobbin keeper 5036 is constructed and arranged to receive and protect Hold bonding wire/welding rod spool (not shown) for being used by interior welds system 5004.In one embodiment, coil of wire line Axle keeper 5036 may include retainer component 5220, and the retainer component 5220 is configured to bonding wire/welding rod spool Remain at.
In one embodiment, the locking component for being attached to retainer component 5220 can be used in retainer component 5220 5222 are movably positioned on the axle 5226 of coil of wire bobbin keeper 5036.Locking component 5222 may include small diameter region With larger diameter region.In one embodiment, locking component receiving opening may be formed on axle 5226, while as big in having The section shape of closed circle on body, wherein side openings 5224 stretch out from axle 5226.In the case of configuring herein, locking Component 5222 is sealably positioned to cause larger diameter region or small diameter region to be in the big of locking component receiving opening On body in closed circle section shape.When larger diameter zone location is in locking component receiving opening, axle 5226 surround compared with Large-diameter region, the larger diameter region cannot pass through side openings 5224, so as to due to locking component 5222 and locking structure Engagement between part receiving opening and retainer component 5220 is locked to axle 5226.Alternately, it is fixed in locking component 5222 Position into causing smaller, diameter region to be locked in the case that component receiving opening generally surrounds, retainer component 5220 can from Removed by ground from axle 5226, because small diameter region may pass through side openings 5224.In another embodiment, retainer The axle 5226 for keeping screw rod to be movably attached to coil of wire bobbin keeper 5036 can be used in component 5220.
The bonding wire or welding rod for leaving bonding wire/welding rod spool can have permanent bend to it.In one embodiment, line Straightener 5038 is configured to remove permanent bend and makes bonding wire straight (for example, by making bonding wire curved in the other directions It is bent).The straight configuration of bonding wire helps bonding wire to more readily pass through bonding wire Bao (guiding) pipe 5040.In addition, to welding torch 5502, which provide straight bonding wire, causes more consistent welding.In one embodiment, line straightener 5038 is optional.
In one embodiment, bonding wire Bao (guiding) pipe 5040, which is constructed and arranged, presents bonding wire/welding rod from line System 5044 is sent to be directed to welding torch 5502.In one embodiment, bonding wire Bao (guiding) pipe 5040 is at two end It is attached at portion.In one embodiment, bonding wire is wrapped up by bonding wire Bao (guiding) pipe 5040.
In one embodiment, line feeder system 5044, which is constructed and arranged, leads bonding wire from bonding wire spool 5272 It is pulled through line straightener 5038 and bonding wire is pushed through bonding wire Bao (guiding) pipe 5040 and arrives welding torch 5502.
In one embodiment, line feeder system 5044 is configured to automatically control, and the line of appropriate amount is delivered To welding torch 5502.In one embodiment, line feeder system 5044 may include motor and two jagged wheels, It is configured to that bonding wire is drawn through into line straightener 5038 from bonding wire spool 5272 and bonding wire is pushed through into bonding wire Bao (guiding) pipe 5040 that pauses arrives welding torch 5502.In one embodiment, the motor of line feeder system 5004 may include to compile Code device, the encoder are configured to measure the revolution of motor.In one embodiment, line feeder system 5004 is electronic Machine is operatively connectable to one or more processors 5140.This information can be used by one or more processors 5140, with true How many fixed line is fed to welding torch 5502 and adjusts the amount for the bonding wire for being fed to welding torch 5502.In a reality Apply in scheme, when rotatable wheel hub 5078 rotates, bonding wire/welding rod feeds assembly 5020 by line and is fed to welding torch 5502。
In one embodiment, protective gas control valve 5042 is configured to control protective gas and passes through protective gas line Flowing to welding torch.In one embodiment, each welding torch 5502, which has, is connected to its corresponding protective gas Control valve 5042.
In one embodiment, protective gas is stored in drive part 5010 and by flexible pipe/protective gas line Line feeding assembly 5020 is brought to for being assigned to one or more welding torch 5502.In one embodiment, protect Shield gas control valve 5042 is configured to (for example, by rear slip ring 5080 and rotatable wheel hub 5078) from rear rotary unions 5072 receive protective gas.
In one embodiment, protective gas control valve 5042 is operatively coupled with from line feeds electrons module 5046 receive control signal.In one embodiment, protective gas control valve 5042 is configured at it from line feeds electrons During 5046 reception signal of module protective gas is supplied to corresponding welding torch.
In one embodiment, line feeds electrons module 5046 is configured to electric power and signal of communication being sent upstream by By preceding slip ring 5016 to front end electronic module 5014 and from front end electronic module 5014 by preceding slip ring 5016 from upper Trip receives electric power and signal of communication.In one embodiment, line feeds electrons module 5046 is configured to electric power and communication Signal is downstream sent by rear slip ring 5080 to middle body electronic module 5064 and from middle body electronic module 5064 By rear slip ring 5080 from accepted downstream electric power and signal of communication.
In one embodiment, line feeds electrons module 5046 be configured to control be attached to middle body 5008 can All motor and valve of rotary hub 5078.For example, line feeds electrons module 5046 is configured to control line feeder system, weldering Connect the axial movement of welding torch 5502, the radial motion of welding torch 5502, the banking motion of welding torch 5502, and/or protection The flowing and delivering of gas.That is, line feeds electrons module 5046 is operatively connectable to protective gas control valve 5042 to control Flowing and delivering of the protective gas to welding torch 5502.
In one embodiment, line feeds electrons module 5046 is operatively connectable to axial welding torch motor 5550 to control the axial movement of welding torch 5502.In one embodiment, line feeds electrons module 5046 is operatively Radial direction welding torch motor 5512 is connected to control the radial motion of welding torch 5502.In one embodiment, line Feeds electrons module 5046 is operatively connectable to oblique weld welding torch motor 5588 to control the inclination of welding torch 5502 Motion.In one embodiment, axial welding torch motor 5550, radial direction welding torch motor and oblique weld welding torch Motor 5588 can be referred to as " welding torch motor " individually or together.
In one embodiment, line feeds electrons module 5046 is configured to and is rotatably installed in rotatable wheel Inspection detector 5056 on hub 5078 and examine video camera 5112 to communicate and control the inspection detector 5056 and described Examine video camera 5112.In one embodiment, frame assemblage of the detector 5056 by interior welds system 5004 is examined Carrying.In one embodiment, video camera 5112 is examined to be carried by the frame assemblage of interior welds system 5004.
In one embodiment, detector 5056 is examined to may include to examine laser, three-dimensional inspection video camera, inspection super Sonic transducer system, examine capacitance probe and such as any other inspection detector understood by those skilled in the art.
Figure 23 and Figure 24 shows the front view and sectional view of the middle body 5008 of interior welds system 5004.In a reality Apply in scheme, as discussed above, before the front end frameworks 5026 of whose forwardmost end portions 5006 is connected to middle body 5008 Fixture 5142, and line feeding assembly 5020 is rotatably connected to rotatable wheel hub 5078.
In one embodiment, the middle body 5008 of interior welds system 5004 includes front jig 5142 (or first Pipeline engaging structure 5052), examine detector 5056, soldering tip assembly or welding torch module 5500, (and the second pipe of rear jig 5144 Road engaging structure 5054), rear jig control valve 5062, middle body electronic module 5064, prenex wheel 5066, middle body framework 5068th, swash plate 5070, rear rotary unions 5072, rear electric rotating motivation 5074, rear position sensor 5076, rotation be can adjust Module 5078 and rear slip ring 5080.
In one embodiment, front jig 5142 (or first pipeline engaging structure 5052), inspection detector 5056, weldering Head assembly or welding torch assembly 5500, rear jig 5144 (and second pipe engaging structure 5054), rear jig control valve 5062, Electric rotating motivation 5074, rear position sensor 5076 are operatively connectable to one or more processors 5140 afterwards.In a reality Apply in scheme, examine video camera 5112 to be operatively connectable to one or more processors 5140.In one embodiment, in Centre part electronic module 5064 may include one or more processors 5140.Term " pipeline engaging structure " as used herein can Reference is fixedly secured to the fixture of pipe surface or is configured to generate the inside of the air seal for pipeline interior surface The combination of both seal or foregoing fixture and seal.For example, in one embodiment, the first pipeline engaging structure 5052 can be the first fixture 5142, first seal 5146 or its combination.In one embodiment, second pipe engagement knot Structure 5054 can be the second fixture 5144, second seal 5148 or its combination.In one embodiment, the first pipeline engages Structure 5052 and second pipe engaging structure 5054 are carried by the frame assemblage of interior welds system 5004.
Figure 25-31 shows the view of the various assemblies of the middle body 5008 of interior welds system 5004.It is for example, corresponding Ground, Figure 25 show rear rotary unions 5072, and Figure 26 shows rear slip ring 5080, and Figure 27 shows middle body framework 5068 and can Swash plate 5070 is adjusted, Figure 28 shows that 5066, Figure 29 of prenex wheel shows rear jig control valve 5062, and Figure 30 shows front jig 5142, And Figure 31 shows rotary module 5078.
Rear rotary unions 5072 in middle body 5008 are shown in Figure 23, Figure 24 and Figure 25.In an implementation In scheme, rear rotary unions 5072 it is structurally and operationally similar with preceding rotary unions 5032, and therefore rotate afterwards Formula articulation 5072 structurally and operationally will not be described in detail herein, except difference indicated below.
In one embodiment, rear rotary unions 5072 be configured to allow compressed air and protective gas (or Purge gas) flowed through from it.In one embodiment, the rear rotary unions 5072 in middle body 5008 by with Put to allow the compressed air of the compressed air cylinder 5128 (as shown in Figure 32 A and Figure 32 B) from drive part 5010 in Rotary unions 5032 before the rotatable wheel hub 5078 of centre part 5008 is connected to.In one embodiment, middle body Rear rotary unions 5072 in 5008 are also configured to (such as Figure 32 A of protective gas tank 5114 in drive part 5010 Shown in Figure 32 B) it is connected to the protective gas control valve 5042 in the line feeding assembly 5020 of whose forwardmost end portions 5006.
In one embodiment, rear rotary unions 5072 are constructed and arranged the compressed air that will be received A part is sent to rear jig control valve 5062 (to operate rear jig 5144).In one embodiment, rear rotary unions 5072 are constructed and arranged next (for example, by rear slip ring 5080, rotatable wheel hub 5078 and preceding slip ring 5016) by what is received The remainder of compressed air is sent to preceding rotary unions 5032.In one embodiment, the compressed air received The remainder for being sent to preceding rotary unions 5032 passes through rear rotary unions 5072.
In one embodiment, the preceding rotary unions 5032 of present patent application and rear rotary unions 5072 can To be that 0122 can pass through thread spindle articulation (the Pass Threaded Shaft Unions of Series 012 2) with title series Type that is commercially available, being manufactured by Rotary Systems companies.In another embodiment, the preceding rotation of present patent application Rotatable articulation and rear rotary unions can be any rotary unions understood by those skilled in the art.
In one embodiment, rear slip ring 5080 is structurally and operationally similar with preceding slip ring 5016, and therefore slides afterwards Ring 5080 structurally and operationally will not be described in detail herein, except difference indicated below.
In one embodiment, as shown in Figure 23, Figure 24 and Figure 26, rear slip ring 5080 in middle body 5008 by with Put to allow to be transmitted between the online feeds electrons module 5046 of signal of communication and middle body electronic module 5064.
In one embodiment, the preceding slip ring 5016 of present patent application and rear slip ring 5080 can be can be with title The type that AC6275 is commercially available, is manufactured by Moog companies.In one embodiment, the preceding slip ring 5016 of present patent application 50 amperes can be rated for rear slip ring 5080.In another embodiment, the preceding slip ring of present patent application and rear slip ring can be with It is any rotary unions understood by those skilled in the art.
In one embodiment, as shown in figure 23 and figure 24, the middle body electronic module in middle body 5008 5064 include feeding the communication cable of assembly 5020 and the communication cable to drive part 5010 by rear slip ring 5080 to line. In one embodiment, the middle body electronic module 5064 in middle body 5008 is configured to control rear electric rotating motivation 5074 and from the rear reception signal of position sensor 5076.In one embodiment, the middle body in middle body 5008 Electronic module 5064 is also configured to control rear jig control valve 5062.
In one embodiment, as shown in Figure 23, Figure 24 and Figure 27, middle body framework 5068, which is constructed and arranged, to be come The all component of the middle body 5008 of receiving/support interior welds system 5004.In one embodiment, middle body frame Frame 5068 is constructed and arranged to provide mount point for all component in centrally located part 5008 and protect these components It is against damages.In one embodiment, middle body framework 5068 is also constructed and arranged come by allowing interior welds system The U-shaped fastener that system 5004 is bent in crooked pipeline is connected to drive part 5010.In one embodiment, middle body Framework 5068 can be by steel or any other material as understood by those skilled in the art is made.
In one embodiment, the end sections 5214 of middle body framework 5068 are configured to connect to rear jig 5144 flange portion 5216.In one embodiment, the end sections 5214 of middle body framework 5068 are configured to make The flange portion 5216 of rear jig 5144 is connected to fastening member (for example, bolt 5218).
In one embodiment, as shown in Figure 23, Figure 24 and Figure 27, adjustable swash plate 5070 is constructed and arranged Help to make interior welds system 5004 placed in the middle when interior welds system 5004 is placed into pipeline.In one embodiment, may be used Adjustment swash plate 5070 is also constructed and arranged to protect middle body 5008 from the shock of tube section ends.In an embodiment In, adjustable swash plate 5070 be constructed and arranged to it is adjustable, to adapt to different duct sizes.
In one embodiment, as shown in Figure 23, Figure 24 and Figure 28, toe-in wheel 5066 is constructed and arranged come in supporting Entreat the weight of part 5008.In one embodiment, prenex wheel 5066 is constructed and arranged to equipped with spring, so as to inside Portion's welding system 5004 protects interior welds system 5004 from jerk when passing through above bead.In an embodiment In, toe-in wheel 5066 is constructed and arranged to have adjustable toe-in angle to help the straight line in the duct of interior welds system 5004 Operation.In one embodiment, prenex wheel 5066 be constructed and arranged be in height for different duct sizes can Adjustment.In one embodiment, prenex wheel 5066 is driven member.
In one embodiment, as shown in Figure 23, Figure 24 and Figure 29, rear jig control valve 5062, which is constructed and arranged, to be come Compressed air is received from the affixed side of rear rotary unions 5072.
In one embodiment, rear jig control valve 5062 is operatively coupled with from middle body electronic module 5064 receive control signal.In one embodiment, rear jig control valve 5062 is configured at it from middle body electronics Compressed air is supplied during 5064 reception signal of module to activate and operate rear jig 5144.
In one embodiment, as shown in figure 24, rear position sensor 5076 can be proximity transducer and especially Ground briefly describes encoder wheel.In one embodiment, encoder wheel is constructed and arranged can revolve to be rotatably installed in On runner hub 5078.
In one embodiment, rear position sensor 5076 is operatively coupled with to middle body electronic module 5064 send control signal.For example, in one embodiment, the proximity transducer of rear position sensor 5076 can be configured to When the sensor is being at high point in encoder wheel control signal is sent to middle body electronic module 5064.At one In embodiment, middle body electronic module 5064 is configured to use in the signal determination received from rear position sensor 5076 Entreat orientation of the part 5008 relative to the remainder (for example, rotatable wheel hub 5078) of interior welds system 5004.
Rear electric rotating motivation 5074 in middle body 5008 figure 24 illustrates.In one embodiment, rear rotation Motor 5074 and the preceding electronic synchronizer of electric rotating motivation 5030 so that electric rotating motivation 5030 and 5074 is configured in making together The rotatable wheel hub 5078 of centre part 5008 rotates, while maintains front jig 5142 and rear jig 5144 to fix.In an implementation In scheme, electric rotating motivation 5030 and 5074 is configured to make welding torch 5502 circumferentially rotate along junction surface region 5136 (360 ° of rotations).In one embodiment, being configured to be oriented to examines the electric rotating motivation 5030 and 5074 of radiation beam to go back quilt Configuration to drive at least 360 ° of welding torch 5502 relative to conduit axis A-A, to complete to rotate continuous root passage weldering Connect.
In one embodiment, preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 may refer to electronic to be orientated Machine.In one embodiment, preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 and one or more processors 5140 Operatively it is associated.
In one embodiment, rear electric rotating motivation 5074 include with rotor, by rotor rotate rotary shaft, with And by rotary shaft support and in the motor of the drive gear thereon with the gear teeth.The gear teeth of drive gear are constructed and arranged Come with the gear teeth meshing formed on the driven gear component 5079 of rotatable wheel hub 5078, by moment of torsion from rear electric rotating motivation 5074 are transferred to rotatable wheel hub 5078.
In one embodiment, rotatable wheel hub 5078 is constructed and arranged scanning and welding before welding, welding Rotated during scanning process afterwards.In one embodiment, rotatable wheel hub 5078 is positioned in the first fixture 5142 and second between fixture 5144.Because the first fixture 5142 and the second fixture 5144 do not connect physically each other, The preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 of each end of rotatable wheel hub 5078 are synchronous, to prevent Two pipelines 1022a, 1022b are moved relative to each other.In one embodiment, two pipeline engaging structures 5142,5144 can By making preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 for example be rotated down in different speed and/or different sides To be rotated relatively to each other.In one embodiment, only in preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 identical Speed under and when rotating in a same direction, welding torch 5502 and examine the ability of detector 5056 along pipeline 1022a, Junction surface region 5136 between 1022b is rotated (for example, moving pipeline engaging structure 5142,5144).
In one embodiment, the middle body 5077 of rotatable wheel hub 5078 includes slit/opening, and protective gas is soft Pipe, Bao Dunguan, weld power cable, motor cable, inspection detector cable and video camera cable are configured to through institute State slit/opening.
In one embodiment, as shown in Figure 23, Figure 24 and Figure 30, front jig 5142 has hollow configuration.At one In embodiment, be constructed and arranged to by the opening 5082 at the center of front jig 5142 it is sufficiently large, to allow all institutes The cable and flexible pipe needed passes through.In one embodiment, the opening 5082 of front jig 5142 is also constructed and arranged Come allow to support the weight of the first half of interior welds system 5004 and maintain solder joint two half blocks/pipeline section 1022a, Structural elements required for 1022b alignment.In one embodiment, front jig 5142 and rear jig 5144 are constructed simultaneously cloth Put to be for example installed to rotatable wheel hub 5078 by being preloaded to provide the angular contact ball bearing 5108,5098 of rigidity.
In one embodiment, 5130,5132 points of the first pipeline 1022a and/or second pipe 1022b interior surface Do not engaged and regulated and controled by the first fixture 5142 and the second fixture 5144, with based on the instruction from one or more processors 5140 Adjust the relative positioning of pipeline.In one embodiment, the adjustment of pipeline 1022a, 1022b relative positioning does not make first In the case of first pipeline 1022b of the disengaging of pipeline engaging structure 5144 interior surface 5132 and do not make second pipe engagement knot Structure 5142 is realized in the case of departing from second pipe 1022a interior surface 5130.This can complete to be because electric rotating motivation 5030 and 5074 are configured to make pipeline 1022a, 1022b rotate in the case where not departing from pipeline engaging structure 5144,5142, As described in this application.
In one embodiment, as shown in Figure 23, Figure 24 and Figure 30, front jig 5142 generally includes piston 5084, gas Cylinder 5086, axle bush 5088, fixture braking hoop pin component 5090, link component 5092, axle 5094, wheel hub 5096, fore bearing 5098, Star-wheel component 5100, bell housing 5102, foreboard 5104, back plate 5106, rear bearing 5108 and sleeve 5110.In a reality Apply in scheme, rear bearing 5108 and fore bearing 5098 are configured to support rotatable wheel hub 5078.In one embodiment, after Fixture 5144 has as described above for identical structure, configuration and the operation described in front jig 5142, and therefore rear jig 5144 Structure, configuration and operation will not be described in detail herein.
In one embodiment, front jig 5142 is configured to one in clamping pipe 1022a, 1022b, and Two fixtures 5144 are configured to another in clamping pipe 1022a, 1022b.In one embodiment, fixture 5142, One in 5144 may refer to as the first fixture, and another in fixture 5142,5144 may refer to as the second fixture.One In individual embodiment, the fixture 5142,5144 of interior welds system 5004 can be referred to as interior welds system individually or together 5004 framework by interior welds system 5004 is fixed on the brakes of the desired locations in pipeline 1022a, 1022b. In one embodiment, front jig 5142 and rear jig 5144 are the interior surfaces for engaging pipeline 1022a, 1022b respectively 5130th, 5132 so that interior welds system 5004 framework fix do not move radially extend fixture.Front jig 5142 and rear folder The operation of tool 5144 will be discussed in detail following.
In one embodiment, interior welds system 5004 includes the first pipeline engaging structure 5052, second pipe is nibbled Close structure 5054, examine detector 5056, one or more processors 5140 and welding torch 5502.In an embodiment party In case, examine detector 5056, examine video camera 5112, welding torch 5502 and soldering tip assembly 5500 to be rotatably mounted On rotatable wheel hub 5078.First pipeline engaging structure 5052, second pipe engaging structure 5054, examine detector 5056, Examine video camera 5112, welding torch 5502 and each structure, configuration and operation reference chart in soldering tip assembly 5500 30 and Figure 33-59 and its associated description are described in detail.
Figure 32 A and Figure 32 B show the detailed side view and top view of the drive part 5010 of interior welds system 5004. In one embodiment, the drive part 5010 of interior welds system 5004 includes protective gas tank 5114, battery 5116, driving Part electronic module 5118, pneumatic operated valve 5120, driving wheel or roller 5122, drive motor 5124, brake 5126 and compression Air tank 5128.In one embodiment, pneumatic operated valve 5120 includes brake valve 5190 and driving wheel valve 5192 (in Figure 70 Show).In one embodiment, the drive part 5010 of interior welds system 5004 includes drive part framework 5278. In one embodiment, drive part framework 5278 can be by steel or such as any other material understood by those skilled in the art Material is made.
In one embodiment, drive part electronic module 5118 may include one or more processors 5140.One In individual embodiment, pneumatic operated valve 5120 (brake valve 5190 and driving wheel valve 5192) and drive motor 5124 operably connect It is connected to one or more processors 5140.
In one embodiment, during drive part 5010 can be connected to by universal joint 5123 and spring member 5125 Entreat part 5008.
In one embodiment, protective gas tank 5114 is constructed and arranged come required for preserving welding torch 5502 Protective gas.In one embodiment, flexible pipe is constructed and arranged is connected to middle body by protective gas tank 5114 Rear rotary unions 5072 in 5008.
In one embodiment, battery 5116 is lithium ion battery.In one embodiment, battery 5116 is configured To be powered for all electronic devices and electric drive motor 5124 of interior welds system 5004.For example, in an embodiment party In case, battery 5116 is configured to as middle body electronic module 5064, whose forwardmost end portions electronic module 5014, drive part electricity Submodule 5118 and line feeds electrons module 5046 are powered.In one embodiment, battery 5116 operably connects To one or more processors 5114.
In one embodiment, battery 5116 is also configured to as radial direction welding torch motor 5512, oblique weld Welding torch motor 5588, axial welding torch motor 5550, the motor of line feeder system 5044, preceding electric rotating motivation 5030 Powered with rear electric rotating motivation 5074 and drive motor 5124.In one embodiment, battery 5116 is not configured to Supply weld power.In one embodiment, battery 5116 is configured to only to drive part electronic module 5118 and driving Motor 5124 delivers electric power, while internally remaining motor of welding system 5004 and electronic module (including radially weld Welding torch motor 5512, oblique weld welding torch motor 5588, axial welding torch motor 5550, line feeder system 5044 Motor, preceding electric rotating motivation 5030 and rear electric rotating motivation 5074, middle body electronic module 5064, whose forwardmost end portions electronics Module 5014 and line feeds electrons module 5046) electric power by pull bar/umbilical cables 5034 from external power source supply.
In one embodiment, drive motor 5124 is configured to driven roller or wheel 5122, so that interior welds Frame assemblage (including the first pipeline engaging structure 5052, second pipe engaging structure 5054, the welding torch of system 5004 5502 and examine detector 5056) along pipeline 1022a, 1022b inside 5130,5132 from pipeline 1022a, 1022b First end is moved to pipeline 1022a, 1022b the second end.In one embodiment, the driving electricity of drive part 5010 Motivation 5124 is configured to make the framework of interior welds system 5004 move down along pipeline 1004 after each welding is completed. In one embodiment, the drive motor 5124 of drive part 5010 is configured to make interior welds system 5004 in pipeline Accelerate in 1004 and slow down.
In one embodiment, power supply by interior welds system 5004 frame assemblage carry and be configured to for Drive motor 5124 is powered.In one embodiment, the drive motor 5124 of drive part 5010 is electronic.One In individual embodiment, the drive motor 5124 of drive part 5010 is powered by battery 5116.
In one embodiment, driven roller 5122 is configured to engage one or more of pipeline 1022a, 1022b Interior surface 5130,5132.In one embodiment, driven roller 5122 is operatively connectable to the drive of drive part 5010 Dynamic motor 5124.In one embodiment, driven roller 5122 is configured to activate by pneumatic cylinder 5137, the pneumatic cylinder 5137 with pneumatic operated valve 5120 operatively it is associated with from compressed air cylinder 5128 receive compressed air.In an embodiment In, driven roller 5122 is made up of elastomeric material or elastomeric material.
In one embodiment, driven roller 5122 is configured to make interior welds system after each welding is completed 5004 can move down along pipeline 1004.In one embodiment, interior welds system 5004 may include multiple driven rollers 5122, the driven roller 5122 is configured to be pivotably supported the framework or frame assemblage of interior welds system 5004.Example Such as, in one embodiment, interior welds system 5004 includes four active drive wheels.That is, two driving wheels on per side 180 ° separate.In one embodiment, the quantity of driving wheel can change.In one embodiment, driven roller 5122 can be Include tread thereon, to increase its tractive force when internally welding system 5004 is driven through pipeline.
In one embodiment, two in four driven rollers 5122 can be connected directly to its drive accordingly it is electronic Machine 5124 and driven by corresponding drive motor 5124.In one embodiment, other two driven rollers 5122 The drive wheel that the driving wheel of motor driving can be connected to by chain 5111 and is driven by motor.
In one embodiment, driven roller 5122 is constructed and arranged for being driven on the inside of pipeline 1022a, 1022b Welding system 5004, untill welding system 5004 is in desired locations.In one embodiment, the quilt of driven roller 5122 Construct and arrange to overlay insides of pipes by pneumatic cylinder.
In one embodiment, brake 5126 is configured to activate by pneumatic cylinder 5133, the pneumatic cylinder 5133 With pneumatic operated valve 5120 operatively it is associated with from compressed air cylinder 5128 receive compressed air.In one embodiment, it is interior The brake 5126 of portion's welding system 5004 uses for emergency.For example, brake 5126 can be in drive part 5010 Drive motor 5124 can not be such that interior welds system 5004 is used in the case of slowing down for some reason.For example, brake 5126 can apply on hillside, to prevent interior welds system 5004 from rolling into the depths of pipeline 1004 or falling on according to incline direction Outside pipeline.In one embodiment, brake 5126 is configured to manually or automatically control.
In one embodiment, brake 5126 can be additionally used in scanning process and/or welding before welding sequence, welding The appropriate location being fixed on the framework of interior welds system 5004 during scanning process afterwards in pipeline.For example, brake 5126 can be configured to interior welds during scanning process before welding sequence, welding and/or scanning process after welding The desired locations that the framework of system 5004 is fixed in pipeline do not move.
In one embodiment, compressed air cylinder 5128 is constructed and arranged to preserve air for operational brake 5126th, driven roller 5122 and front jig 5142 and rear jig 5144.In one embodiment, the quilt of compressed air cylinder 5128 Construct and arrange to be connected to umbilical cables 5034 by both preceding rotary unions 5032 and rear rotary unions 5072, make Obtaining compressed air cylinder 5128 can refill on demand.
In one embodiment, pneumatic operated valve 5120 is constructed and arranged to control the air to two pneumatic cylinders, described Two pneumatic cylinders are configured to engage respectively and operational brake 5126 and driven roller 5122.
In one embodiment, drive part electronic module 5118 is configured to allow signal of communication to be upstream transferred to Middle body electronic module 5064.In one embodiment, drive part electronic module 5118 is also configured to control driving Motor 5124 and two pneumatic operated valves 5120.
In one embodiment, one or more processors 5140 are configured to operate drive motor 5124, so that The framework of interior welds system 5004 be moved through it is at least one in pipeline 1022a, 1022b, until sensor 5352 detects Untill the junction surface region 5136 between pipeline 1022a, 1022b.In one embodiment, one or more processors 5140 are configured to operate the brakes of interior welds system 5004, and the framework of interior welds system 5004 is fixed on into pipe Appropriate position in road 1022a, 1022b is not moved, and it will examine detector 5056 to be positioned relative to junction surface region 5136 So that inspection detector 5056 can detect the profile in the junction surface region 5136 between pipeline 1022a, 1022b.
Figure 33 shows to be positioned at regarding for the middle body 5008 of the interior welds system 5004 on the inside of pipeline section 1022a, 1022b Figure, some components of wherein middle body 5008 are for the sake of clarity not shown.For example, front jig 5142 and rear jig 5144, Rotatable wheel hub 5078, soldering tip assembly 5500, examine detector 5056 and examine video camera 5112 figure 33 illustrates.
In one embodiment, include being used to promote pipeline welding for welding the fielded system 5000 of two pipelines Computer system 5138.In one embodiment, computer system 5138 includes being communicably connected to welding system 5004 One or more processors 5140.In one embodiment, computer system 5138 and its one or more processors 5140 (and the one or more group of welding system 5004 can be connected to by one or more wired or wireless communication link communications Part).For example, wired communications links may include one or more ethernet links, coaxial telecommunications link, optic communication links or Other wired communications links.And for example, wireless communication link may include one or more Wi-Fi communication links, bluetooth communications link, Near-field communication (NFC) communication link, cellular communication link or other wireless communication links.In one embodiment, welding system The one or more assemblies of system 5004 connect in which can be communicated with one another by one or more of foregoing wired or wireless communication link Connect.In one embodiment, it may be advantageous to using one or more wireless communication links so that welding system 5004 One or more processors 5140 or one or more assemblies communicate with one another, to reduce the communication cable in welding system 5004 Quantity, tangled to reduce the potential cable for the other assemblies that may postpone operation or damage welding system 5004.For example, one It can be reduced in verifying attachment (for example, examining in a little embodiments by reducing the quantity of the communication cable in welding system 5004 Laser, examine video camera or other verifying attachments), in the rotary courses of the other assemblies of welding torch or welding system 5004 The potential cable occurred tangles.
In one embodiment, computer system 5138 and its one or more processors 5140 can be positioned on live system In system 5000.In another embodiment, computer system 5138 and its one or more processors 5140 can be away from scenes System 5000 positions.In one embodiment, one or more processors 5140 may include digital processing unit, simulation process Device, the digital circuit for being designed to processing information, the analog circuit for being designed to processing information, state machine, and/or for Other mechanisms of the mode processing information of electronics.
It should be understood that " one or more processors " may make up single processor, the single processing as disclosed herein The airborne positioning of the device and particular system for being discussed or component are local, is positioned outside machine and specific for what is discussed System or component are local, or away from the particular system discussed or component positioning.In addition, and one or more processors Connection can be wired or wireless.In addition, " one or more processors " may also refer to it is airborne and local more Multiple processors outside individual processor, machine and local, long-range multiple processors or airborne (and local), machine Outer (and local) and any combinations of teleprocessing unit.When with reference to airborne processor, such processor refer to by (that is, physically connect, and moved together with the particular system or component) that particular system or component physically carry Processor.With reference to off engine control technology device when, these processors refer to be to setting it is local and with on-board electronics without The processor of line communication.Off engine control technology device may also refer to be tethered to mobile system (for example, passing through pull bar) and for setting It is local electronic device.Seen with another angle, if processor moves together with pull bar, it is also considered as " machine Carry " processor.
In one embodiment, the first pipeline engaging structure 5052 is configured to engage the first pipeline 1022a inside Surface 5130, so that the first pipeline engaging structure 5052 can be fixed relative to the first pipeline 1022a.In an embodiment In, second pipe engaging structure 5054 is configured to engage second pipe 1022b interior surface 5132, so that second pipe is nibbled Closing structure 5054 can fix relative to second pipe 1022b.
In one embodiment, examine detector 5056 to be positioned at the first pipeline engaging structure 5052 to nibble with second pipe Between closing structure 5054, and it is configured to send inspection radiation beam.In one embodiment, examine detector motor with Detector 5056 is examined operatively to be associated, to be oriented to inspection along the junction surface region 5136 between pipeline 1022a, 1022b Test radiation beam.In one embodiment, preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 can refer to individually or together On behalf of inspection detector motor.In one embodiment, preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 by with Put to make inspection detector 5056 rotatably be moved along junction surface region 5136.In one embodiment, detector is examined 5056 are configured to based upon the profile generation signal in the junction surface region 5136 between pipeline 1022a, 1022b.In an implementation In scheme, junction surface region 5136 is annular join region.In one embodiment, junction surface region 5136 is in pipeline In 1022a, 1022b inside at the region that pipeline 1022a, 1022b and welding move towards adjacent.
Term " junction surface region " as used herein refer to pipeline to be welded in the region that welding material is deposited And the interior surface optionally near the region that welding material is deposited is adjacent.Junction surface region includes to be welded two At least a portion of the inner chamfer of pipeline or optionally whole inner chamfer (provided that if such inclined-plane).In a reality Apply in scheme, junction surface region includes whole beveled surface and also extends past beveled surface (provided that if inclined-plane).
In one embodiment, the wheel 5028 in the whose forwardmost end portions 5006 of interior welds system is constructed and arranged To prevent fixture from being drawn on the inner surface of pipeline.Wheel 5028 extends fewer, interior welds system more it is easy compatibly Pass through pipe bend.In one embodiment, wheel 5028 can be adjustable.In one embodiment, wheel 5028 can be nonadjustable.In one embodiment, equipped with spring the or prenex wheel 5066 at rear jig 5144 (as shown in figure 23) and the adjustable wheel 5276 at the rear portion of drive part 5008 are constructed and arranged (as shown in fig. 32 a) It is less than about 0.25 inch of pipe centerline into clamp central line is caused.In the case of configuring herein, when fixture expands fitting pipeline Inner surface when, fixture is lifted rather than wheel is pressed onto in the inwall of pipeline by expander from wheel
In some embodiments, " pipeline engaging structure " includes the fixture for regularly engaging pipe surface.Fixture is for example It may include to be configured to regularly to engage with pipe surface to prevent its one or more braking hoop moved or other supports Structure.In another embodiment, " pipeline engaging structure " includes seal, and the seal hermetically engages the interior of pipeline Portion surface is to forbid gas to pass through.This seal may include that such as inflatable bladder, elastic construction or engagement are internal Pipe surface is to forbid the Other Engineering structure that gas passes through.This seal can be used in purge operations device with to be welded Oxygen is removed in region in pipeline, to prevent or reduce due to oxidation caused by welding process.In yet another embodiment, Pipeline engaging structure includes fixture and the combination of seal or one or more fixtures and/or one or more seals.
In one embodiment, the first pipeline engaging structure 5052 includes the first fixture 5142, and second pipe is nibbled Closing structure 5054 includes the second fixture 5144.
In one embodiment, the first pipeline engaging structure 5052 includes first seal 5146, and second pipe Engaging structure 5054 includes second seal 5148.
In one embodiment, the fixture 5144 of second seal 5148 and second can be referred to as rear seal 5148 respectively With rear jig 5144.In one embodiment, the fixture 5142 of first seal 5146 and first can be referred to as preceding sealing respectively Part 5146 and front jig 5142.
In one embodiment, the first pipeline engaging structure 5052 includes fixture 5142, and second pipe engagement knot Structure 5054 includes seal 5148.In one embodiment, the first pipeline engaging structure 5052 includes seal 5146, and Second pipe engaging structure 5054 includes fixture 5144.
In one embodiment, the first pipeline engaging structure 5052 includes fixture 5142 and seal 5146, and Two pipeline engaging structures 5054 include fixture 5144 and seal 5148.In one embodiment, the first pipeline engaging structure 5052 include fixture 5142 and seal 5146, and second pipe engaging structure 5054 includes fixture 5144.In an implementation In scheme, the first pipeline engaging structure 5052 includes fixture 5142 and seal 5146, and second pipe engaging structure 5054 Including seal 5148.In one embodiment, the first pipeline engaging structure 5052 includes fixture 5142, and second pipe Engaging structure 5054 includes fixture 5144 and seal 5148.In one embodiment, the first pipeline engaging structure 5052 wraps Seal 5146 is included, and second pipe engaging structure 5054 includes fixture 5144 and seal 5148.
There is seal on the side for examining detector 5056 and inspection video camera 5112 and examine the He of detector 5056 Examine has in the configuration of fixture on another (opposite) side of video camera 5112, high-pressure blowing gas be sent to fixture and seal it Between region in.The purge gas in the region between fixture and seal can pass through the fine clearance between pipeline to be welded Leakage, and can also be from examining detector 5056 and examine the side without seal and only with fixture of video camera 5112 On pipeline discharge.This optional configuration prevents the excessive pressurization in the region between fixture and seal (for example, with examining inspection Survey device 5056 with the either side of video camera 5112 each one, have two seals arrangement compare), without provide Adjust the adjuster of the pressure in purge gas region and/or the single excessively pressurization for the region between fixture and seal Relief valve.High-pressure blowing gas is supplied in the region between fixture and seal be configured to reduce welding operated The oxygen in region in journey near welding torch.
In another embodiment, first seal and second seal optionally have by its opening, with Prevent the excessive pressurization of purge gas chamber formed between first seal and second seal.In another embodiment In, in the case where inflatable seal bladder is provided for sealing, one or two in seal can partly be filled Gas is to provide predefined or calculating the gap around it, to allow that purge zone domain is flowed out under expected rate.
In the case where providing two purging seals 5146,5148, inert gas is introduced in purging in-between In chamber.However, it should be understood that purging seal 5146,5148 need not (and generally not) produce perfect sealing.Indifferent gas style Such as pass through the clearance leakage between two pipelines 1022a, 1022b of welding.Inert purge gas can also seal 5146, 5148 surroundings leak, and the seal 5146,5148 needs not be perfect.Certainly, during operation is welded, pipeline Gap between 1022a, 1022b is slowly closed and sealed.Therefore, the welding between pipeline 1022a, 1022b produces When, the pressure in purging chamber between pipeline 1022a, 1022b may raise.Thus, there is provided the pressure in purging chamber Sensor detection purges the pressure in chamber and generates signal, one or more of places to one or more processors 5140 Manage device 5140 and then communicated with one or more valves and/or one or more adjusters, to control or adjust in purging chamber Purge gas pressure to prevent from excessively pressurizeing.Excessive pressurization in purging chamber is applied through the gap between pipeline to be welded Be outwardly directed be more than desired gas force, and potentially change desired welding result.In different embodiments, Single seal 5146,5148 is only provided to produce the purging chamber only sealed on side.This arrangement still provides rational Chamber is purged, the purging chamber greatly lacks oxygen and also prevents any possibility excessively pressurizeed.Embodiment party herein In case, inert purge gas are not only from the clearance leakage between pipeline, and by the unencapsulated end leakage of pipeline, and Therefore more more gases compared with the embodiment of double containment can be consumed.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between the first fixture 5142 and second seal 5148.That is, the first fixture 5142 and second seal 5148 Each it is positioned in the axially opposite side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between the fixture 5144 of first seal 5146 and second.That is, the fixture 5144 of first seal 5146 and second Each it is positioned in the axially opposite side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between the first fixture 5142 and the second fixture 5144.That is, the first fixture 5142 and the second fixture 5144 are respective It is positioned in the axially opposite side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between first seal 5146 and second seal 5148.That is, first seal 5146 and second seal 5148 are each positioned in the axially opposite side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between first seal 5146, the first fixture 5142, the second fixture 5144 and second seal 5148.That is, The fixture 5142 of first seal 5146 and first is axially positioned on the side for examining detector 5056 and inspection video camera 5112, And the second fixture 5144 and second seal 5148, which are axially positioned on, to be examined detector 5056 and examines the another of video camera 5112 On side.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between first seal 5146, the first fixture 5142 and second seal 5148.That is, first seal 5146 and first fixture 5142 be axially positioned on and examine detector 5056 and examine on the side of video camera 5112, and second is close Sealing 5148 is axially positioned on another (opposite) side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between first seal 5146, the fixture 5144 of second seal 5148 and second.That is, second seal 5148 and second fixture 5144 be axially positioned on and examine detector 5056 and examine on the side of video camera 5112, and first is close Sealing 5146 is axially positioned on another (opposite) side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between first seal 5146, the first fixture 5142 and the second fixture 5144.That is, first seal 5146 It is axially positioned on the first fixture 5142 on the side for examining detector 5056 and inspection video camera 5112, and the second fixture 5144 are axially positioned on another (opposite) side for examining detector 5056 and inspection video camera 5112.
In one embodiment, examine detector 5056 and examine video camera 5112 to be configured to axially (relative to pipe Road axis) it is positioned between the first fixture 5142, the fixture 5144 of second seal 5148 and second.That is, second seal 5148 It is axially positioned on the second fixture 5144 on the side for examining detector 5056 and inspection video camera 5112, and the first fixture 5142 are axially positioned on another (opposite) side for examining detector 5056 and inspection video camera 5112.
In one or more embodiments, because examining detector 5056 to be positioned between fixture 5142,5144, It can extract outline data after fixture 5142,5144 clamps in position between fixture 5142,5144.Thus, Examine detector 5056 to be continued to scan on during operation is welded and detect the profile in junction surface region 5136.This is for one A little applications are beneficial, because junction surface region 5136 can somewhat change when two pipelines 1022a, 1022b are soldered, Because junction surface region 5136 can be changed in other not soldered regions by being welded to connect itself.Therefore, detection is examined Device 5056 allows dynamically or " real-time " detect and determine the junction surface area at the region in junction surface region 5136 to be welded Any change of one or more characteristics in domain 5136.In addition, because examine detector 5056 be positioned at fixture 5142,5144 it Between, so it can extract welding front profile number after clamping force is applied by fixture 5142,5144 from junction surface region 5136 According to.The clamping force of fixture 5142,5144 can change junction surface region 5136 in itself.Engaged for example, clamping force can be altered slightly Relative altitude position of the distance between the pipe end at some (or all) regions in portion region 5136 between/pipe end Move.In addition, by fixture 5142,5144 apply clamping force can change in pipeline the circularity of one or two (for example, first folder Tool, which can change the circularity of the first pipeline to be welded and/or the second fixture, can change the circularity of second pipe to be welded.One In individual embodiment, for example, being symmetrically provided and for the fixture of any one the braking hoop in fixture 5142,5144 around nibbling The pipeline inner homogeneous of conjunction it is circumferentially-spaced.In addition, the outmost surface of each fixture braking hoop can be with the central axis phase of fixture Etc. ground interval.The interval of each fixture braking hoop may be configured as the internal diameter less times greater than pipeline.So, if each fixture Braking hoop extends to its maximum position, and the clamping force of fixture 5142,5144 can be used for the alteration of form of somewhat not rounded pipeline extremely The shape of more round pipe.Before two fixtures 5142,5144 apply complete clamping force, due to the possibility of alteration of form, connect The profile in conjunction portion region 5136 is not fully defined.Inspection detector 5136 as described herein can be used for true after clamping is applied Fixed wheel is wide.
In one or more embodiments because examine detector 5056 and/or video camera 5112 be positioned at two it is close Between sealing, so examining detector 5056 and/or video camera 5112 can be in seal 5146,5148 and pipeline to be welded After 1022a, 1022b engagement of interior surface 5130,5132 outline data is extracted between seal 5146,5148.Thus, Inspection detector 5056 can be provided in the region between seal 5146,5148 or the welding filled with purge gas operates it Before, during and/or continue to scan on afterwards and detect the profile in junction surface region 5136.This for some application be it is beneficial, Because junction surface region 5136 can welding operate before, during and/or afterwards by inspection detector 5056 and/or video camera 5112 test without destroying seal 5146,5148.If such as examine detector 5056 and/or video camera 5112 (with One or more processors 5140 are together) determine to need to operate the somewhat modification of weld part or other welding, then this is changed Or other welding operation can be realized in the case where that need not re-establish purging chamber (for example, with being examined after wherein welding Detector and/or position for video camera only introduce after purging chamber is destroyed on the outside of purging chamber and examine detector 5056 And/or video camera 5112 examines the expection arrangement in the junction surface region 5136 of welding to compare).Therefore, detector is examined The 5056 junction surface regions 5136 that can be used between scanning pipeline 1022a, 1022b, to determine pipeline after the welding operation The profile in the junction surface region 5136 between 1022a, 1022b, and based on scanning generation welding rear profile data, and can obtain This welding rear profile data and optionally realize correction based on welding rear profile data or welding that other are other and Not release clip 5142,5144 and/or seal 5146,5148.
In one embodiment, fixture 5142,5144 is configured to be rotated.In one embodiment, fixture 5142nd, 5144 it is configured to be rotated in directions opposite each other.
In addition, as described herein, the system can be clamped to first respectively in the first fixture 5142 and the second fixture 5144 The relative rotation between the first fixture 5142 and the second fixture 5144 is realized after 5132 inside pipeline inside 5130 and second pipe Turn.This can be by operating the one or more orientation motor of one or two in fixture 5142,5144 as described herein 5030th, 5074 realize.Pipeline 1022a, 1022b this rotate against may be in response to weld front profile data determine pipe end Between more preferable rotation matching be available to implement, and the phase of one or two in fixture 5142,5144 can be passed through Realized to rotating.Realize that this is rotated against without unclamping the first fixture 5142 and the second fixture 5144, while examining Detector 5056 keeps being axially positioned between fixture 5142,5144.Enter in the first pipeline 1022a and/or second pipe 1022b After row rotation, the new profile in junction surface region 5136 be present, and examine detector 5056 to be re-used for scanning junction surface Region 5136 is to obtain new welding front profile data.It should be understood that come because two fixtures 5142,5144 need not be released New welding front profile data are obtained, so unnecessary downtime can be avoided.In rotating against for pipeline 1022a, 1022b During, it should be appreciated that in one embodiment, the roller 5332 of outside support 5330 (6010A, 6010B) can be used for (such as by one Indicated by individual or multiple processors 5140) with one or more fixtures 5142,5144 work is combined to realize that this is rotated against.
In one embodiment, fixture 5142,5144 and seal 5146,5148 are positioned at pipeline 1022a, 1022b Inner side is to form the regions/areas of inner sealing.In one embodiment, fixture 5142,5144 and seal 5146,5148 quilts Configure to seal the opposite side of weld seam to be welded.
In one embodiment, fixture 5142 and seal 5146 are activated together, and fixture 5144 and seal 5148 are activated together.In one embodiment, fixture 5142,5144 and seal 5146,5148 are controlled by identical valve.
In one embodiment, seal 5146,5148 activates together with fixture 5142.In one embodiment, Seal 5146,5148 activates together with fixture 5144.In one embodiment, fixture 5142 and seal 5146 be independently It is activated, and fixture 5144 and seal 5148 are independently activated.In one embodiment, single seal control System can be configured to operate two seals 5146,5148, and the seal control system is independently of being configured to operation two The fixture control system (and being separated with the fixture control system) of individual fixture 5142,5144.
In one embodiment, fixture 5144 positions relative to pipeline 1022b end.In one embodiment, Then fixture 5142 and seal 5146 are activated together.In one embodiment, when pipeline 1022a is relative to pipeline When 1022b is positioned, fixture 5144 and seal 5148 are activated together.
In one embodiment, fixture 5142,5144 be configured to can advanced position (as shown in Figure 35 B) with extension Moved between position (as shown in Figure 35 A), in the advanced position, fixture 5142,5144 is interior with pipeline 1022a, 1022b's Surface 5130,5132 is not contacted, and in the extended position, fixture 5142,5144 is configured in pipeline 1022a, 1022b Apply clamping force on inner surface 5130,5132.In one embodiment, fixture 5142,5144 is constructed and arranged and pipe Road 1022a, 1022b engagement (contact), and transmit and clamp and mould pipeline 1022a, 1022b power.
In one embodiment, the structure of fixture 5142,5144, configuration and operation are shown with reference to figure 30 and Figure 33-42 And explain.For example, Figure 33 and Figure 34 show to be positioned at the central portion of the interior welds system 5004 on the inside of pipeline section 1022a, 1022b Points 5008 perspective view and sectional view, wherein fixture 5142,5144 and seal 5146,5148 both of which engagement pipeline section 1022a, 1022b inner surface 5130 and 5132, and some components of wherein middle body 5008 are for the sake of clarity not shown；Figure 35 Show to be positioned at the view of the middle body 5008 of the interior welds system 5004 on the inside of pipeline section 1022a, 1022b, wherein only pressing from both sides Tool 5142,5144 (without seal) engagement pipeline section 1022a, 1022b inner surface 5130 and 5132, and wherein middle body Some components be for the sake of clarity not shown；Figure 36 shows to be attached to the fixture braking hoop pin being positioned in star-wheel component 5100 The perspective view of the fixture braking hoop 5157 of component 5090；Figure 37 shows the perspective view of star-wheel component 5100；Figure 38 shows fixture system The perspective view of dynamic hoop pin component 5090；And Figure 39 and Figure 40 show the perspective view of the wheel hub 5096 of fixture 5142 or 5144, folder Tool braking hoop pin component 5090 and link component 5092 are connected to the wheel hub 5096.
In one embodiment, as shown in Figure 35 C, fixture 5142,5144 shows to be in advanced position, to show tiltedly It is higher how plate 5026,5070 somewhat extends.In Figure 35 C, welding torch 5502 shows to be in its extended position.It is logical Often, welding torch 5502 only extends after the extension of fixture 5142,5144.
In one embodiment, may include with reference to figure 36, welding system 5004：Multiple first fixture braking hoops 5157, Shown first fixture braking hoop 5157 is equally spaced circumferentially from one another on its corresponding star-wheel component 5100；With multiple second Fixture braking hoop 5157, the second fixture braking hoop 5157 is equal circumferentially from one another on its corresponding star-wheel component 5100 Separate.
In one embodiment, fixture braking hoop 5157, which can be directed to different size of pipeline, has different height, and And for example it can be finely adjusted using shim or any other adjustment member.In one embodiment, fixture braking hoop 5157 It can be self centering component.In one embodiment, the fixture braking hoop 5157 of interior welds system 5004 is constructed And arrange the radial gap for that there is about 1 inch with the inner surface of pipeline.
In one embodiment, each fixture braking hoop 5157 includes pipe surface contact member (or surface) 5156. In one embodiment, pipe surface contact member 5156 is constructed and arranged to be connect when fixture 5152,5154 extends Pipeline 1022a, 1022b inner surface 5130,5132 are frictionally engaged on the either side in conjunction portion region 5136.
In one embodiment, it is constructed and arranged with reference to figure 30 and Figure 36-38, each fixture braking hoop 5157 to connect It is connected to its associated fixture braking hoop pin component 5090 and is positioned in the fixture braking hoop pin component 5090.At one In embodiment, fixture braking hoop pin component 5090 is constructed and arranged to extend through its correspondence in star-wheel component 5100 Opening 5158.In one embodiment, the opening 5158 in star-wheel component 5100 is constructed and arranged in star-wheel component It is generally radially extending in 5100, to enable corresponding opening of the fixture braking hoop pin component 5090 in star-wheel component 5100 Moved radially in 5158 (for example, moving radially up and down).In one embodiment, star-wheel component 5100 can be by structure Make and arrange to promote the movement of fixture braking hoop pin component 5090, cause fixture 5142,5144 in pipeline 1022a, 1022b Apply any component of clamping force on inner surface 5130,5132.
In one embodiment, it is attached to folder with reference to figure 38, an end 5164 of fixture braking hoop pin component 5090 Tool braking hoop 5157, and another end 5166 of fixture braking hoop pin component 5090 is connected to link component 5092.One In individual embodiment, the end 5166 of fixture braking hoop pin component 5090 includes recess 5168, and the recess 5168 is constructed simultaneously Arrange to receive link component 5092 wherein.In one embodiment, the end 5166 of fixture braking hoop pin component 5090 Also include opening 5170, the opening 5170 is constructed and arranged to receive fastening member 5172 so that link component 5092 to be connected The end 5166 of hoop pin component 5090 is braked to fixture.
In one embodiment, with reference to figure 37, star-wheel component 5100 may include opening 5162, and the opening 5162 is by structure Make and arrange to realize the connection between fixture braking hoop pin component 5090 and link component 5092.In one embodiment, The opening 5162 of star-wheel component 5100 be also constructed and arranged fixture 5142,5144 its advanced position and extended position it Between link component 5092 is moved when moving.In one embodiment, star-wheel component 5100 is attached to accordingly Fixture 5142 or 5144.
In one embodiment, link component 5092 is the elongation structure with the opening formed in its end portion office Part.In one embodiment, the end sections of link component have automatic adjustment configuration, so as in fixture 5142,5144 Link component 5092 is set to move when being moved between its advanced position and extended position.
In one embodiment, it is connected to fixture with reference to figure 30, Figure 39 and Figure 40, an end of link component 5092 Braking hoop pin component 5090, and another end of link component 5092 is connected to wheel hub 5096.In one embodiment, Therefore each fixture braking hoop is connected to wheel hub by its associated fixture braking hoop pin component 5090 and link component 5092 5096。
In one embodiment, wheel hub 5096 may include recess 5174 (as shown in figure 40), and the recess 5174 is by structure Make and arrange to realize the connection between link component 5092 and wheel hub 5096.In one embodiment, wheel hub 5096 is recessed Mouth 5174 is also constructed and arranged to enable link component 5092 when fixture moves between its advanced position and extended position It is enough to be moved in recess 5174.
In one embodiment, cylinder 5086, piston 5084 and axle are included with reference to figure 30, fixture 5152 or 5154 5094.In one embodiment, piston 5084 is configured to move axially in cylinder 5086, and axle 5094 is fixed to Piston 5084.In one embodiment, axle 5094 can move together with piston 5084.
In one embodiment, wheel hub 5096 is constructed and arranged to be connected to axle 5094, and the axle 5094 passes through example Such as longitudinally moved by fluid (hydraulic pressure or air pressure) pressure-actuated axial reciprocating piston 5084 in cylinder 5086.
Fixture 5142,5144 is moved axially come from retraction by activating the piston 5084 of cylinder 5086 in cylinder 5086 Position is moved to extended position (as shown in Figure 35 A) (as shown in Figure 35 B), in the advanced position, fixture 5142,5144 with Pipeline 1022a, 1022b inner surface 5130,5132 are not contacted, and in the extended position, fixture 5142,5144 is configured to Apply clamping force on pipeline 1022a, 1022b inner surface 5130,5132.In one embodiment, it is in the past rotary living The compressed air entry port 5031 (as shown in figure 30) that joint 5032 passes through front jig control valve 5018.Entry port 5031 Compressed air promotes piston 5084 forward so that fixture 5142,5144 is moved to its extended position.
That is, the axial movement of piston 5084 causes the axial movement for the axle 5094 for being connected to piston 5084.In an implementation In scheme, the axial movement of axle 5094 and then the axial movement for causing wheel hub 5096.In one embodiment, wheel hub 5096 Move axially through its link component 5092 transfer moving radially for fixture braking hoop pin component 5090.Therefore, radial clamping Power is generated by acting on the Fluid pressure of the compressed air on piston 5084, and the piston 5084 is driven the axle of piston 5084 The link component 5092 moved radially of fixture braking hoop 5157 is converted into (by axle 5094 and wheel hub 5096) to movement.
In one embodiment, the size of cylinder, the Fluid pressure applied and fixture 5142 and 5144 can be changed Various assemblies size, to control the clamping being applied to by fixture on pipeline 1022a, 1022b inner surface 5130,5132 Power.
In one embodiment, seal 5146,5148 has generally annulus or loop configurations, to allow central portion The part (for example, front jig 5142 or rear jig 5144) divided passes through.In one embodiment, seal 5146, 5148 are constructed and arranged to radially distensible component.In one embodiment, seal 5146,5148 is constructed and arranged To be connected to fluid is sent into seal 5146,5148 to be inflated to it air pressure line or hydraulic line.Seal 5146, During 5148 inflation, they are constructed and arranged to engage pipeline 1022a, 1022b inner surface 5130,5132 respectively, so that Chamber 5150 is formed between it.In one embodiment, seal 5146 engages pipeline 1022a inner surface after inflation 5130, and seal 5148 engages pipeline 1022b inner surface 5132 after inflation.In one embodiment, seal 5146th, 5148 it is engaged on after inflation on the opposite side in junction surface region 5136.In one embodiment, chamber 5150 be can It is referred to as the closed volume of purge gas chamber.In one embodiment, chamber 5150 is constructed and arranged to connect wherein Receive purge gas.
In one embodiment, interior welds system 5004 may include purge gas tank, the purge gas tank by with Put to provide purge gas between the first seal 5146 of inflation and the second seal 5148 of inflation, to be operated in welding During reduce oxygen between the first seal 5146 of inflation and the second seal 5148 of inflation.In an embodiment party In case, scavenging tank can be positioned in the drive part 5010 of interior welds system 5004.In one embodiment, purge gas The oxidation being configured to prevent during welding sequence.In one embodiment, purge gas is inert gas.In a reality Apply in scheme, purge gas may include argon gas, helium, nitrogen or its combination.In one embodiment, purge gas may include Argon gas and CO2Combination.
In one embodiment, it is second close with inflating to be pumped into first seal 5146 in inflation for purge gas In the inner seal region formed between sealing 5148.By making the interior zone of sealing not oxygenous, can prevent can be by welding Connect and aoxidized caused by the high temperature occurred in process.
In one embodiment, interior welds system 5004 may include oxygen sensor 5176 and pressure sensor 5178.In one embodiment, oxygen sensor 5176 and pressure sensor 5178 are operatively connectable to one or more Processor 5140.In one embodiment, oxygen sensor 5176 and pressure sensor 5178 are constructed and arranged to position On rotatable wheel hub 5078.In another embodiment, oxygen sensor 5176 and pressure sensor 5178 are constructed simultaneously Arrange to be positioned on star-wheel component 5100 (for example, between fixture).
In one embodiment, the oxygen for the gas that oxygen sensor 5176 is configured in measurement purging chamber 5150 contains Amount, and oxygen content data are sent to one or more processors 5140, the oxygen content data instruction purging chamber 5150 In gas oxygen content.In one embodiment, one or more processors 5140 are configured to receive oxygen content data, By the oxygen content data received compared with its predetermined oxygen content value, and it is more than predetermined oxygen content value in oxygen content data In the case of generate oxygen excessive signal.In one embodiment, based on oxygen excessive signal, interior welds system 5004 can It is configured to open valve arrangement to allow purge gas (coming from purge gas source/tank) to flow in purging chamber 5150, until Untill measured oxygen content is brought down below predetermined oxygen content value.In one embodiment, it is internal based on oxygen excessive signal Welding system 5004 can be configured to stop welding sequence.
In one embodiment, pressure sensor 5178 is configured to the inert gas in measurement purging chamber 5150 Pressure, and pressure data is sent to one or more processors 5140, the pressure data instruction is purged in chamber 5150 Inert gas pressure.In one embodiment, one or more processors 5140 are configured to receive pressure data, will The pressure data received is compared with its scheduled pressure value, and the life in the case where pressure data is more than scheduled pressure value Into superpressure signal.In one embodiment, based on superpressure signal, interior welds system 5004 can be configured to open air bleeding valve Structure is to discharge the pressure in purging chamber 5150, untill measured pressure is brought down below scheduled pressure value.At one In embodiment, based on superpressure signal, interior welds system 5004 can be configured to stop welding sequence.
In one embodiment, seal 5146,5148, purge gas tank, formed between seal 5146,5148 Purge gas chamber 5150, the oxygen sensor 5176 and pressure sensor of gas in monitoring purge gas chamber 5150 5178 be optional.
In one embodiment, with reference to figure 33, interior welds system 5004 includes examining video camera 5112, the inspection Video camera 5112 is configured to be positioned between the first pipeline engaging structure 5052 and second pipe engaging structure 5054.At one In embodiment, video camera 5112 is examined to be constructed and arranged to be rotatably installed on rotatable wheel hub 5078 and connect To the rotatable wheel hub 5078.
In one embodiment, video camera 5112 is examined to be operatively connectable to one or more processors 5140. In one embodiment, examine video camera 5112 be configured to before welding operates, afterwards or during video camera examined Data are sent to one or more processors 5140.
In one embodiment, video camera inspection data can generally include to be connect by the welding that inspection video camera 5112 captures The image of seam.In one embodiment, examine video camera 5112 to be configured in operating process is welded or capture is welded afterwards The image of seam.
In one embodiment, video camera inspection data can generally include the pipeline captured by inspection video camera 5112 The image in the junction surface region 5136 between 1022a, 1022b.In one embodiment, video camera 5112 is examined to be configured to In the image that the junction surface region 5136 between pipeline 1022a, 1022b is captured before or during welding operates.
In one embodiment, examine video camera 5112 can be arranged to capture/observation pipeline 1022a, Any device of solder joint or junction surface region 5136 between 1022b.In one embodiment, camera system 5112 Can be imaged for the two dimension (2D) in the solder joint between visual inspection pipeline 1022a, 1022b or junction surface region 5136 Machine.
In one embodiment, it can be that two-dimentional (2D) charge coupled device (CCD) colour is taken the photograph to examine video camera 5112 Camera.In one embodiment, the one or more processors 5140 associated with examining video camera 5112 can be configured to The image captured by inspection video camera 5112 is analyzed, to detect any defect being present in solder joint.In an embodiment party In case, visual signal can be based on the analysis and be delivered to outside operator's display.For example, 2D video cameras can be colored Video camera, and color change can indicate weld part defect to operating personnel.In one embodiment, the profile perceived becomes Change can also indicate that weld part defect.
In one embodiment, examine video camera 5112 be configured to obtain solder joint/region (for example, metal A variety of colors region) thermal image.Then analyze this thermal image with determine the different zones in solder joint/region reached why The temperature of sample.
In one embodiment, the image provided by inspection video camera 5112 can be coloured image.In an implementation In scheme, the one or more processors 5140 associated with examining video camera 5112 can be configured to analysis and receive image The color of each pixel, to determine the temperature associated with this pixel.
In another embodiment, the image provided by inspection video camera 5112 can be gray level image.In a reality Apply in scheme, the one or more processors 5140 associated with examining video camera 5112 can be configured to analysis and receive image Each pixel intensity or brightness, to determine the temperature associated with this pixel.In one embodiment, imaged with examining The associated one or more processors 5140 of machine 5112 can be configured to the property that analysis receives the pixel of image, to determine Whether whether temperature or deposit beyond threshold value or predetermined temperature range (and being relatively very high or relatively very low) Larger temperature difference between adjacent pixels.In one embodiment, abnormal temperature or temperature difference may indicate that weld part defect Generation.
For example, in one embodiment, image can be analyzed, to determine solder joint/region region or multiple Whether region has reached relatively very high or relatively very low temperature.In one embodiment, image can be analyzed, to determine Whether one region in solder joint/region or multiple regions have temperature difference/change.In one embodiment, it is determined that weldering The temperature in each region in seam/region, and by the identified temperature and threshold value in each region in solder joint/region Or predetermined temperature range is compared, to determine whether solder joint/region region or multiple regions have reached relative Whether very high temperature, and/or a region in solder joint/region or multiple regions have temperature difference/change.
In one embodiment, video camera 5112 is examined to be configured to follow welding torch 5502 so that as long as welding Portion is produced by welding torch 5502, and operating personnel can examine weld part.
In various embodiments, detector is examined to include laser, 3D video cameras, ultrasound and capacitance probe.Using In the case of laser, the type of laser can be laser displacement sensor.In one embodiment, laser can be LK-G5000 series ultrahigh speed/high accuracy laser displacement sensor of Keyence companies manufacture.In one embodiment, Laser can be Intelligent Laser sensor, such as the Intelligent Laser sensor of Meta Vision Systems companies manufacture SLS-050。
In one embodiment, emitter stage that detector may include to examine radiation beam for sending is examined and for from anti- Penetrate the receiver of radiation acceptance inspection signal.In one or more embodiments, the receiver of detector includes detection and reflected Radiate and based on the sensor of reflected radiation generation signal.Signal is received by one or more processors.In an embodiment party In case, signal includes the data and information of the three-D profile in the junction surface region corresponded between pipeline to be welded, and can use It is the relative spacing between relative altitude, pipeline in adjacent channel surface of the detection for example at region to be welded, to be welded Adjacent surface in any heterogeneity (for example, at its inclined-plane).In addition, because inspector's detector is along between pipeline Whole junction surface be scanned, so it can determine that the specific engagement contouring at any specific scanning area.This letter Breath can be controlled the operation of welding torch by one or more processors use, and being specifically exclusively used in pipeline to be welded with offer exists Customization/special welding of structure outline at its junction surface region.
In one embodiment, system 5000 may include shell 5852,5854 (as shown in figure 31), the shell 5852nd, 5854 it is configured to accommodate and protect respectively to examine detector 5056 and examine video camera 5112 from can operate in welding During fly to examine detector 5056 and/or examine video camera 5112 splashing thermal weld spark (splash) and/or its The influence of his fragment.
In one embodiment, examine detector 5056 and/or examine the shell 5852,5854 of video camera 5112 can be by Makrolon material is made.In one embodiment, the part of shell 5852,5854 can be configured as movably, to have Beneficial to cleaning (for example, removing spatter thing or other welding fragments from it) or repair.In one embodiment, shell 5852nd, 5854 part may include video camera eyeglass shield or examine detector eyeglass shield.In one embodiment, Examine detector 5056 and/or examine the part of the shell 5852,5854 of video camera 5112 to be configured as disposably so that The part of shell 5852,5854 can easily be changed when its blocking has spatter thing or other welding fragments.For example, one In individual embodiment, video camera 5112 is examined to may include (rectangle) polycarbonate component in front of its eyeglass, the component can It is replaced when soldered splash or other welding fragments block/blocked.
In one embodiment, examined before welding, inspection can be by examining detector 5056 after dynamic check and welding To perform.In one embodiment, examined before welding, inspection can be by examining the and of detector 5056 after dynamic check and welding Video camera 5112 is examined to perform.
In one embodiment, detector 5056 is examined to include being used to send the emitter stage 5180 for examining radiation beam and use In the receiver 5182 from reflected radiation acceptance inspection signal.In one embodiment, detector 5056 is examined towards engagement The transmitting radiation of portion region 5136.In one embodiment, the receiver 5182 of detector 5136 is examined to be arranged to receive The radiation reflected from the surface in junction surface region 5136, and electronic signal is generated based on it.In one embodiment, examine The receiver or sensor 5182 of detector 5056 are configured to sense reflected signal to detect the 3D shapes in solder joint/region Looks.Detector 5056 is examined to be referred to as examining laser interchangeably herein.
In one embodiment, detector 5136 is examined to include multiple inspections towards the transmitting radiation of junction surface region 5136 Test detector.In one embodiment, detector is each examined to may include receiver, the receiver is used to receive from engagement The radiation of the surface reflection in portion region 5136, and electronic signal is generated based on it.
In one embodiment, detector 5056 is examined to may include laser displacement sensor.In one embodiment, Detector 5056 is examined to may include complementary metal-oxide-semiconductor (CMOS) sensor.In one embodiment, examine Detector 5056 may include high definition Ernostar lens styles.In one embodiment, it is associated with examining detector 5056 One or more processors 5140 be configured to use position of the triangulation detection reflected light on RS-CMOS sensors.
In one embodiment, detector 5056 is examined to receive its electric power from line feeds electrons module 5046.One In individual embodiment, line feeds electrons module 5046 is configured to by rear slip ring 5080 from the battery in drive part 5010 5116 receive its electric power.Therefore, examine detector 5056 by rear slip ring 5080 and line feeds electrons module 5046 from drive division The battery 5116 divided in 5010 receives its electric power.When to the cable of pull bar/umbilical cables 5034, flexible pipe and/or line and system 5004 During disconnection, such as when system 5004 advances to next solder joint from a solder joint, it may be possible to such case.
In another embodiment, detector 5056 is examined directly to receive its electric power from umbilical cables/pull bar 5034.Example Such as, when cable, flexible pipe and/or line to pull bar/umbilical cables 5034 are connected with system 5004, examine detector 5056 can be direct Its electric power is received from umbilical cables/pull bar 5034.
It should be understood that in some embodiments, it may be necessary to the electric power for examining detector 5056 and/or video camera 5112 With the communication for coming self-checking detector 5056 and/or video camera 5112.Examine this of detector 5056 and/or video camera 5112 electricity Power and/or communication can be used component, the component on the outside of pipeline engaging structure (for example, fixture 5142,5144 and/or The outside of seal 5146,5148), such as one or more processors 5140 and/or power supply.In some embodiments, in electricity In the case that power and/or communication pass through hard-wired (relative to wireless) communication and/or power line generation, this hardwired will can lead to Cross the rotation that rotatable wheel hub 5078 is carried out to take into account, for example to reduce or prevent hard-wired to turn round around and/or tangle.By This, in an example as described herein, hardwired (it can transmit information and/or electric power) can possess：(i) movable part Point, it is oriented to along junction surface region in the case where examining detector 5056 to be orientated the revolving force of motor in one or more and examines beam When with examine detector 5056 together with move；And (ii) fixed part, it keeps solid in the moving process of moveable part It is fixed.Hard-wired fixed part and rotating part can be by providing connecing between hard-wired moveable part and fixed part The slip ring connection in conjunction portion, to enable signals to pass to fixed part from moveable part.Single connect firmly it should be understood that can be used Line (for example, there are multiple discrete lines) or multiple hardwireds (being used for electric power and the single line of communication).If in addition, to inspection Detector provides onboard electric, then only order wire may pass through slip ring.Provided that the radio communication with examining detector, then only electric The line of force may pass through slip ring.Provided that onboard electric and radio communication, then need not provide hard-wired communications.
With on similar described by hard-wired order wire, it is also possible to it is desirable that by for carrying pressurized inert gas Air pressure line or pipe provide inert gas the axial position between pipeline engaging structure (for example, between fixture and/or seal) Put.Be also may want to reduce the torsion of air pressure line that may otherwise occur in the rotary course of rotatable wheel hub 5078 around And/or tangle.Thus, air pressure line can possess the fixed part being connected with inert gas source and extend in rotatable wheel hub can Movable part, moveable part are connected to fixed part by rotary unions.Rotary unions allow to fix pneumatic department Divide rotating against between removable pneumatic part.
In one embodiment, examine detector 5056 can be with examining motor operation associated, with along pipe Junction surface region 5136 between road 1022a and 1022b is oriented to radiation beam.In one embodiment, detector 5056 is examined Can be operatively associated with one or more processors 5140 with inspection motor.In one embodiment, the first rotation The electric rotating motivation 5074 of motor 5030 and second can interchangeably be referred to as examining motor together.
In one embodiment, detector 5056 is examined to be configured to detect the engagement between pipeline 1022a, 1022b The characteristic in portion region 5136.In one embodiment, the characteristic in junction surface region 5136 may include pipeline 1022a, 1022b it Between gap.In one embodiment, the characteristic in junction surface region 5136 may include the axial direction between pipeline 1022a, 1022b Offset (for example, high/low).In one embodiment, the characteristic in junction surface region 5136 may include at each welding position Geometry.In one embodiment, the characteristic in junction surface region 5136 may include pipeline 1022a, 1022b breach, rule Lattice or any irregularities.In one embodiment, the characteristic in junction surface region 5136 may include pipeline 1022a, 1022b Circularity.In one embodiment, the characteristic in junction surface region 5136 may include pipeline 1022a, 1022b (pipe alignment it The profile on inclined-plane afterwards).In one embodiment, the characteristic in junction surface region 5136 may include the gold in solder joint/region A variety of colors region of category.For example, analyze these color regions with determine the different zones in solder joint/region reached how Temperature.
In one embodiment, for example, examining detector 5056 to be configured to be activated in welding torch 5502 The spy in the junction surface region 5136 before pipeline 1022a, 1022b are fixed to one another/welded between detection pipeline 1022a, 1022b Property.For example, the characteristic in junction surface region 5136 may include pipeline inclined-plane geometry, pipeline 1022a, 1022b (pipe alignment it The gap between inner abutment end afterwards), gap between pipeline 1022a, 1022b (after pipe alignment) inclined-plane etc.. In one embodiment, examine detector 5056 can be configured to for example weld operate during, pipeline 1022a, The characteristic that junction surface region is detected at the region before deposit weld material thereon at the junction surface 5136 between 1022b.Example Such as, the characteristic in junction surface region 5136 may include difference in height of the pipeline between the bevel edge after its alignment.In a reality Apply in scheme, the characteristic in junction surface region 5136 may include between the neighboring edge of pipeline (for example, in its internal chamfer part Place) difference of height.In one embodiment, detector 5056 is examined to be configured to such as detection pipe after the welding operation The characteristic in the junction surface region 5136 between road 1022a, 1022b.For example, the characteristic in junction surface region 5136 may include to be formed The characteristic of bead, weld part form parameter such as mismatch, pearl concavity, re-entrant angle.
In one embodiment, one or more processors 5140 are configured to performance tests detector 5056 and electronic Machine 5030,5074, to scan the junction surface region 5136 between pipeline 1022a, 1022b.
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with Scan the junction surface region 5136 between pipeline 1022a, 1022b, so as to determined before welding sequence pipeline 1022a with The profile in the junction surface region 5136 between 1022b and based on its generation welding front profile data.
Term " profile " as used herein is the physical attribute on the junction surface region to be welded between pipeline General term.Term " outline data " refers to the data corresponding to profile that can be drawn from junction surface region.For example, this data It can be obtained by using inspection detector (such as laser) scanning junction surface region.Outline data can be included on profile Polytype information, such different types of information are referred herein to as " characteristic ".
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with Scan the junction surface region 5136 between pipeline 1022a, 1022b, so as to during welding sequence pipeline 1022a with The profile that junction surface region 5136 is determined at the region before deposit weld material thereon at the junction surface 5136 between 1022b And generate dynamic outline data.In one embodiment, one or more processors 5140 are configured to based upon dynamically taking turns Wide data generate welding signal to control welding torch 5502.Dynamic outline data are described in detail below.Such as this paper institutes Term " dynamic " also means or referred to " real-time " that this means process of the one or more processors in current welding operation It is middle using the sensing or detection to control welding machine.Certainly, because examine detector, welding torch lag behind inspection detector/ The amount that defines of laser is examined, so in reception and the one or more processors of outline data using such outline data to control A certain buffering (or time delay somewhat) occurs between welding torch processed.
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with Scan the junction surface region 5136 between pipeline 1022a, 1022b, so as to determined after welding sequence pipeline 1022a with The profile in the junction surface region 5136 between 1022b and based on its generation welding rear profile data.Welding rear profile data exist It is described in detail below.
In one embodiment, detector 5056 is examined to be configured to and the knot of the welding torch of welding system 5,004 5502 Work is closed, to sense junction surface joint profile and/or welding material profile, so as to which welding material is applied with appropriate position and amount It is added to edge joint.In one embodiment, examine detector 5056 be configured to survey weld part and to carry out joint The one or more processors 5140 of the soldering tip 5502 of formula motion send signal, to control soldering tip 5502 to surround whole edge joint Movement.Specifically, welding torch 5502 is configured to continuously receive welding contouring from edge joint in soldering tip control system Inspection detector is followed during information.Described information is subsequently used for continuously adjusting welding torch 5502 to realize desired weld part knot Structure/profile.
In one embodiment, interior welds system 5004 may include an inspection detector/welding torch 5502. In one embodiment, interior welds system 5004 includes three welding torch 5502 and three associated inspection detectors 5056.In another embodiment, interior welds system 5004 may include two inspection detector/welding torch 5502. In one embodiment, the quantity of the inspection detector internally used in welding system 5004 can change.
In one embodiment, the fielded system 5000 of present patent application is intelligent internal inspection system, the intelligence Inside automation (including is examined video camera 5112, examines detector 5056 and soldering tip or welding torch by internal inspection system 5502) it is placed between the fixture 5142,5144 at interval and sealing structure 5146,5148.In one embodiment, this patent The fielded system 5000 of application is intelligent internal inspection system, and the intelligent internal inspection system will examine video camera 5112 and inspection Detector 5056 is tested to be placed between the fixture 5142,5144 at interval and sealing structure 5146,5148.In an embodiment In, the fielded system 5000 of present patent application is intelligent internal inspection system, and the intelligent internal inspection system will be internal automatic Change (including examine video camera 5112, examine detector 5056 and soldering tip or welding torch 5502) be placed on interval fixture 5142, Between 5144.
In one embodiment, welding system is attached to the rear portion of line-up jig, so that turning into makes and use third party The in-line analysis instrument that instrument associated downtime minimizes.In one embodiment, video camera 5112 and inspection are examined The both of which of detector 5056 is tested to be used to examine weld part.In one embodiment, video camera 5112 is examined to be configured to capture The two dimensional image of weld part and the color for analyzing weld part.Because the color instruction material of weld part is in the process of welding sequence In what kind of temperature be increased to, so by examine video camera 5112 obtain information assist in welding whether correctly enter OK.In one embodiment, detector 5056 is examined to be configured to analyze the profile of weld part.In one embodiment, The inspection detector 5056 combined with two-dimentional (2D) charge coupled device (CCD) colour TV camera 5112 is configured to lead in root Root is directly performed after road welding sequence and passage of heat welding sequence to examine.In one embodiment, welding system 5004 It is configured to provide root channel welds layer profile and shows that the color exception of root channel welds layer and any geometry lack Sunken 2D original color images.In one embodiment, welding system 5004 is configured to create root channel welds layer wheel Wide and visual pattern the permanent record that can be stored and reset in the electronic installation (for example, laptop computer) of user.
In one embodiment, the inspection that the inspection detector 5056 combined with colour TV camera 5112 performs can be used as The reference that AUT weld parts are examined.In one embodiment, the inspection detector 5056 combined with colour TV camera 5112 performs Inspection " by or not " (qualified/unqualified test (or inspection for can be used as welding for root channel welds and the passage of heat Look into)).In one embodiment, if it find that root defect, then mark it after all passages deposition far away from generation defect Before, cleavable solder joint and pre-preparation is carried out in identical platform, can so avoid the notable waste of production time.
In one embodiment, interior welds system 5004 includes reponse system, and the reponse system is configured to grasp Operatively it is connected to multiple sensors and one or more processors 5140.In one embodiment, one or more processing Device 5140 is configured to the data that analysis is provided by multiple sensors.In one embodiment, one in multiple sensors Including temperature sensor, the temperature sensor is configured to provide the temperature instruction of solder joint during welding sequence And/or monitoring temperature.In one embodiment, one in multiple sensors includes welding material sensor, the welding Material sensors are configured to monitor welding material use during welding sequence.In one embodiment, Duo Gechuan One in sensor may include sensor, and the sensor is configured to monitor speed and the time of welding sequence.
After Figure 41 shows the front perspective view of soldering tip assembly 5500, while Figure 42 and Figure 43 show soldering tip assembly 5500 Perspective view.Figure 44-46 shows the left side perspective view, right side perspective view and sectional view of soldering tip assembly 5500, and wherein soldering tip assembles Some components of part 5500 are for the sake of clarity not shown.
In one embodiment, in the embodiment illustrated, middle body 5008 can have three welding torch 5502.In another embodiment, middle body 5008 can have two welding torch 5502.In yet another embodiment, Middle body 5008 can have only one welding torch 5502.In one embodiment, the quantity of welding torch can change.
In one embodiment, soldering tip assembly 5500 includes welding torch 5502 and welding torch shell assembly 5504.In one embodiment, welding torch 5502 includes weld tip 5503.In one embodiment, soldering tip assembles Part 5500 (welding torch 5502 and welding torch shell assembly 5504) is by the framework or frame set of interior welds system 5004 Piece installing carries.
In one embodiment, welding torch 5502 is constructed and arranged and can consume welding rod line 5507 and feed or draw Lead in welding region/area.Welding rod line 5507 can be consumed from source (for example, cable reel or spool) by line feeder system 5044 supplies.In one embodiment, welding torch 5502 is constructed and arranged to be connected to supply of electric power (for example, constant Voltage electricity is supplied).In one embodiment, electric arc formed can consume welding rod line 5507 and pipeline 1022a, 1022b it Between, described electric arc heated pipeline 1022a, 1022b, so as to cause it to melt and be coupled.In one embodiment, protective gas Welding torch 5502 is fed past together with it can consume welding rod line 5507, the protective gas protects welding sequence from air In pollutant effects.In one embodiment, protective gas is fed past the welding weldering that may include gas cup 5505 Torch nozzle is to welding region/area.In one embodiment, welding rod 5507 can extend over the end of gas cup 5505.
In one embodiment, the protective gas being stored in drive part 5010 passes through flexible pipe/protective gas line quilt Line feeding assembly 5020 is taken to for being assigned to one or more welding torch 5502.In one embodiment, protect Gas control valve 5042 is configured to (for example, by rear slip ring 5080, rotatable wheel hub 5078 and preceding slip ring 5016) from rear rotation Rotatable articulation 5072 receives protective gas.In one embodiment, protective gas control valve 5042 is configured to control guarantor Shield gas passes through flowing of the protective gas line to welding torch 5502.In one embodiment, each welding torch 5502 has There is the corresponding protective gas control valve 5042 for being connected to it.In one embodiment, protective gas control valve 5042 is configured To supply protective gas to corresponding welding torch 5502 when it is from line feeds electrons 5046 reception signal of module.
In one embodiment, welding torch 5502 is configured to be held by the frame assemblage of interior welds system 5004 Carry, and be configured to produce welding in the end of the first pipeline 1022a the second end.In one embodiment, weld Welding torch 5502 is connect to be configured to internally be positioned in the first pipeline 1022a and/or second pipe 1022b to provide interior welds Operation.In one embodiment, the welding torch 5502 of positioned internal be installed to rotatable wheel hub 5078 (be positioned at it is described can On rotary hub 5078) and it is connected to rotatable wheel hub 5078.
In one embodiment, welding torch 5502 can have at least three frees degree.In one embodiment, close The free degree of section motion makes the right and wrong in terms of most preferably and in case of need filling engages contouring of welding torch 5502 Chang Youxiao and efficient.
The free degree generally refers to the moving freely in three dimensions of welding torch 5502.Translational movement or displacement are often referred to In generation, moves or displacement along the linear of three orthogonal X-axis, Y-axis and Z axis.
In one embodiment, term position as used herein generally refers to translational movement or displacement.In a reality Apply in scheme, position can be relative or absolute.
In one embodiment, coordinate system may include：Y-axis, it is arranged essentially parallel to pipeline 1022a, 1022b longitudinal direction Axis A-A alignment (as shown in Figure 8)；X-axis, it is perpendicular to Y-axis；And Z axis, it is perpendicular to Y-axis and is arranged essentially parallel to pipe Road 1022a, 1022b longitudinal axis R-R alignment (as shown in Figure 8).For example, generally refer to forward direction along the translational movement of X-axis And reverse movement.Left side is generally referred to along the translational movement of Y-axis to move to the right.Generally referred to along the translational movement of Z axis Move up and down.
In rotary moving or displacement generally refers to the rotation around three orthogonal X-axis of these identicals, Y-axis and Z axis.Around The rotation of three orthogonal X-axis, Y-axis and Z axis is generally designated as deflecting (Z axis), pitching (Y-axis) and roll (X-axis).Example Such as, left side or right side inclination movement are generally referred to around the in rotary moving of X-axis.Around Y-axis it is in rotary moving generally refer to it is positive or (to Reversed dip moves afterwards).About the z axis in rotary moving generally refers to or movement of turning right.
In one embodiment, term orientation as used herein generally refers in rotary moving or displacement.In a reality Apply in scheme, orientation can be relative or absolute.
In one embodiment, at least three frees degree may include welding torch 5502 along three orthogonal X Two translational movements of two and welding torch 5502 in axle, Y-axis and Z axis are around identical three orthogonal X-axis, Y-axis It is in rotary moving with one of one in Z axis.
In one embodiment, welding torch 5502 is along two s' in three orthogonal X-axis, Y-axis and Z axis Two translational movements may include moving up and down and the side of welding torch 5502 to side (example for welding torch 5502 Such as, it is left-to-right) it is mobile.In one embodiment, the movement up and down of welding torch 5502 may refer to as welding torch 5502 move radially (that is, the longitudinal axis R-R for being arranged essentially parallel to pipeline 1022a, 1022b), and welding torch 5502 Side to side it is (left-to-right) movement may refer to (that is, be arranged essentially parallel to pipeline for the axial movement of welding torch 5502 1022a, 1022b longitudinal axis A-A).
In one embodiment, welding torch 5502 in identical three orthogonal X-axis, Y-axis and Z axis one An individual forward direction in rotary moving that may include welding torch 5502 or the movement of (backward) reversed dip.
In one embodiment, welding torch 5502 is mounted for being wound on the weld tip 5503 of welding torch 5502 Place or the pivot points P adjacent with the weld tip 5503 move (as shown in Figure 54, Figure 56 and Figure 58) so that are welding Weldpool caused by tip 5503 generally overlaps with pivot points P.In one embodiment, pivot points P is positioned at welding point The front of end 5503.For example, in one embodiment, welding torch 5502 is designed to around pivot points P (such as Figure 54, Tu56He Shown in Figure 58) pivot, at the pivot points P, welding rod line 5507 contacts with pipeline 1022a, 1022b.In an embodiment In, welding torch 5502 is mounted for moving so that its axis around neighbouring welding torch tip 5503 carries out joint Motion.In one embodiment, the axis passes through pivot points P, and is arranged essentially parallel to the vertical of pipeline 1022a, 1022b To axis A-A.
In one embodiment, welding torch 5502 is operatively connectable to one or more welding torch motor 5596.In one embodiment, one or more welding torch motor 5596 and welding torch 5502 are configured to position In the first pipeline 1022a and/or second pipe 1022b inside.In one embodiment, one or more welding torch Motor 5596 is configured to be respectively relative to first in the first pipeline engaging structure 5052 and second pipe engaging structure 5054 Pipeline 1022a and second pipe 1022b make welding torch 5502 relative to the first pipeline engaging structure 5052 and the after fixing Two pipeline engaging structures 5054 move.
In one embodiment, one or more processors 5140 are configured to control one or more welding torch electricity Motivation 5596 is to control the position of welding torch 5502 and orientation.For example, as will be described in detail, one or more welding Welding torch motor 5596 may include：Radial direction welding torch motor 5512, it is configured to control the radial direction of welding torch 5502 Position and orientation；Axial welding torch motor 5550, it is configured to control the axial location of welding torch 5502 and orientation； And oblique weld welding torch motor 5588, it is configured to control the obliquity of welding torch 5502 and orientation.
In one embodiment, motor 5030 and 5074 is arranged to make welding torch 5502 around junction surface region 5136 circumferentially move, and inspection detector 5056 is moved simultaneously around junction surface region 5136 with welding torch 5502. In one embodiment, welding torch 5502 is followed after detector 5056 is examined.In one embodiment, preceding electric rotating Motivation 5030 and rear electric rotating motivation 5074 are configured to rotate rotatable wheel hub 5078 and make to be both positioned at rotatable wheel On hub 5078 and the welding torch 5502 of rotatable wheel hub 5078 is connected to, detector 5056 is examined and examines video camera 5112 to revolve Turn.In one embodiment, preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 are interchangeably referred to as circumferential welding Welding torch motor.
In one embodiment, one or more processors 5140 and one or more orientation motor 5030 and 5074 It is operatively connected to make the first fixture 5142 relative to the second fixture based on the instruction from one or more processors 5140 5144 rotations, to make the first pipeline 1022a be rotated relative to second pipe 1022b.
In one embodiment, motor 5030 and 5074 is configured to make welding torch 5502 around junction surface region 5136 circumferentially move, and are also configured to make inspection detector 5112 with welding torch 5502 simultaneously around junction surface region 5136 movements.In one embodiment, welding torch 5502 is followed after video camera 5112 is examined.In an embodiment In, examine video camera 5112 to follow after welding torch 5502.
In one embodiment, motor 5030 and 5074 is configured to make welding torch 5502 around junction surface region 5136 circumferentially move, and are also configured to make inspection video camera 5112 and examine detector 5056 both and welding torch 5502 move around junction surface region 5136 simultaneously.In one embodiment, welding torch 5502, which is followed, is examining detector 5056 With examine video camera 5112 after both.In one embodiment, welding torch 5502 is followed after detector 5056 is examined And before video camera 5112 is examined.
In one embodiment, motor 5030 and 5074 is configured to during the channel welds of root first Welding torch 5502 is driven on direction of rotation, and in a second direction (with first direction phase during the passage of heat is welded Instead) drive welding torch 5502.
In one embodiment, motor 5030 and 5074 is configured to welding torch 5502 relative to conduit axis A-A at least 360 ° of drivings (as shown in Figure 8), to complete to rotate continuous root channel welds.In one embodiment, weld It is possible that welding torch 5502, which is connect, relative to conduit axis A-A (interior surface for surrounding pipeline) 360 ° of rotations, because welding weldering Torch 5502 is arranged on rotatable wheel hub 5078 (that is, being configured as axial-rotation).
In one embodiment, one or more welding torch motor 5596 are configured to make welding torch 5502 exist In pipeline 1022a, 1022b longitudinally (as shown in Figure 48 and Figure 49) toward and away from pipeline 1022a, 1022b inner surface 5130th, 5132 is (as shown in figure 33) mobile.In one embodiment, one or more welding torch motor 5596 are configured To make welding torch 5502 relative to the weld part angularly movement (as shown in Figure 56 and Figure 58).In one embodiment, Motor 5030 and 5074 is configured to make welding torch 5502 circumferentially move along junction surface region 5136.
In one embodiment, soldering tip assembly 5500 includes：Radial positioning system 5506, it is configured to make welding Welding torch 5502 can move radially；Axially position system 5508, it is configured to enable welding torch 5502 to move axially；With And sloped position system 5510, it is configured to enable the inclination movement of welding torch 5502.
In one embodiment, welding torch shell assembly 5504 is constructed and arranged by welding torch 5502, radially Alignment system 5506, axially position system 5508 and sloped position system 5510 are closed wherein.In one embodiment, Welding torch shell assembly 5504 be configured to protect welding torch 5502 component and its alignment system 5506,5508 and Influence of 5510 various assemblies from welding heat and splash.
In one embodiment, welding torch shell assembly 5504 may include outside a bottom member 5509 and two sides Mould component 5511 and 5513.For example, any suitable retention mechanism can be used (for example, fastener member in bottom member 5509 5527) it is connected to side casings component 5511 and 5513.In one embodiment, welding torch shell assembly 5504 may include by Construct and arrange the first horizontal shell structure that side casings component 5511 and 5513 is connected to each other in its top ends part Part 5522 and the relative second horizontal casing component 5523.For example, the first horizontal 5522 and second horizontal shell structure of casing component Any suitable retention mechanism (for example, fastener member 5525) can be used to be connected to the He of side casings component 5511 for part 5523 5513。
In one embodiment, it is mounted for reference to figure 41-46, welding torch 5502 by radial positioning system 5506 move so that weld tip 5503 be configured to the face of weld 5130 toward and away from pipeline 1022a, 1022b, 5132 movements.In one embodiment, one or more processors 5140 are configured to control one or more welding torch Motor 5512, to adjust weld tip 5503 and the radial distance in junction surface region 5136 out of pipeline 1022a, 1022b.
In one embodiment, one or more processors 5140 are configured to control one or more welding torch electricity Motivation 5512, to make weld tip 5503 be moved radially away from junction surface region 5136 after the channel welds of root, to hold It is contained in the welding material that is deposited in the channel welds of root and out of pipeline 1022a, 1022b on the top of root channel welds Passage of heat welding is provided (closer to longitudinal axis A-A).
In one embodiment, one or more processing of one or more welding torch motor are configured to control Device 5140 can be a part for line feeds electrons module 5046.
In one embodiment, radial positioning system 5506 be configured to enable welding torch 5502 to move radially with The change of pipe shape is followed the trail of, to be adjusted for multiple passages (for example, root channel welds process and passage of heat welding sequence) Whole weld tip to workpiece (for example, pipeline) distance, and internally welding system advance when away from pipeline 1022a, 1022b Retraction.
In one embodiment, radial positioning system 5506 is configured to provide 1.25 inches for welding torch 5502 Travel radially.In one embodiment, welding torch 5502 can be matched somebody with somebody by radial positioning system 5506 in normal non-rise Put and raise and moved between configuring.As shown in figure 43, welding torch 5502 is raised (to its liter by radial positioning system 5506 Height configuration) so that welding torch 5502 is positioned at pipeline 1022a, 1022b correct/desired/predetermined distance For welding sequence.
In one embodiment, radial positioning system 5506 may include linear actuators.In one embodiment, footpath It may include radial direction welding torch (electricity) motor 5512, driving screw 5514 and guiding nut 5516 to alignment system 5506.At one In embodiment, motor 5512 is configured (for example, mechanically connected) rotate driving screw 5514.In an embodiment In, motor 5512 is configured to rotate clockwise or counterclockwise, to cause welding torch 5502 to be arranged essentially parallel to Pipeline 1022a, 1022b longitudinal axis R-R (as shown in Figure 8) are raised and lowered.In one embodiment, motor 5512 It is configured to be directly connected so that driving screw 5514 rotates.In another embodiment, motor 5512 is configured to example Such as connected indirectly by series of gears or gear-box so that driving screw 5514 rotates.
In one embodiment, the spiral shell that driving screw 5514 includes processing on its outer surface and extended along its length Line.In one embodiment, guiding nut 5516 is constructed and arranged to be screwed on driving screw 5514, and including processing at it Complementary threads on inner surface.
In one embodiment, radial positioning system 5506 includes being positioned in parallel to driving screw 5514 and being positioned at Vertical guide member 5518 and 5520 before two on the both sides of driving screw 5514.In one embodiment, preceding vertical guide rod It is connected to the bottom member 5509 of welding torch shell assembly 5504 in 5518 and 5520 each comfortable one end thereof of component, and The first horizontal casing component 5522 is connected on its another end.In one embodiment, preceding vertical guide member 5518 End sections with 5520 are received in the opening formed in the bottom member 5509 of welding torch shell assembly 5504, are erected by before Straight guide member 5518 and 5520 is connected to the bottom member 5509 of welding torch shell assembly 5504.In one embodiment, The end sections of preceding vertical guide member 5518 and 5520 are received in the opening formed in the first horizontal casing component 5522, with Preceding vertical guide member 5518 and 5520 is connected to the first horizontal casing component 5522.
In one embodiment, the end sections (end portion for being connected to motor 5512 with it of driving screw 5514 Split-phase is anti-) it is constructed and arranged through the opening 5534 in the first horizontal casing component 5522.
In one embodiment, radial positioning system 5506 includes erecting before being positioned in parallel to driving screw 5514 and two Vertical guide member 5600 and 5602 after two of straight guide member 5518 and 5520.In one embodiment, lead vertically afterwards The bottom member 5509 of welding torch shell assembly 5504 is connected in 5600 and 5602 each comfortable one end thereof of bar component, and The second horizontal casing component 5523 is connected on its another end.In one embodiment, rear vertical guide member 5600 and 5602 end sections are received in the opening formed in the bottom member 5509 of welding torch shell assembly 5504, will Vertical guide member 5600 and 5602 is connected to the bottom member 5509 of welding torch shell assembly 5504 afterwards.In an embodiment In, the end sections of rear vertical guide member 5600 and 5602 receive the opening formed in the second horizontal casing component 5523 In, rear vertical guide member 5600 and 5602 is connected to the second horizontal casing component 5523.
In one embodiment, radial positioning system 5506 also includes a transverse radial align member 5524 and two Vertical radial positioning component 5526.In one embodiment, two vertical radial positioning components 5526 are connected to transverse radial Two end sections of align member 5524.In one embodiment, the transverse radial positioning structure of radial positioning system 5506 Part 5524 and two vertical radial positioning components 5526 are configured to move during the moving radially of welding torch 5502.
In one embodiment, transverse radial align member 5524 can have nose portion part 5528, the protrusion End sections 5528 are configured to recess or nose portion part receiving opening with two vertical radial positioning components 5526 5530 engagements.In one embodiment, received in the nose portion part 5528 of transverse radial align member 5524 at two After in the recess or nose portion part receiving opening 5530 of vertical radial positioning component 5526, transverse radial align member 5524 and two vertical radial positioning components 5526 and then any suitable retention mechanism can be used (for example, fastener member 5532) it is fixedly connected to each other.
In one embodiment, transverse radial align member 5524 includes opening to receive by vertical guide rod before it Component 5518 and 5520.This configuration makes transverse radial align member 5524 be slidable, to adjust in preceding vertical guide member Position on 5518 and 5520.In one embodiment, driving screw 5514 is configured to through transverse radial align member 5524 central opening 5536.
In one embodiment, radial positioning component 5604 and 5606 after radial positioning system 5506 also includes two. In one embodiment, radial positioning component 5604 and 5606 after two vertical radial positioning components 5526 are connected to two. In one embodiment, radial positioning component 5604 and 5606 and two vertical footpaths after two of radial positioning system 5506 It is configured to move during the moving radially of welding torch 5502 to align member 5526.
In one embodiment, each rear radial positioning component 5604 and 5606 has end sections, the end portion Divide the end sections engagement for being configured to corresponding vertical radial positioning component 5526.In one embodiment, rear After the end sections of radial positioning component 5604 and 5606 engage with the end sections of two vertical radial positioning components 5526, After each then any suitable retention mechanism (for example, fastener member 5608) can be used in radial positioning component 5604 and 5606 Ground is fixedly connected to vertical radial positioning component 5526 corresponding to it.
In one embodiment, rear radial positioning component 5604 and 5606 includes opening to receive respectively by after it Vertical guide member 5600 and 5602.This configuration makes rear radial positioning component 5604 and 5606 be slidable, to adjust rear Position on vertical guide member 5600 and 5602.
In one embodiment, guiding nut 5516 is configured to a part for transverse radial align member 5524 mutually Lock so that prevent guiding nut 5516 from being rotated together with driving screw 5514.That is, guiding nut 5516 it is restrained not with driving screw 5,514 1 Rotation is played, therefore guiding nut 5516 is configured to advance up and down on driving screw 5514.In one embodiment, lead Nut 5516 is interlocked and is positioned in the central opening 5536 of transverse radial align member 5524.In one embodiment, Driving screw 5514 is configured to the opening through interlocking guiding nut 5516.
In one embodiment, two vertical radial positioning components 5526 use preceding lateral supports 5610 and rear horizontal stroke It is connected to each other to supporting member 5612.For example, preceding lateral supports 5610 be constructed and arranged it is any suitable tight to use Gu mechanism (for example, fastener member 5614) is connected to the front portion of two vertical radial positioning components 5526 and base section.Afterwards Lateral supports 5612 are constructed and arranged to use any suitable retention mechanism (for example, fastener member 5616) connection To the rear portion of two vertical radial positioning components 5526 and base section.
In one embodiment, welding assembly part 5500 also includes two vertically oriented components 5538 and a top is fixed Position component 5540.In one embodiment, two vertically oriented components 5538 are connected respectively to top align member 5540 End sections.In one embodiment, the end sections of top align member 5540 can each have L-shaped configuration.At one In embodiment, the corresponding connection parts point of two vertically oriented components 5538 may include to be configured to and top align member 5540 End sections L-shaped configuration engagement complementary shape configuration.In one embodiment, in top align member 5540 After the L-shaped configuration of end sections engages with the complementary shape configuration of the corresponding connection parts point of two vertically oriented components 5538, Then any suitable retention mechanism can be used (for example, fastening in top align member 5540 and two vertically oriented components 5538 Part component 5542) it is fixedly connected to each other.
In one embodiment, axially position system 5508 is configured to enable welding torch 5502 axially to move It is dynamic, to be maintained at welding torch 5502 when pipeline is advanced in welding inclined-plane in welding torch 5502, and allow Welding torch 5502 is swung in the case where needing to be filled up completely with inclined-plane in welding inclined-plane.
Figure 47 shows the welding torch 5502 being positioned in normal axial location placed in the middle.In one embodiment, axle It is configured to provide +/- 1 inch of axial direction for welding torch 5502 to alignment system 5508 to advance.For example, such as Figure 48 and Figure 49 Axial direction shown, that welding torch 5502 is respectively moved to advance with -1 inch+1 inch of axial direction by axially position system 5508 Advance so that welding torch 5502 is positioned to be sentenced for welding apart from correct/desired/predetermined distance of pipeline.
Figure 50 and Figure 51 shows the left side perspective view and exploded view of soldering tip assembly 5500, wherein soldering tip assembly 5500 Some components are for the sake of clarity not shown.Figure 52 shows the bottom perspective view of the top align member 5540 of soldering tip assembly. Figure 53 shows the top orthogonal view of soldering tip assembly 5500, and wherein some components of soldering tip assembly 5500 are not for the sake of clarity Show.
In one embodiment, with reference to figure 50-53, axially position system 5508 can be linear actuators.At one In embodiment, axially position system 5508 may include axial welding torch (electricity) motor 5550, driving screw 5552 and guide screw Mother 5554.In one embodiment, in the motor 5550 of axially position system 5508, driving screw 5552 and guiding nut 5554 Each structure, configuration and operation and motor 5512, driving screw 5514 and the guiding nut 5516 of radial positioning system 5506 It is similar, and therefore herein without being described in detail.In one embodiment, when driving screw 5552 is revolved by motor 5550 When turning, guiding nut 5554 is driven along screw thread.
In one embodiment, axially position system 5508 includes being positioned in parallel to the driving screw 5552 of horizontal location And it is positioned at two horizontal guide components 5556 and 5558 on the both sides of the driving screw 5552 of horizontal location.In an implementation In scheme, each in horizontal guide component 5556 and 5558 is connected to top align member 5540 in two end. In one embodiment, the end sections of horizontal guide component 5556 and 5558 receive what is formed in top align member 5540 In opening, horizontal guide component 5556 and 5558 is connected with top align member 5540.In one embodiment, it is horizontal Each at least one end sections in guide member 5556 and 5558 include protruding member 5560, the protruding member 5560 It is configured to receive in the corresponding protruding member receiving portion 5562 formed in the opening of top align member 5540, so that water Flat guide member 5556 and 5558 is fixed with top align member 5540.
In one embodiment, soldering tip assembly 5500 includes being configured to receive the weldering of welding torch 5502 wherein Connect welding torch framework 5564.In one embodiment, it is horizontal-extending to be included therein to be formed three for welding torch framework 5564 Opening 5566,5568 and 5570 and a vertical extension opening 5572.In one embodiment, horizontal guide component 5556 With 5558 openings 5566 and 5570 for being configured to be each passed through welding torch framework 5564.In one embodiment, it is horizontal The driving screw 5552 of positioning is configured to the opening 5568 through welding torch framework 5564.In one embodiment, weld Welding torch 5502 is configured to the opening 5572 through welding torch framework 5564.In one embodiment, welding torch framework 5564 may include support section 5574, and the support section 5574 is configured to receive in welding torch frame in welding torch 5502 The part of supporting welding welding torch 5502 when in the opening 5572 of frame 5564.
In one embodiment, the part 5584 of welding torch framework 5564 is configured to the portion with welding torch 5502 Points 5586 engagements, so as to receive in welding torch framework 5564 in welding torch 5502 opening 5572 in when prevent welding torch 5502 any rotation.
In one embodiment, motor 5550 is configured (for example, mechanically connected) rotate driving screw 5552. In one embodiment, motor 5512 is configured to rotate clockwise or counterclockwise, to cause welding torch 5502 are arranged essentially parallel to pipeline 1022a, 1022b axial axis A-A progress left sides (as shown in Figure 8) or right side movement. In one embodiment, motor 5550 is configured to for example connect indirectly by series of gears 5576,5578 and 5580 So that driving screw 5552 rotates.That is, motor 5550 includes output shaft 5582, and motor 5550 is by engaging motor The gear 5576,5578 and 5580 of 5550 output shaft 5582 is operably connected to driving screw 5552.In an embodiment In, gear 5576 is connected to the output shaft 5582 of motor 5550, and gear 5580 is connected or attached to driving screw 5552, and tooth Wheel 5576 and 5580 is coupled to each other by gear 5578.By the way that motor 5550 is connected by gear 5576,5578 and 5580 To driving screw 5552, when motor 5550 operates, driving screw 5552 is rotated.In another embodiment, motor 5550 are configured to be directly connected (that is, without arrangement of gears) so that driving screw 5552 rotates.
In one embodiment, guiding nut 5554 is configured to interlock with a part for welding torch framework 5564, makes It must prevent guiding nut 5554 from being rotated together with driving screw 5552.That is, guiding nut 5554 is restrained does not revolve with together with driving screw 5552 Turn, therefore guiding nut 5554 is configured to the edge to edge together with driving screw 5552 and (that is, is arranged essentially parallel to axle as shown in figure 50 To direction Y-Y) traveling/movement.In one embodiment, guiding nut 5554 interlocks and is positioned at welding torch framework 5564 Opening 5568 in.In one embodiment, driving screw 5552 is configured to the opening through interlocking guiding nut 5554.
In one embodiment, sloped position system 5510 is configured to enable welding torch 5502 in travel plane Middle its inclination angle of change, to consider change of the welding direction relative to gravity direction.In one embodiment, welding can be changed The inclination angle of welding torch 5502 is to adapt to gravity.In one embodiment, the inclination angle of welding torch 5502 is can adjust to compensate The different orientation caused by gravity.In one embodiment, the profile control welding torch 5502 based on junction surface region Angle orientation.In one embodiment, the inclination angle of welding torch 5502 can be adjusted based on dynamic weld part outline data. In one embodiment, the inclination angle of welding torch 5502 can be adjusted based on dynamic weld part outline data to adapt to and/or mend Repay other welding conditions (that is, being not only gravity).
Because welding torch can carry out joint motions in operating process is welded, can be in welding torch around fixation The gravity that pipeline will act in weld pool when rotating is taken into account.Specifically, can be by electronic by least one welding torch Machine (that is, oblique weld welding torch motor 5588) is based on whether welding torch resistance gravity travels upwardly or as gravity is to descending It is operable to change the angle of welding torch.One or more motor (for example, oblique weld welding torch motor 5588) Can also be based on the soldering angle in the particular location change Plane of rotation in traveling up or down in welding torch.Ying Li Solution, because welding torch can be directed to some embodiments and carry out joint motions, it preferably can be at an angle of to adapt to gravity, And it need not be arranged on according to the hypothesis that for example described welding torch only travels downwardly with gravity in fixed position.At some In embodiment, as described above, present patent application expection welding can be in welding torch upwards (resistance gravity) or downward (with emphatically Power) it is mobile when realize.In addition, welding torch can be carried out based on different rotation position joint motions (for example, due to (such as) apply It is added to the gravity and weldpool of weldpool are differently adhered to pipeline interior surface at the diverse location on pipeline to be welded Trend, the welding operation implemented at 10 degree of top dead-centre can have with it is preferable in the welding implemented at 90 degree of top dead-centre The slightly different requirement in ground).
In one embodiment, being oriented to examines the motor 5030 and 5074 of detector 5056 also to make welding torch 5502 Circumferentially rotated around Plane of rotation, to produce welding along junction surface region 5136.In one embodiment, sloped position electricity Motivation 5588 makes welding torch 5502 angularly carry out joint motions generally in Plane of rotation.In an embodiment In, the angle orientation of the position control welding torch 5502 based on welding torch.In one embodiment, welding torch 5502 is configured To pivot around Plane of rotation along soldered.
In one embodiment, welding torch 5502 may be configured such that welding torch 5502 may include for each The different welding torch inclinations angle of 90 ° of rotations.For example, in one embodiment, welding torch 5502 can be from 2 o'clock position to 5 O'clock position segment boundary 1 in include inclination angle 1 when performing welding sequence, welding torch 5502 can be from 5 o'clock position to 8 O'clock position segment boundary 2 in include inclination angle 2 when performing welding sequence, welding torch 5502 can from 8 o'clock position to 11 o'clock position segment boundary 3 in include inclination angle 3 when performing welding sequence, and welding torch 5502 can be from 11 o'clock Position includes inclination angle 4 when welding sequence is performed into the segment boundary 4 of 2 o'clock position.In one embodiment, welding weldering Torch 5502 may be configured such that welding torch 5502 may include the different welding torch inclinations angle for each 30 ° rotations.At one In embodiment, welding torch 5502 may be configured such that welding torch 5502 may include the difference for each 60 ° rotations Welding torch inclination angle.In one embodiment, welding torch 5502 may be configured such that welding torch 5502 may include to be directed to The different welding torch inclinations angle of each 120 ° of rotations.In one embodiment, welding torch 5502 may be configured such that welding Welding torch 5502 may include the different welding torch inclinations angle for any desired swing.
In one embodiment, welding torch 5502 can be configured to the welding torch inclination angle with continuous variable, to mend Repay or adapt to the orientation of the consecutive variations of the welding torch caused by gravity.In one embodiment, welding torch 5502 The position (that is, the position of welding torch circumferentially weld part) where welding torch can be configured to based upon and progressively change weldering Torch inclination angle.
Figure 54 shows that welding torch 5502 is positioned in normal non-inclined position.In one embodiment, it is fixed to tilt Position system 5510 is configured to provide +/- 5 ° of angle tilt for welding torch 5502.For example, as shown in Figure 55 and Figure 56, weldering Connect the angle tilt that welding torch 5502 is moved to+5 ° by sloped position system 5510 so that welding torch 5502 is positioned at distance Correct/desired/predetermined distance of pipeline is sentenced for welding.As shown in Figure 57 and Figure 58, welding torch 5502 is by inclining Oblique alignment system 5510 is correspondingly moved to -5 ° of angle tilt so that welding torch 5502 be positioned at apart from pipeline correctly/ Desired/predetermined distance is sentenced for welding.In another embodiment, sloped position system 5510 is configured to as weldering Connect the angle tilt that welding torch 5502 provides +/- 7 °.In one embodiment, sloped position system 5510 is configured to as welding Welding torch 5502 provides the angle tilt less than +/- 5 °.
In one embodiment, pivot points P with examine radiation beam on the region of junction surface point of impingement PI (such as Figure 56 and Shown in Figure 58) between circumference arc keep less constant during welding sequence.In one embodiment, one or Multiple processors 5140 understand the constant arcuate distance between pivot points P (for example, weld tip) and check point PI so that one Or multiple processors 5140 are configured to based upon welding joint motions and the pivot of front profile inspection data control welding torch 5502 Transfer is dynamic.
The configuration for enabling welding torch 5502 to be pivoted around pivot points P of welding torch 5502 allows welding torch 5502 Angle changes the speed advanced without influenceing welding torch 5502 in welding.For example, this is for multiple welding torch Welding system is particularly useful.In one embodiment, its angulation change is made during welding torch difference, in such case Under, it is beneficial for changing welding torch angle without other welding torch are produced with any adverse effect.
In one embodiment, sloped position system 5510 includes oblique weld welding torch motor 5588, guide rail component 5544 and deflector roll 5546.In one embodiment, guide rail component 5544 is configured to engage with deflector roll 5546 to be advantageous to weld Connect the sloped position of welding torch 5502.In the embodiment illustrated, deflector roll 5546 may include two top deflector rolls and two bottoms Deflector roll.In one embodiment, sloped position system 5510 includes a guide rail component 5544 and is positioned at welding torch group Its four associated deflector rolls 5546 in the phase counter-example of piece installing 5500.
In one embodiment, deflector roll 5546 is constructed and arranged to be connected to vertically oriented component corresponding to it 5538.In one embodiment, each vertical radial positioning component 5526 is configured to use any suitable retention mechanism (for example, fastener member 5548) connects with corresponding guide rail component 5544.This configuration makes each vertical radial positioning component 5526 are connected to corresponding vertically oriented component 5538 by the engagement of corresponding guide rail component 5544 and deflector roll 5546.
In one embodiment, motor 5588 is configured (for example, mechanically connected) rotate gear 5590. In one embodiment, motor 5588 is configured to rotate clockwise or counterclockwise, to cause welding torch 5502 Carry out positive or tilt backwards movement.In one embodiment, motor 5588 is configured to for example by gear 5590 connect It is connected to guide rail component 5544.That is, motor 5588 includes output shaft 5592, and gear 5590 is connected to the defeated of motor 5588 Shaft 5592.By the way that motor 5588 is connected into guide rail component 5544 by gear 5590, when motor 5588 operates, lead Rail 5544 moves.
In one embodiment, guide rail component 5544 is configured to guide top deflector roll 5546 and bottom deflector roll 5546. In one embodiment, top deflector roll 5546 and bottom deflector roll 5546 are biased against guide rail component 5544 so that top deflector roll 5546 and bottom deflector roll 5546 be configured to cause corresponding to vertically oriented component 5538 (being connected to it) it is mobile and therefore make Welding torch 5502 can change its angle of inclination in travel plane.
In one embodiment, two relative vertically oriented components 5538 are connected each other by top align member 5540 Connect so that the movement of one (that is, being caused by motor 5588) in vertically oriented component 5538 causes vertically oriented component Another in 5538 carries out similar movement.Two horizontal guide components 5556 and 5558 are connected to top in two end The configuration of portion's align member 5540 is also beneficial to movement and is transferred to another from one in vertically oriented component 5538.
The operation of radial positioning system 5506 is discussed in detail following.When driving screw 5514 is revolved by motor 5512 When turning, guiding nut 5516 is driven along screw thread.In one embodiment, the direction of motion of guiding nut 5516 depends on guide screw The direction of rotation as caused by motor 5512 of bar 5514.
Because guiding nut 5516 is mutually locked in the opening 5536 of transverse radial align member 5524, transverse radial positioning Component 5524 is configured to together with guiding nut 5516 traveling/movement (up or down) on driving screw 5514.Transverse radial Slidably engaging between align member 5524 and preceding vertical guide member 5518 and 5520 is also beneficial to transverse radial positioning structure This (up or down) traveling/movement of part 5524.
In addition, because transverse radial align member 5524 is connected to two vertical radial positioning components 5526, laterally Radial positioning component 5524 it is (up or down) mobile cause two vertical radial positioning components 5526 carry out (it is upward or to Under) mobile.
Radial positioning component 5604 and 5606 after two vertical radial positioning components 5526 are also connected to two.Two vertical Radial positioning component 5604 and 5606 is led vertically rear after (up or down) movement of radial positioning component 5526 causes two Carried out in bar component 5600 and 5602 (up or down) mobile.Radial positioning component 5604 and 5606 and rear vertical guide rod structure afterwards Slidably engagement between part 5600 and 5602 also contributes to two vertical radial positioning components 5526 and carried out (up or down) Traveling/movement.
As discussed above, each vertical radial positioning component 5526 passes through corresponding guide rail component 5544 and deflector roll 5546 engagement connects with corresponding vertically oriented component 5538.Therefore, each vertical radial positioning component 5526 (upwards or It is mobile downwards) also to cause vertically oriented component 5538 corresponding to it to carry out (up or down) movement.Because two vertically oriented Component 5538 is fixedly connected to top align member 5540, so (up or down) of two vertically oriented components 5538 moves It is dynamic to cause top align member 5540 to carry out (up or down) movement.
Because welding torch 5502 passes through 5552, two horizontal guide components 5556 and 5558 of horizontal lead screw and welding Welding torch framework 5564 is connected to top align member 5540, so (up or down) movement of top align member 5540 also causes Welding torch 5502 is set to carry out (up or down) mobile.Therefore, welding torch 5502 is mounted for by radial positioning system System 5506 moves so that weld tip 5503 is configured to the face of weld shifting toward and away from pipeline 1022a, 1022b It is dynamic.
The operation of axially position system 5508 is discussed in detail following.When driving screw 5552 is passed through by motor 5550 When being rotated by gear 5576,5578 and 5580, guiding nut 5554 is driven along screw thread.In one embodiment, guiding nut 5554 direction of motion depends on the direction of rotation as caused by motor 5550 of driving screw 5552.
Because guiding nut 5554 is mutually locked in the opening 5568 of welding torch framework 5564, welding torch framework 5564 It is configured to traveling/movement (edge to edge) together with guiding nut 5554.Welding torch framework 5564 and horizontal guide component 5556 And the slidably engagement between 5558 is also beneficial to this (edge to edge) traveling/movement of welding torch framework 5564.Two levels Slidably engaging between guide member 5556 and 5558 and welding torch framework 5564 also contributes to welding torch framework 5564 (edge to edge) traveling/movement of (and welding torch 5502).In one embodiment, the axial direction shifting of welding torch framework 5564 Dynamic amount is limited by the elongated openings 5594 in top align member 5540.
The operation of sloped position system 5510 is discussed in detail following.When gear 5590 is rotated by motor 5588 When, guide rail component 5544 is driven along the gear teeth.In one embodiment, the direction of motion of guide rail component 5544 depends on tooth Take turns 5590 direction of rotation as caused by motor 5588.
In one embodiment, the top deflector roll 5546 and bottom deflector roll 5546 for being biased against guide rail 5544 are configured to Vertically oriented component 5538 (being connected to deflector roll 5546) movement/inclination corresponding to causing.
In one embodiment, two relative vertically oriented components being connected to each other by top align member 5540 It is vertically oriented that 5538 configuration make it that the movement of one (that is, being caused by motor 5588) in vertically oriented component 5538 causes Another in component 5538 carries out similar movement.Two horizontal guide components 5556 connect with 5558 in two end Configuration to top align member 5540 is also beneficial to mobile be transferred to another from one in vertically oriented component 5538.
When vertically oriented component 5538 and top align member 5540 are (with two horizontal guide components 5556 and 5,558 1 Rise) movement/inclination when, this movement makes welding torch 5502 (be connected to two horizontal guide structures by welding torch framework 5564 Part 5556 and inclination angle of the welding torch 5502 in travel plane 5558) can be changed.
As pointed herein, welding torch be mounted for so that it is proper it be inclined by welding torch motor During 5588 driving, the point that the welding torch is wound at welding torch tip or somewhat in front of welding torch tip carries out joint Motion pivotably moves.Operated for example, welding torch tip can be wound on the welding torch tip in welding During point in caused weldpool carry out joint motions.Therefore, the position of weldpool is not relative to the half of weldpool drafting Footpath and change, no matter welding torch can by oblique weld welding torch motor carry out joint motions the fact.Therefore, weldpool with from The radiation beam for examining laser to send is impinged upon on the inner surface of pipeline to be welded between the point in (for example, at the region of junction surface) Arc length be orientated motor make welding torch and examine laser rotation when keep constant, no matter welding torch pass through tilt weldering Connect welding torch motor and carry out joint motions.And because speed and orientation motor also by one or more processors control and Know, so knowing fixed arc length and calculating being examined at the upcoming region in front of weld tip based on processor The welding contouring of survey, one or more processors can control the welding parameter at the specific region in junction surface region.At one In embodiment, orientation motor possesses angular encoder, and the angular encoder is operatively connectable to one or more places Device is managed, so that one or more processors can determine the rotation position of motor and therefore fixture and pipeline.At another In embodiment, the signal for carrying out self-checking detector (for example, examining laser) is used for the movement for detecting the pipeline of welding, wherein The one or more processors that such signal is known to fix arc length are used come corresponding to identified welding torch position Appropriate position controls welding torch.In another embodiment, the point of welding torch progress joint motions need not be in welding point End front or the opening position at weld tip, and weldpool and examine between the point that is hit on the region of junction surface of laser beam Arc length need not keep constant.On the contrary, from one or more welding torch motor and/or detector is examined to receive welding torch The one or more processors of the positional information at tip are used for (" dynamic in real time based on the outline data received from inspection detector State ") physical location of the weld tip relative to pipeline is calculated, welded to control one or more welding torch motor to weld Torch tip is positioned in desired locations.
As noted herein, welding torch is installed to by one or more motor generally diametrically on direction Move or drive along the interior surface of longitudinal axis towards or away from the pipeline of welding at welding torch tip.It should be understood that because May be because welding torch be generally in positive welding side for the longitudinal axis (for example, by its welding torch tip) of welding torch The fact that (and carrying out joint motions by oblique weld welding torch motor 5588) angled up, is without the pipeline with welding Radius (being intercepted from central axis) or rotatable center hub radius alignment, so when referring to welding torch and its sophisticated court When being moved to " radial direction " with the interior surface (for example, junction surface region) away from pipeline, this is moved radially above-described Used in linguistic context.Such as, it is believed that this of welding torch moves radially reference welding torch along welding torch tip axis Vertically move.Because welding torch is mounted for by least one welding torch motor, and specifically radially welds Welding torch motor 5512 moves, so that torch tip can move toward and away from weld part surface, so weld tip Junction surface region can be moved further away from after each weld pass to accommodate the welding material of accumulation.Nibbled in the first pipeline Close after structure and second pipe engaging structure fix relative to pipeline, welding torch can be used for completing complete root weld leading to Road, " root " weld pass are first welding (for example, complete 360 degree of welding) applied between pipe end. After root weld pass is completed, the interior surface that weld tip can somewhat move (retraction) remote pipeline is (and specifically remote From the welding material of the root channel welds of application) so that the second weld pass (being also refer to as " heat " channel welds) can be used Weld tip is implemented at the suitable distance apart from root channel welds material.
In one embodiment, one or more processors 5140 operate motor 5030 and 5074 and one or more Individual welding torch 5502, with by making one or more welding torch 5502 along junction surface region 5502 in single direction of rotation Upper rotation is until complete complete circumferential weld part to generate complete circumferential weld part along junction surface region 5136.
In one embodiment, one or more welding torch 5502 include multiple welding torch.In an embodiment party In case, at least one in multiple welding torch is welded on direction is rotated up, while in multiple welding torch extremely Few another is welded on direction is rotated down.
In one embodiment, weld tip is configured to point to welding direction.In one embodiment, welding weldering Torch always points at direct of travel.I.e., substantially, weld tip is pointing substantially towards direct of travel.In one embodiment, weldering is worked as Connect (wherein welding torch 5502 is welded on direction is rotated up) when welding torch 5502 performs upward slope welding sequence, welding weldering Torch inclination angle is somewhat higher, and (wherein welding torch 5502 is to be rotated down direction enterprising when performing descending welding sequence Row welding), welding torch inclination angle is somewhat lower.
In one embodiment, interior welds system is configured to perform descending welding when using short arc welding sequence Process (that is, is rotated down the welding on direction).
In one embodiment, when interior welds system is configured to carry out upward slope welding sequence (that is, the side of rotating up Upward welding) when, the production capacity and quality of welding can be improved.In one embodiment, upward slope welding sequence is configured to carry For the selection of the both sides of welded pipe line simultaneously, rather than descending welding sequence is performed on every side successively.For example, this can be more Welding torch operates and has multiple welding overlapping.Alternately, this, which may be provided in, welds 360 ° in a continuous passage Select to produce with the overlapping welding of only one.In one embodiment, customer requirement and duct size can determine to use Which kind of method.
In one embodiment, unless in the presence of the quality requirement only with a welding lap seams, otherwise can be used Welding torch welding torch more as being adapted in pipeline performs welding.In one embodiment, interior welds System 5004 may include four welding torch, six welding torch or eight welding torch, wherein one in these welding torch Half performs welding on direction is rotated down, and second half in welding torch performs welding on direction is rotated up. In one embodiment, the half in these welding torch is configured to carry out welded clockwise process, and in welding torch Second half be configured to carry out welding sequence counterclockwise.In one embodiment, four welderings of interior welds system 5004 Connect welding torch may be positioned to each other 90 ° separate, and be configured to each be rotated by 90 °.In one embodiment, interior welds system Six welding torch of system 5004 may be positioned to each other 60 ° separate, and be configured to each 60 ° of spinning.In an embodiment party In case, eight welding torch of interior welds system 5004 may be positioned to each other 45 ° separate, and be configured to each spinning 45°.In one embodiment, interior welds system 5004 may include two welding torch, and the welding torch is positioned to that This 180 ° separate, and are configured to each 180 ° of spinning.In one embodiment, interior welds system 5004 may include one Individual welding torch, the welding torch are configured to be rotated by 360 °.
Welding service speed (welding throughput time) can be improved in the ability welded upwards and in a downward direction, and Also improve welding quality (by the way that the gravity at diverse location is taken into account).In addition, providing the situation of multiple welding torch Under, welding can occur (for example, multiple circumferentially spaced welding torch move simultaneously on same direction of rotation up and down simultaneously And apply welding material simultaneously), wherein at least one welding torch is moved up, while at least another is moved down.Such as Compared with progress downward welding in the inclined position connects on every side of pipeline successively, this is that the time is upper efficient.Alternately, in an embodiment party In case, single welding torch can be used for implementing the single 360 degree overlapping continuous welding for being soldered to provide no welding portion.When During using more than one welding torch, occur that this is overlapping, and from the end for each soldered part for following welding torch Need to connect with the beginning of the soldered part by following the welding torch before welding torch to apply and somewhat overlapping.Cause This, for may needs avoid welding some applications of lap (its make at overlapping weld pass more uneven), even It can be useful to continue 360 degree of interior welds.
In one embodiment, all welding torch are directed to positive welding direction.In other words, they are somewhat pointed to Welding direction so that weld rather than with after being welded in welding torch tip " promotion ".This be it is real, no matter welding torch Inside is positioned at, such as in some embodiments, or outside is positioned at, such as in other embodiments as described herein.This ginseng Examine internal welding machine to show, as shown in Figure 56 A.In one embodiment, the angle, θ between welding torch tip is into 3 degree to 7 degree (for example, " importing angle ") is pointed to.Import angle θ and be defined as the axial centre from welded pipe line as shown in Figure 56 A to welding torch (line R can also be considered as from the axial centre of rotary hub 5078 to torch tip or weldering to line (radius) R of sophisticated (or weldpool) The radius of pond interception) with the angle that is measured through the sophisticated longitudinal axis A of welding torch line.In Figure 56 A diagram, Welding torch is in rotary moving (as arrow D describes) in the counterclockwise direction.In welding torch by being orientated motor around pipe When moving to road internal circumferential, this, which imports angle θ, to be changed by the operation of oblique weld welding torch motor 5588.It is expected that when weldering When connecing welding torch and travelling upwardly, it is somewhat higher (for example, 6 degree) to import angle θ, and when travelling downwardly, importing angle θ is somewhat lower (for example, 4 degree).In addition, in one embodiment, importing angle θ can continuously change in the whole traveling of specific weld welding torch. In another embodiment, pipeline is divided into sector, wherein welding angle θ is based on fan-shaped change.For example, considering complete 360 Degree it is mobile with corresponding to hour hands on clock when, it is fan-shaped that pipeline is divided into various o'clock：2-5、5-8、8-11、11-2.One or Multiple motor can be operated by one or more processors to change in sector boundary.
As known to from Figure 56 A, it is welded in shown description and implements in the counterclockwise direction.For clockwise On welding, one or more processors 5140 to one or more welding torch motor send signal so that gear 5590 is carried out Rotate and welding torch 5502 is pivoted (for example, around point P), so that by the axis (line A) of welding torch to RADIAL R Opposite side movement.Thus, angle, θ will be negative for welded clockwise.This enables welding torch in the clockwise direction Direction (" promotion " weldpool) is pointed to when being welded.
In one embodiment, as shown in Figure 60 A-63, interior welds system 5004 may include a welding torch WT, One video camera C and two inspection detector L1And L2.In one embodiment, welding torch WT and video camera C is with 180 ° of angles Degree separates.In one embodiment, the variable-angle between video camera and welding torch WT.
In one embodiment, two inspection detector L1And L2In one can be leading inspection detector, it is described Leading inspection detector is configured to during the welding sequence before welding torch WT and also provides data before welding. In one embodiment, two inspection detector L1And L2In another can follow inspection detector, it is described to follow inspection Test detector and be configured to follow after welding torch WT and provide during welding sequence data after welding.
In one embodiment, detector L is examined1Separated with welding torch WT with 20 ° of angles.In an embodiment In, examine detector L2Separated with welding torch WT with 20 ° of angles.In one embodiment, detector L is examined2Welded with welding Angle and inspection detector L between torch WT1With the variable-angle between welding torch WT.
In one embodiment, detector L is examined2Angle and inspection detector L between welding torch WT1With weldering It can be adjustable to connect the angle between welding torch WT.For example, in one embodiment, work as L1It is leading inspection detector When, then examine detector L1Angle between welding torch WT is 20 ° or smaller and follow and examine detector L2Welded with welding Angle between torch WT is more than 20 °.In one embodiment, L is worked as2When being leading inspection detector, then detector L is examined2With Angle between welding torch WT is 20 ° or smaller and follow and examine detector L1Angle between welding torch WT is more than 20°。
In one embodiment, as shown in Figure 60 A, detector L is examined1It is positioned at its starting position.In a reality Apply in scheme, with reference to figure 60B, when welding torch WT is positioned at beginningWTDuring place, welding torch WT starts welding sequence.At one In embodiment, welding torch WT is configured to during welding sequence (such as arrow T in the clockwise direction1It is indicated) Advance.In one embodiment, with reference to figure 61, stop when welding torch WT is reachedWTWhen, welding torch WT terminates Welder Sequence.In one embodiment, when welding torch WT is in arrow T1It is indicated clockwise from the beginning ofWTMarch to and stop OnlyWTWhen, bead WB1Formed by welding torch WT.In one embodiment, as shown in Figure 60 B and Figure 61, in welding torch WT in arrow Head T1It is indicated clockwise from the beginning ofWTMarch to stoppingWTDuring, welding torch WT, which is followed, examines detector L1. After welding sequence, welding torch WT in the counterclockwise direction (that is, with arrow T1It is in opposite direction) it is mobile so that examine detection Device L2Its starting position is positioned again to startWTPlace.
In one embodiment, with reference to figure 62, when welding torch WT is positioned at beginningWTDuring place, welding torch WT starts Welding sequence.In one embodiment, welding torch WT is configured to during welding sequence in the counterclockwise direction (such as arrow T2It is indicated) advance.In one embodiment, with reference to figure 63, stop when welding torch WT is reachedWTWhen, welding weldering Torch WT terminates welding sequence.In one embodiment, when welding torch WT in the counter clockwise direction indicated by arrow T2 from StartWTMarch to stoppingWTWhen, bead WB2Formed by welding torch WT.In one embodiment, as shown in Figure 62-63, Welding torch WT is in arrow T2In indicated counter clockwise direction from the beginning ofWTMarch to stoppingWTDuring, welding torch WT follows inspection to examine Survey device L2.After welding sequence, welding torch WT in the clockwise direction (that is, with arrow T2It is in opposite direction) it is mobile so that Laser L1Its starting position is positioned again to startWTPlace.
In one embodiment, as shown in Figure 64-69, interior welds system 5004 may include two welding torch WT1 And WT2, an a video camera C and inspection detector L.In one embodiment, detector L and welding torch WT is examined1With 20 ° of angles separate.In one embodiment, detector L and welding torch WT is examined2Separated with 20 ° of angles.In an implementation In scheme, detector L and video camera C is examined to be separated with 180 ° of angles.
In one embodiment, as shown in Figure 64, detector L is examined to be positioned at its starting position.In an implementation In scheme, with reference to figure 65, as welding torch WT1It is positioned at beginningWT1During place, welding torch WT1Start welding sequence.In a reality Apply in scheme, welding torch WT1It is configured to during welding sequence (such as arrow T in the clockwise direction1It is indicated) OK Enter.In one embodiment, with reference to figure 66, as welding torch WT1Reach and stopWT1When, welding torch WT1Terminate Welder Sequence.In one embodiment, as shown in Figure 66, as welding torch WT1In arrow T1It is indicated clockwise from opening BeginWT1March to stoppingWT1When, bead WBWT1By welding torch WT1Formed.In one embodiment, as shown in Figure 64-66, In welding torch WT1In arrow T1It is indicated clockwise from the beginning ofWT1March to stoppingWT1During, welding torch WT1Follow Examine detector L.After welding sequence, welding torch WT1In the counterclockwise direction (that is, with arrow T1It is in opposite direction) move It is dynamic so as to examine detector L to be positioned again at its starting position, as shown in Figure 67.
In one embodiment, with reference to figure 68, as welding torch WT2It is positioned at beginningWT2During place, welding torch WT2Open Beginning welding sequence.In one embodiment, welding torch WT2It is configured to during welding sequence in the counterclockwise direction Upper (such as arrow T2It is indicated) advance.In one embodiment, with reference to figure 69, as welding torch WT2Reach and stopWT2When, weldering Meet welding torch WT2Terminate welding sequence.In one embodiment, as welding torch WT2Indicated by arrow T2 as shown in Figure 66 Counter clockwise direction on from the beginning ofWT2March to stoppingWT2When, bead WBWT2By welding torch WT2Formed.In an embodiment In, as shown in Figure 68-69, in welding torch WT2In arrow T2In indicated counter clockwise direction from the beginning ofWT2March to stoppingWT2Mistake Cheng Zhong, welding torch WT2Follow and examine detector L.After welding sequence, welding torch WT2In the clockwise direction (that is, with arrow T2It is in opposite direction) it is mobile so that examine detector L to be positioned again at its starting position, as shown in Figure 64 and Figure 67.
In one embodiment, interior welds system 5004 may include a welding torch and an inspection detector. In one embodiment, it can be 20 ° or smaller to examine the angle between detector and welding torch.In an embodiment In, examine detector and welding torch to be separated so that 3 inches of arc length AL is (as shown in Figure 64).In one embodiment, examine Testing detector and welding torch can be separated with 4 inches of arc length AL.In one embodiment, detector and welding torch are examined Between angle be 19 °.In one embodiment, it is 16 ° to examine the angle between detector and welding torch.In a reality Apply in scheme, it is 14 ° to examine the angle between detector and welding torch.In one embodiment, detector and weldering are examined It is 12 ° to connect the angle between welding torch.
Figure 70 shows to show that compressed air flows through the schematic diagram of interior welds system 5004, wherein for the sake of clarity and The other assemblies and/or feature of interior welds system 5004 are preferably shown, some components of interior welds system 5004 do not show Go out.
With reference to figure 70, compressed air cylinder 5128, stopper cylinder 5133, driving wheel cylinder 5137, actuator valve 5190 with And driving wheel valve 5192 is shown in the drive part 5010 of welding system 5004 internally.Rotary unions 5072, rear folder afterwards Tool control valve 5062, rear jig 5144 and front jig 5142 are shown in the middle body 5008 of welding system 5004 internally. Preceding rotary unions 5032 and front jig control valve 5018 are shown in the whose forwardmost end portions 5006 of welding system 5004 internally.
In one embodiment, there are compressed air cylinder 5,128 two connected by valve 5113 to be individually in fluid communication Line.In one embodiment, compressed air cylinder 5128 passes through fluid communication line and actuator valve 5190 (and stopper cylinder 5133), driving wheel valve 5192 (and driving wheel cylinder 5137), rear jig control valve 5062 (and rear jig 5144), rear rotary Articulation 5072, preceding rotary unions 5032, front jig control valve 5018 (and front jig 5142) and compressor 5029 flow Body connects.
The compressed air being stored in compressed air cylinder 5128 is sent to valve 5194 by fluid line.Received by valve 5194 The part of compressed air be sent to actuator valve 5190, and the remainder quilt of the compressed air received by valve 5194 It is sent to valve 5196.Actuator valve 5190 is in fluid communication by line 5198 and 5199 with stopper cylinder 5133.In an embodiment party In case, actuator valve 5190 be configured to when it is from drive part 5118 reception signal of electronic module supply compressed air so that Dynamic stopper cylinder 5133.Compressed air operational brake cylinder 5133, by its operation, the stopper cylinder 5133 is to drive Dynamic roller 5122 provides brake force.In one embodiment, stopper cylinder 5133 and actuator valve 5190 may refer to as braking System, the brakes are configured to the phase being fixed on the framework of interior welds system 5004 in pipeline 1022a, 1022b Opening position is hoped not move.In one embodiment, it is configured to the framework of interior welds system 5004 being fixed on pipeline The brakes that desired locations in 1022a, 1022b do not move may include wheel lock/roller lock.In one embodiment, take turns Lock/roller lock is configured to prevent one or more of roller 5122, is not moved so that the framework of interior welds system 5004 is fixed. In one embodiment, brakes may also include motor lock.In one embodiment, motor lock is configured to prevent The only rotation of drive motor 5124, the driven roller 5122 of drive motor 5124 for interior welds system 5004 frame The motion of frame.
A part for the compressed air received by valve 5196 is sent to driving wheel valve 5192, and is received by valve 5196 The remainder of compressed air be sent to valve 5198.Driving wheel valve 5192 passes through line 5200 and 5201 and driving wheel cylinder 5137 It is in fluid communication.In one embodiment, driving wheel valve 5192 is configured to receive from drive part electronic module 5118 at it Compressed air is supplied during signal with drive wheels cylinder 5137.Compressed air operation driving wheel cylinder 5137, is operated by it, The driving wheel cylinder 5137 provides driving force to driven roller 5122.In one embodiment, driving wheel cylinder 5137 can be grasped Operatively it is connected in the wheel shaft thereon with driven roller 5122.In one embodiment, driving wheel cylinder 5137 can pass through Operatively property is connected to wheel shaft to one or more arrangement of gears.
In one embodiment, when interior welds system 5004 is loaded into pipeline, the He of driving wheel cylinder 5137 The both of which of stopper cylinder 5133 bounces back.In one embodiment, when only internally welding system 5004 is removed pipeline, drive Driving wheel cylinder 5137 just bounces back.In one embodiment, driving wheel cylinder 5137 extend so that interior welds system 5004 ( Advance) acceleration or deceleration in the duct.
A part for the compressed air received by valve 5198 is sent to rear rotary unions 5072, and passes through valve The remainder of 5198 compressed airs received is sent to rear jig control valve 5062.Rear jig control valve 5062 passes through line 5202 It is in fluid communication with 5203 and rear jig 5144.In one embodiment, fluid communication line 5202 is used for the extension of fixture 5144, And fluid communication line 5203 is used for the retraction of fixture 5144.In one embodiment, rear jig control valve 5062 is configured To supply compressed air when it is from middle body 5064 reception signal of electronic module to activate and operate rear jig 5144.
Rotary unions 5032 before the compressed air exported by rear rotary unions 5072 is sent to.Pass through preceding rotation The compressed air that rotatable articulation 5032 exports is sent to valve 5204.A part for the compressed air received by valve 5204 is sent To front jig control valve 5018, and the remainder of the compressed air received by valve 5204 is sent to compressor 5029. In one embodiment, compressor 5029 is configured to use received compressed air and system refilled (for example, making Tank is filled with compressed air).
Front jig control valve 5018 is in fluid communication by line 5206 and 5207 with front jig 5142.In an embodiment In, fluid communication line 5206 is used for the extension of front jig 5142, and fluid communication line 5207 is used for the retraction of front jig 5142. In one embodiment, front jig control valve 5018 is configured to supply when it is from front end 5014 reception signal of electronic module Compressed air is answered to activate and operate front jig 5142.
Figure 71 shows to show that electric power (including weld power), communication data and control data flow through interior welds system 5004 Schematic diagram, it is interior wherein show for the sake of clarity and preferably the other assemblies and/or feature of interior welds system 5004 Some components of portion's welding system 5004 are not shown.
With reference to figure 71, front end electronic module 5014, preceding electric rotating motivation 5030, front position sensor 5022, front jig Control valve 5018, preceding slip ring 5016, the line feeding line feeds electrons module 5046 of assembly 5020, line feeder system 5044, with And protective gas control valve 5042 is shown in the whose forwardmost end portions 5006 of welding system 5004 internally.Rotatable wheel hub 5078, Welding torch 5502, examine detector 5056, examine video camera 5112, front jig 5142 and rear jig 5144, rear slip ring 5080, Middle body electronic module 5064, rear position sensor 5076, rear jig control valve 5062 and rear electric rotating motivation 5074 are shown Go out internally in the middle body 5008 of welding system 5004.Battery 5116, drive part electronic module 5118, actuator valve 5190th, driving wheel valve 5192 and drive motor 5124 are shown in the drive part 5010 of welding system 5004 internally.
In one embodiment, weld power is received by interior welds system 5004 from umbilical cables 5034.In a reality Apply in scheme, the weld power from umbilical cables 5034 is supplied to welding torch 5502 by preceding slip ring 5016.
In one embodiment, the battery 5116 of drive part 5010 is configured to supply power to interior welds system All electronic modules in system 5004, including front end electronic module 5014, line feeds electrons module 5046, middle body electronics Module 5064 and drive part electronic module 5118.In one embodiment, the battery 5116 of drive part 5010 by with Put to supply power to all electric drive motors in interior welds system 5004, including preceding electric rotating motivation 5030, line The motor of feeder system 5044, rear electric rotating motivation 5074, drive motor 5124, axial welding torch motor 5550, Radial direction welding torch motor 5512 and oblique weld welding torch motor 5588.
In one embodiment, the electric power of battery 5116 is supplied effectively directly into rear slip ring 5080, middle body electronic die Block 5064 and drive part electronic module 5118.In one embodiment, the electric power of battery 5116 passes through the rear quilt of slip ring 5080 Slip ring 5016 before being fed to.That is, the electric power of battery 5116 is passed to preceding slip ring 5016 from rear slip ring 5080.In an embodiment party In case, the electric power from battery 5116 is supplied to front end electronic module 5014 and line feeds electrons module from preceding slip ring 5016 5046。
In one embodiment, the electric power of battery 5116 is supplied to preceding rotary electric from front end electronic module 5014 Machine 5030, and it is fed to from line feeds electrons module 5046 motor of line feeder system 5044.In one embodiment, The electric power of battery 5116 is supplied to rear electric rotating motivation 5074 from middle body electronic module 5064.In an embodiment In, the electric power of battery 5116 is supplied to drive motor 5124 from drive part electronic module 5118.In an embodiment In, the electric power of battery 5116 is supplied to axial welding torch motor 5550 from line feeds electrons module 5046, radially welded Welding torch motor 5512 and oblique weld welding torch motor 5588.
In one embodiment, battery 5116 is also configured to supply power to examine video camera 5112 and examine and examined Survey device 5056.Examine video camera 5112 for example, the electric power of battery 5116 is supplied to from line feeds electrons module 5046 and examine Detector 5056.
In one embodiment, battery 5116 is also configured to supply power to front position sensor 5022 and rear position Put sensor 5076.For example, the electric power of battery 5116 is supplied to front position sensor 5022 from front end electronic module 5014, And it is supplied to rear position sensor 5076 from middle body electronic module 5064.
In one embodiment, battery 5116 is also configured to supply power to front jig control valve 5018, protection Gas control valve 5042, rear jig control valve 5062, actuator valve 5190 and driving wheel valve 5192.For example, battery 5116 Electric power is supplied to front jig control valve 5018 from front end electronic module 5014, is supplied to from line feeds electrons module 5046 Protective gas control valve 5042, rear jig control valve 5062 is supplied to from middle body electronic module 5064, and from driving Part electronic module 5118 is supplied to actuator valve 5190 and driving wheel valve 5192.
In one embodiment, interior welds system 5004 is configured to receive signal of communication simultaneously by umbilical cables 5034 And signal of communication is sent to external computer system (for example, having one or more processors).In one embodiment, The signal of communication received can advance to front end electronic module 5014 from umbilical cables 5034, then be advanced by preceding slip ring 5016 To line feeds electrons module 5046, middle body electronic module 5064 is then advanced to by rear slip ring 5080, and then go Enter drive part electronic module 5118.
In one embodiment, signal of communication can be advanced from drive part electronic module 5118 (with reception signal In opposite direction), then to middle body electronic module 5064, line feeds electrons module is then advanced to by rear slip ring 5080 5046, front end electronic module 5014 is then advanced to by preceding slip ring 5016, and advance to umbilical cables and (and advance to tool There is the external computer system of one or more processors).
In one or more embodiments as described herein, and such as road as we know from Figure 71, one or more processing Device 5140 by by signal from examining laser 5056 to be transferred to one or more hardwired of one or more processors 5140 Order wire 5056a with examine detector 5056 (for example, examine laser (or provide it is more than one in the case of, optionally Multiple inspection detectors 5056)) operatively it is associated.Hard-wired order wire has：(i) moveable part 5056b, its Examining laser to be oriented to along junction surface region examines Shu Shiyu to examine detector 5056 to move together；And (ii) fixed part 5056c, it keeps fixing in moveable part 5056b moving process.The system also includes previously described preceding slip ring 5016 (from the point of view of an angle, it can be considered as a part for hard-wired order wire), the preceding slip ring 5016 provide logical Believe line a moveable part 5056b part and a fixed part 5056c part between interface, with enable signals to from Moveable part 5056b passes to fixed part 5056c.
It should be understood that one or more hard-wired order wire 5056a (including its moveable part and fixed part) goes back quilt Configuration (or in the case of to examine detector 5056 to provide radio communication to be communicated with one or more processors alternately Be configured) come by slip ring 5016 by power transmission to examine detector 5056.
Slip ring 5016 includes outer stator 5016a and inner rotator 5016b (see Figure 26).Inner rotator 5016b and stator 5016a has bearing 5016k in-between.Stator 5016a regularly pacifies relative to central frame 5068 (see Figure 23 and Figure 24) Dress, while rotor 5016b is connected (for example, seeing Figure 24) wherein with rotatable wheel hub 5078 at mandrel line.When rotatable wheel hub 5078 when being driven to rotate, and rotor 5016b rotates together with wheel hub.Stator 5016a and hard-wired communications line fixed part Divide 5056c connections, and rotor 5016b is connected with the moveable part 5056b of hard-wired communications line, as shown in figure 26.Such as exist See in Figure 26, the rotor 5016b of preceding slip ring 5016 has hollow cylindrical configuration, and center channel 5016d passes through from it.It is logical Road 5016d allows other conduits or line, and specifically for example the air pressure line from preceding rotary unions (is such as communicated to pressure The external compression air line of contracting air tank 5128) pass through.
As can be appreciated, in some embodiments, examine between detector 5056 and one or more processors 5140 Hardwired can also be advanced through other assemblies.For example, as shown in Figure 71, carrying out the order wire of self-checking detector 5056 can advance By line feeds electrons device 5046, received afterwards by slip ring 5016.
Examine detector 5056 scan operation during, welding operate before to the junction surface area between pipeline To the dynamic scan in the junction surface region between pipeline during being scanned before the welding in domain and in operating process is welded During wheel hub 5078 when being rotated, slip ring 5016 allows the moveable part 5056b of order wire and rotatable wheel hub 5078 Move together.
It should also be understood that slip ring 5016 be also configured to couple one or more processors 5140 with examine video camera 5112 it Between communication connection, and provide power to examine video camera 5112.This can be hard-wired by identical one or more Order wire 5056a is completed.One or more processors 5140 be configured to before welding operates, afterwards or during from inspection Video camera 5112 receives video camera inspection data.At camera-scanning junction surface region, moveable part 5056b and video camera (and removable wheel hub 5078) moves together, and fixed part 5056c is in the moveable part to be communicated with video camera 5112 Keep fixing in 5056b moving process.
It should also be understood that identical slip ring 5016 (and/or slip ring 5080) be configured to deliver power to can with it is rotatable The other assemblies that wheel hub 5078 rotates together.For example, as shown in Figure 35 B, for providing weld power to welding torch 5502 Weld power line 5502k and for control one or more welding torch motor 5550,5512,5588 (be used for control welding Welding torch) and the electric power and order wire 5550k powered to it be configured to the line through slip ring 5016.For example, for saying Bright property purpose, in Figure 26 and Figure 35 B, the fixed part for weld power line 5502k hardware power line is marked as 5112c, and the moveable part of weld power line is marked as 5112b.It is understood that they can be by showing that identical is slided Other line in ring 5016 is shown as being connected alternately to represent with single slip ring.
Similarly, hard-wired order wire 5550k can be provided that by slip ring 5016, with to welding torch motor 5550, 5512nd, 5588 order (and control) and electric power are provided.For simplicity and without redundancy, this hardwired 5550k's can Movable part 5550m shown in Figure 35 B but not figure 26 illustrates.It should be understood that this Figure 26 and Figure 71 is used to show to slide Ring 5016 (or another slip ring) how can be used for when welding torch 5502 rotates together with rotatable wheel hub 5078 and Welding torch 5502 be powered and control with weld operate during produce welding when by electric power and communications to welding Welding torch 5502.
As shown in Figure 35 B (and other some figures), rotatable wheel hub 5078 has substantially a hollow cylindrical part 5078a.The centre of cylindrical part at the region substantially axially aligned with welding torch, laser and video camera has The multiple openings or slit 5078b passed through.Opening 5078b allows from slip ring 5016 (and optionally from slip ring 5080) removable power line and order wire is from the inside 5078c of rotatable wheel hub 5078 radially outward through wheel hub 5078 It is outside for being connected with welding torch, laser and video camera.
It should be understood that although rotatable wheel hub 5078 illustrated and described here configures with generic cylindrical, take turns Hub can have different shapes.Rotatable wheel hub can have any tubular form (for example, only for citing, to have hollow square Shape or triangular arrangement).In addition, rotatable wheel hub is also interchangeably referenced as " rotatable framework ".
As shown above with description, detector 5056 is examined to be arranged on the outside of wheel hub, wheel hub has Opposite end and radial opening 5078b between the ends.Extend from preceding slip ring 5016 and line feeds electrons module 5046 The moveable part 5056b of electric power and order wire extends through the inside 5078c of wheel hub 5078, passes through radial opening 5078b and with one or more examine detectors 5056 be connected.
Air pressure line 5032a as from understanding Figure 24 and Figure 35 B, can also carried protective gas (inert gas) revolves after passing through Rotatable articulation 5072, by the opening 5080d in slip ring and it is advanced through the hollow inside of rotatable wheel hub 5078 5078c installs online feeds electrons module 5046 to one in protective gas valve 5042 (see Figure 72), the valve (see Figure 71) In, the line feeds electrons module 5046 is arranged on rotatable wheel hub 5078 for rotating with it.With protecting gas After body valve 5042 connects, air pressure line 5032a (it is the removable moving-wire in rotary moving with rotatable wheel hub 5078) is gone back to And the hollow internal 5078c (therefore, showing two lines 5032a in Figure 24) of rotatable wheel hub 5078 is extended through again.Gas Line ball 5032a is through one or more of opening 5078b, to be directed near the tip of welding torch 5502.Figure 35 B institutes The air pressure line 5032a shown includes the moveable part for rotating and rotating with rotatable wheel hub 5078 of air pressure line.
Figure 25 is the partial section of preceding rotary unions 5032, and the preceding rotary unions 5032 have and rear rotation The substantially the same construction of rotatable articulation 5072.Preceding rotary unions 5032 are used for the compression from external source 5029 Air is sent to airborne compressed air cylinder 5128.Preceding rotary unions include stator 5032d and rotor 5032e.Rotor 5032e It is arranged on by ball bearing 5032f on stator 5032d.Stator 5032d fixes relative to central frame 5068, and rotor 5032e is connected to the moveable part 5072d of air pressure line, moveable part 5072d opposite end and rear rotary unions 5072 rotor connection.The moveable part 5072d of air pressure line passes through the center channel 5016d of slip ring 5016, to be incorporated into The inside 5078c of rotatable wheel hub 5078 and the rotor for then arriving rear rotary unions 5072.
Although it should be understood that preceding slip ring 5016 figure 26 illustrates and preceding rotary unions 5032 figure 25 illustrates, But the identical configuration for each is applied to rear rotary unions 5072 and rear slip ring 5080.
The moveable part that air pressure line can be further understood from Figure 24 sectional view passes through the center channel of slip ring 5016 5016d mode, described Figure 24 is at this how suitable for showing the context of rear slip ring 5080 and rear rotary unions 5072 Go out this attribute.Specifically, rear rotary unions 5072 have outer stator 5072a and inner rotator 5072b.Rotor 5072b Compressed air is received (see Figure 24 and Figure 70 from rotatable air pressure supply line 5072d；It should be understood that Figure 70 is schematic diagram and line 5072d is schematically drawn in Figure 70, but passes through the inside 5078c of rotatable wheel hub as shown in figure 24).Rotatable supply The rotor of rotary unions 5032 before line 5072d is connected at its opposite end.Specifically, outside charging-tank 5029 is first Compressed air is passed through to the stator of preceding rotary unions 5032, and then arranged by the rotor of preceding rotary unions 5032 Go out.The rotor of preceding rotary unions 5032 is operatively connected with rotatable wheel hub 5078, in order to rotate together.It is rotatable Rotor 5072bs of the supply line 5072d from the rotors of preceding rotary unions 5032 through rear rotary unions 5072.Compression is empty Gas passes through the stator 5072a to the fixation air pressure supply line 5072f extended from it of rear rotary unions.Fixed air pressure supply line 5072f is connected to compressed air cylinder 5128 by valve, and when the compressed air cylinder 5128 exhausts, tank 5128 is periodically from outer Portion's charging-tank 5029 receives compressed air.As shown in figure 24, rotatable supply line 5072d passes through rear slip ring from rotor 5072b Central opening 5080d in 5080.Removable air pressure supply line 5072d then passes through the path in rotatable wheel hub 5078 5078c with preceding rotary unions 5032 for being connected.
As that can see in fig. 24, rear slip ring 5080 has inner rotator 5080r, outer stator 5080s and at it Between bearing 5080m.
As can also be from Figure 24, Figure 72 understanding, rear rotary unions 5072 also have another fixing line 5072g, institute Stating fixing line 5072g, protective gas tank 5262 receives protective gas in greater detail from later.Protective gas is from stator 5072a Through rotor 5072b, and then passed from rotor by movable air line ball 5032a.Movable air line ball 5032a, which is passed through, to be slided Opening 5080d in ring and into path 5078c.Air pressure line 5032a is in rotary moving with rotatable wheel hub 5078.Air pressure Line 5032a opposite end is connected with protective gas valve 5042, and is then gone back to and (therefore, shown two lines in Figure 24 5032a) and through welding torch 5502.When advancing to welding torch 5502, movable air line ball 5032a passes through removable Opening 5078b in wheel hub 5078, as can be from Figure 72 understandings.
Although not being described in detail herein, also fitted however, it is understood that providing protective gas by rear rotary unions 5072 Rear rotary unions 7072 are passed through from purge gas tank 7070 for purge gas, shown in Figure 94 as will be described later.
In fig. 25, preceding rotary unions 5032 are shown as with two entrances and outlet port.As illustrated, only make It is used to transmit compressed air by air pressure line (fixed part 5032c and moveable part 5072d) with one in port.Other Port is non-functional for preceding rotary unions, but two ports are used to rear rotary unions 5072, such as from What above description was understood.
It should also be understood that in some embodiments, nothing can be provided to/from inspection detector, video camera and/or welding torch Line communicates, and in the case, can bypass the use that slip ring is used for some functions.
In one embodiment, signal of communication can not be traversed between umbilical cables 5034 and drive part electronic module 5118 Whole communication path, and can be advanced between specific device/module of communication path.
In one embodiment, (including the front end electronic module of all electronic modules in interior welds system 5004 5014th, line feeds electrons module 5046, middle body electronic module 5064 and drive part electronic module 5118) can each it wrap Include memory, auxilary unit and the one or more processors for being configured to carry out system control.In an embodiment party In case, all electronic modules in interior welds system 5004 can be configured to receive, handle, storing, retrieving and transmission signal (sensor or control) and data.In one embodiment, these electronic modules can include other assemblies.For example, various electricity Road (such as, supply of electric power circuit, circuit for signal conditioning, solenoid driver circuitry, and/or it is known in the art it is any its His circuit) it may be incorporated into electronic module.In one embodiment, all electronic modules in interior welds system 5004 can quilt Configure to transmit the control signal for being oriented to the operation for being operatively connectable to its device, and from being operatively connectable to Its device receives data or other signals (sensor).
For example, front end electronic module 5014 is operatively coupled to preceding electric rotating motivation 5030, front position sensor 5022 and front jig control valve 5018.In one embodiment, front end electronic module 5014 is configured to transmit control Signal is received with controlling the operation of preceding electric rotating motivation 5030 and front jig control valve 5018 from preceding position sensor 5022 Sensor signal.
In one embodiment, line feeds electrons module 5046 be operatively coupled to protective gas control valve 5042, The motor of line feeder system 5044, axial welding torch motor 5550, radial direction welding torch motor 5512 and inclination Welding torch motor 5588.In one embodiment, line feeds electrons module 5046 is configured to transmission of control signals, with Control protective gas control valve 5042, the motor of line feeder system 5044, radially axial welding torch motor 5550, welding The operation of welding torch motor 5512 and oblique weld welding torch motor 5588.
In one embodiment, middle body electronic module 5064 be operatively coupled to rear electric rotating motivation 5074, Position sensor 5076 and rear jig control valve 5062 afterwards.In one embodiment, the quilt of middle body electronic module 5064 Configuration carrys out operation of the transmission of control signals with electric rotating motivation 5074 and rear jig control valve 5062 after controlling, and from rear position Sensor 5076 receives sensor signal.
In one embodiment, drive part electronic module 5118 is operatively coupled to drive motor 5124, system Dynamic device valve 5190 and driving wheel valve 5192.In one embodiment, drive part electronic module 5118 is configured to transmit Control signal, to control the operation of drive motor 5124, actuator valve 5190 and driving wheel valve 5192.
Figure 72 shows to show the stream of protective gas by the schematic diagram of interior welds system 5004, wherein for the sake of clarity And the other assemblies and/or feature of interior welds system 5004 are preferably shown, some components of interior welds system 5004 It is not shown.
In one embodiment, inertia/protective gas supply line is configured to inertia/protective gas from inertia/guarantor Shield gas source 5262 is directed to region between the first fixture 5142 and the second fixture 5144, and towards welding torch 5502 The region that weld tip 5503 is attached is oriented to, to reduce the oxygen during welding operates near weld tip 5503.
With reference to figure 72, protective gas tank 5262 is shown in the drive part 5010 of welding system 5004 internally.At one In embodiment, high pressure regulator 5264 can be positioned in the drive part 5010 of interior welds system 5004.In an implementation In scheme, high pressure regulator 5264 can be positioned in the middle body 5008 of interior welds system 5004.In an embodiment In, rear rotary unions 5072, welding torch 5502, rotatable wheel hub 5078, front jig 5142 and rear jig 5144 and Front jig 5142 and rear jig 5144 are shown in the middle body 5008 of welding system 5004 internally.In an embodiment In, front seal 5146 and rear seal 5148 can be positioned in the middle body 5008 of interior welds system 5004.Protect gas Body valve 5042 is shown in the whose forwardmost end portions 5006 of welding system 5004 internally.
In one embodiment, protective gas tank 5262 is configured to maintain under the pressure of 500-2400 pounds.Protection Gas tank 5262 is in fluid communication by fluid communication line and rear rotary unions 5072.In one embodiment, gas is protected Body tank 5262 is in fluid communication by valve 5266 and high pressure regulator 5264 with rear rotary unions 5072.In an embodiment In, high pressure regulator 5264 is configured to automatically shut off the flowing of purge gas under 75 pounds of pressure.That is, high pressure regulator 5264 be generally positioned by the pressure in protective gas tank 5262 be decreased to the downstream of high pressure regulator 5264 and from rear rotation Rotatable articulation 5072 is to about 75 pounds in the fluid communication line of protective gas valve 5042.
In one embodiment, rear rotary unions 5072 pass through fluid communication line and the fluid of protective gas valve 5042 Connection.In one embodiment, after the protective gas being stored in protective gas tank 5262 is sent to by fluid communication line Rotary unions 5072, and then pass through fluid communication line to protective gas valve 5042 from rear rotary unions 5072. In one embodiment, each protective gas control valve 5042 is configured to control protective gas and passes through protective gas line 5268 Flowing to corresponding welding torch 5502.In one embodiment, each welding torch 5502, which has, is connected to its correspondence Protective gas control valve 5042.In one embodiment, protective gas control valve 5042 is operatively coupled to be presented from line Power transmission submodule 5046 receives control signal.In one embodiment, protective gas control valve 5042 be configured to its from Protective gas is fed to corresponding welding torch during line feeds electrons 5046 reception signal of module.
In one embodiment, the drive part 5010 of interior welds system 5004 may include purge gas tank, protection Gas tank 5262 and compressed air gas tank.In one embodiment, the protective gas from protective gas tank 5262 is only used In protective gas is fed into welding torch 5502.In one embodiment, single purge gas tank can be configured to fill out Fill and maintain the purge gas in purge gas chamber.In one embodiment, compressed air is used for the He of seal 5146 5148 inflate and expand fixture 5142 and 5144.
In one embodiment, the drive part 5010 of interior welds system 5004 may include compressed air gas tank and Purging/protective gas tank.That is, protective gas tank and purge gas tank is same.In one embodiment, it is empty from compression The compressed air of gas gas tank is used to inflate seal 5146 and 5148 and expands fixture 5142 and 5144.In a reality Apply in scheme, seal 5146 and 5148 is internally optional in welding system 5004.In one embodiment, to welding The protective gas of welding torch 5502 and purge gas to purge gas chamber pass through the same gas tank with purging/protective gas Supply.In one embodiment, it is optional purge gas to be fed into purge gas chamber.
In one embodiment, the drive part 5010 of interior welds system 5004 can only include purging/protective gas Tank (that is, does not have compressed air gas tank).It is probably such case for smaller interior welds system.In an embodiment In, purging/protective gas tank is configured to purging/protective gas being fed to welding torch 5502, and purging/protective gas is supplied Purge gas chamber should be arrived, and supplies purging/protective gas to be inflated to seal 5146 and 5148 and make fixture 5142 With 5144 expansions.In one embodiment, seal 5146 and 5148 is internally optional in welding system 5004.One In individual embodiment, it is optional that purge gas is fed into purge gas chamber.
Figure 72 A, Figure 72 B and Figure 72 C are shown respectively used in prior art systems and interior welds system 5004 in The close-up view of portion's welding torch, wherein pipeline have gap and radial deflection (mismatch) alignment.For example, as shown in Figure 72 A, Pipeline 1022a, 1022b have 1 millimeter of gap and radial deflection (mismatch).
As shown in Figure 72 B, in prior art systems, the left side of the raising edges protection welding groove of pipeline, so as to lead Welding penetration is caused to reduce.As shown in Figure 72 C, the one or more processors 5140 associated with interior welds system 5004 by with Put receive weld part outline data (for example, before welding sequence, during and afterwards), and be configured to based upon being connect The weld part outline data of receipts offsets its interior welds welding torch 5502 and/or tilts its interior welds welding torch 5502, with reality Now complete welding penetration.Therefore, the weld part outline data from interior welds system 5004 can be used for manufacture preferably welding.
In one embodiment, one or more processors 5140 are configured to receive and first from fielded system 5000 The related outline data of the welding in junction surface region 5136 between pipeline 1022a and second pipe 1022b.In an embodiment party In case, associated profile data is based on the scanning to the junction surface region 5136 between pipeline 1022a, 1022b.In an embodiment party In case, one or more processors 5140 are configured to one or more features of associated profile data and one or more are pre- The contour feature of definition is compared, to generate the response to fielded system 5000.In one embodiment, it is one or more Processor 5140 is configured to the response being transmitted into fielded system 5000, is performed with causing fielded system 5000 to be based on response One or more operation.In one embodiment, one or more processors 5140 are configured to send out to fielded system 5000 Signal is penetrated to stop welding concerned process steps, change or exploitation welding agreement, preservation or further analysis junction surface region 5136 Outline data, preservation or further analysis welding front profile data, preserve or further analysis welding rear profile data, confirm or Change its version etc..
In one embodiment, one or more processors 5140 are operatively associated with examining detector 5056, To determine the profile in the junction surface region 5136 between pipeline 1022a, 1022b.In one embodiment, welding torch 5502 The profile in the junction surface region 5136 being configured to based upon between pipeline 1022a, 1022b is between pipeline 1022a, 1022b Welding is produced at junction surface region 5136.In one embodiment, (for example, outside weldings system 7500) welding torch quilt Configuration produces come the profile based on the junction surface region 5136 between pipeline 1022a, 1022b between pipeline 1022a, 1022b Welding.
In one embodiment, one or more processors 5140 are configured to before welding operates, afterwards or mistake Cheng Zhongcong examines the acceptance inspection data of detector 5056.In one embodiment, one or more processors 5140 are configured Come welding operate before, afterwards or during from examine video camera 5112 receive video camera inspection data.In an embodiment party In case, one or more processors 5140 be configured to welding operate before, afterwards or during from examine detector 5056 Acceptance inspection data and from examine video camera 5112 receive video camera inspection data.
In one embodiment, video camera 5112 is examined to be configured to scan the junction surface of welding after the welding operation Region 5136.In one embodiment, video camera 5112 is examined to be configured to based upon scanning to one or more processors 5140 send signal.In one embodiment, one or more processors 5140 are configured to based upon carrying out self-checking video camera 5112 signal determines the feature in the junction surface region 5136 of welding.
In one embodiment, one or more processors 5140 are configured to analyze data to automatically detect recessing Or other shapes deviation.
In one embodiment, if the feature in junction surface region 5136 is more than predetermined threshold, it may refer to connect Undesirable feature in conjunction portion region 5136.In one embodiment, if the feature in junction surface region 5136 is more than in advance Determine the difference between threshold value and the feature and predetermined threshold to fall in predetermined acceptable/admissible scope, it is determined that Undesirable feature in junction surface region 5136 need not correct.In one embodiment, if junction surface region 5136 Feature be more than difference between predetermined threshold and the feature and predetermined threshold and do not fall within predetermined be subjected to/can allow In the range of, it is determined that undesirable feature in junction surface region 5136 needs to correct.
In one embodiment, if the feature in junction surface region 5136 is less than predetermined threshold, it may refer to connect Undesirable feature in conjunction portion region 5136.In one embodiment, if the feature in junction surface region 5136 is less than in advance Determine the difference between threshold value and the feature and predetermined threshold to fall in predetermined acceptable/admissible scope, it is determined that Undesirable feature in junction surface region 5136 need not correct.In one embodiment, if junction surface region 5136 Feature be less than difference between predetermined threshold and the feature and predetermined threshold and do not fall within predetermined be subjected to/can allow In the range of, it is determined that undesirable feature in junction surface region 5136 needs to correct.
In one embodiment, if the feature in junction surface region 5136 not within the predefined range, it may refer to for Undesirable feature in junction surface region 5136.In one embodiment, if the feature in junction surface region 5136 does not exist In preset range and fall in acceptable/admissible scope, it is determined that undesirable feature in junction surface region 5136 It need not correct.In one embodiment, if the feature in junction surface region 5136 falls not within the predefined range and not In acceptable/admissible scope, it is determined that undesirable feature in junction surface region 5136 need not correct.
In one embodiment, one or more processors 5140 are configured to receive electronic signal (for example, by examining The receiver generation of detector 5136), to determine whether that undesirable feature in junction surface region 5136 should be corrected.At one In embodiment, one or more undesirable features in response to detecting junction surface region 5136, one or more at The motor 5030,5074 that reason device 5140 is configured to the axial-rotation position of one into control pipeline sends instruction, with Motor 5030,5074 is caused to make one in pipeline 1022a, 1022b relative to another rotation in pipeline 1022a, 1022b Turn to correct undesirable feature.In one embodiment, motor 5030,5074 is arranged to make to radially extend folder The movement of tool 5142,5144.
In one embodiment, the welding torch 5502 being operatively connected with one or more processors 5140 by with Put to detect that no undesirable feature is present and performs welding operation with will in response to one or more processors 5140 Pipeline 1022a, 1022b weld together.
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with The junction surface region 5136 between pipeline 1022a, 1022b is scanned, to determine pipeline 1022a, 1022b before welding operates Between junction surface region 5136 profile and based on its generation welding front profile data.In one embodiment, one It is whole between pipeline 1022a, 1022b to scan or multiple processors 5140 are configured to examining detector 5056 to interact Junction surface region 5136, to generate weldering before welding together two pipelines 1022a, 1022b applying welding material Connect front profile data.In one embodiment, one or more processors 5140 are configured to examining detector 5056 to hand over Mutually, to scan junction surface region 5136, so as to the first fixture 5142 and the second fixture 5144 respectively with the first pipeline 1022a and Welding front profile data are obtained after second pipe 1022b engagements.
10008 additionally or alternatively, one or more processors 5140 are configured to examining video camera 5112, x-ray to take the photograph Shadow art verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, eddy-current test device or other inspections Device interacts, to scan the junction surface region 5136 between pipeline 1022a, 1022b, to determine engagement before welding operates The profile in portion region 5136.
Scanning/inspection process is identical for joint interior welds system 3001 and purging and checking system 7001 before welding , and therefore will not be described again on joint interior welds system 3001 and purging and checking system 7001.
In various embodiments, " before welding " outline data as described herein refers to be activated to incite somebody to action from welding torch Pipeline scans the junction surface region between two pipelines to be welded inspection detector before being fixed to one another (such as passes through inspection Test laser) obtain data.This welding front profile data is sent to one or more processors, to determine in any welding Whether the preceding pipeline that material deposits to junction surface region aligns enough.In one embodiment, do not lined up if detected, example Such as determine not lining up and do not line up beyond value acceptable by one or more processors, then one or more processors by with Put the support engaged to the outer surface with pipeline and send signal.One or two in support can be based on from welding front-wheel The output signal of wide data is adjusted, to adjust the relative positioning between pipeline, to be in the alignment in junction surface region It is acceptable not line up in value.
It should be understood that in view of the slight inconsistency in pipeline configuration, usually (and generally) absolute perfection can not be realized Alignment.However, this perfect alignment is unwanted, as long as being aligned in the margin of tolerance suitable for good welds.
In one embodiment, welding front profile data may include pipeline ovality/circularity data.In an embodiment party In case, pipeline ovality/circularity data may include position and size, the position of maximum inner diameter and size, pipeline of minimum diameter Mean inside diameter, pipeline average wall thickness, the position and size of the position of minimum wall thickness (MINI W.) and size, and/or thickest.In a reality Apply in scheme, pipeline ovality/circularity data may include the position and size of minimum diameter, the position of maximum inner diameter and size, The ratio between each its corresponding predetermined value in the position and size of the position of minimum wall thickness (MINI W.) and size and thickest Compared with.In one embodiment, pipeline ovality/circularity data may include every in pipeline mean inside diameter and pipeline average wall thickness Comparison between individual its corresponding predetermined value.In one embodiment, pipeline ovality/circularity data may include to be based on institute State the inner diameter deviation of all opening positions of the pipeline compared on pipeline girth.
In one embodiment, welding front profile data may include pipeline beveled profile data.In an embodiment In, pipeline beveled profile data may include pipeline inclined-plane geometry.In one embodiment, pipeline beveled profile data can Size and shape including pipeline inclined-plane, root face (platform (the land)) thickness on pipeline inclined-plane, the bevel angle on pipeline inclined-plane, pipe The comparison between each its corresponding predetermined value in the skew on road inclined-plane and the root angle on pipeline inclined-plane.At one In embodiment, pipeline beveled profile data may include all opening positions of the pipeline based on the comparison on pipeline girth Pipeline inclined-plane deviation.
In one embodiment, welding front profile data may include solder joint assembling and align data.In a reality Apply in scheme, solder joint assembling and align data may include between the inner abutment end on pipeline (after pipe alignment) Gap data.In one embodiment, solder joint assembling and align data may include on pipeline (pipe alignment it The data in the gap between inclined-plane afterwards).In one embodiment, solder joint assembling and align data may include between minimum The position of gap and size, the position of maximal clearance and size, and/or mean gap.In one embodiment, solder joint fills It is its corresponding predetermined with the position that may include minimum clearance with align data and the position and size of size and maximal clearance Comparison between value.In one embodiment, solder joint assembling and align data may include that mean gap is its corresponding Comparison between predetermined value.In one embodiment, solder joint assembling and align data may include based on the comparison The gap deviation of all opening positions of the pipeline on pipeline girth.In one embodiment, solder joint assembling and alignment number According to minimum constructive height that may include between pipeline poor (that is, acceptable alignment) etc..
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with Scanning connects after the first fixture 5142 and the second fixture 5144 engage with the first pipeline 1022a and second pipe 1022b respectively Conjunction portion region 5136.In one embodiment, one or more processors 5140 are configured to and the first pipeline connected structure 5052 and second pipe connected structure 5054 be operatively connected.In one embodiment, one or more processors 5140 It is configured to based upon welding front profile the first pipeline of data manipulation connected structure 5052 and/or second pipe connected structure 5054, With in the junction surface region 5136 changed before welding operates between pipeline 1022a, 1022b.
In one embodiment, one or more processors 5140 are configured to by driving the first pipeline connected structure 5052 and/or second pipe connected structure 5054 with based on welding front profile data change the first pipeline 1022a and/or second pipe Road 1022b circularity (or ovality) is come in the junction surface region changed before welding operates between pipeline 1022a, 1022b 5136.For example, in one embodiment, one or more processors 5140 are configured to by optionally driving fixture to 5142 and/or 5144 fixture braking hoop one or more of 5157 is with based on welding front profile data the first pipeline of change 1022a and/or second pipe 1022b circularity are come at the junction surface changed before welding operates between pipeline 1022a, 1022b Region 5136.
In one embodiment, one or more processors 5140 are configured to by driving the first pipeline connected structure 5052 and/or second pipe connected structure 5054 with based on welding front profile data make the first pipeline 1022a and/or second pipe 1022b rotates and/or axially moved in the junction surface region changed before welding operates between pipeline 1022a, 1022b 5136.In one embodiment, one or more processors 5140 are configured to by making pipeline a 1022a or 1022b Come relative to another pipeline 1022a or 1022b rotations in the engagement changed before welding operates between pipeline 1022a, 1022b Portion region 5136.
In one embodiment, one or more processors 5140 are configured to based upon welding the weldering of front profile data mining Connect agreement.In one embodiment, welding agreement includes speed of welding and welding torch location protocols.
In one embodiment, one or more processors 5140 are configured to based upon welding front profile data manipulation branch Frame 5330 (as shown in figs. 10 a and 10b) or 6010A and 6010B (as shown in Figure 74), are carried for being introduced into pipeline 1022a For (internally the frame assemblage of welding system 5004 is positioned at the second of pipeline 1022b at pipeline 1022b the second end After end), so as in the junction surface region 5136 changed before welding operates between pipeline 1022a, 1022b.At one In embodiment, the outside that one or more processors 5140 are configured to based upon welding front profile data control support 5330 is determined The roller 5332 of position, (the welding system internally at pipeline 1022b the second end is provided for being introduced into pipeline 1022a After 5004 frame assemblage is positioned at the first pipeline 1022b the second end).
In one embodiment, one or more processors 5140 are configured to based upon welding front profile data manipulation branch Frame 5330 (as shown in figs. 10 a and 10b) or 6010A and 6010B (as shown in Figure 74), to generate the first pipeline 1022a and the Relative movement between two pipeline 1022b, so as in the junction surface area changed before welding operates between pipeline 1022a, 1022b Domain 5136.In one embodiment, the first pipeline 1022a and/or second pipe 1022b outer surface 5346 and/or 5348 is (as shown in Figure 2 G) engaged, so as to adjusted in outline data determines to need to adjust before welding event pipeline 1022a, 1022b relative positioning.In one embodiment, one or more processors 5140 operate (or otherwise being controlled) Support 5330 (as shown in figs. 10 a and 10b) and 6010A and 6010B the first pipeline 1022a of engagement (as shown in Figure 74) and/or Second pipe 1022b outer surface 5346 and/or 5348 (as shown in Figure 2 G), so that outline data determines to need before welding Pipeline 1022a, 1022b relative positioning are adjusted in the event of adjustment.
In one embodiment, the first fixture 5142 is discharged in the event that outline data determines to need to adjust before welding And/or second fixture 5144, so as to adjust pipeline 1022a, 1022b relative positioning.In one embodiment, first It is released in the event that fixture and the second fixture are the fixture of positioned internal and outline data determines to need to adjust before welding, So as to adjust pipeline 1022a, 1022b relative positioning.In one embodiment, the first fixture and the second fixture are outer It is released in the fixture of portion's positioning and the event that outline data determines to need to adjust before welding, so as to adjust pipeline 1022a, 1022b relative positioning.In one embodiment, the first fixture and the second fixture include positioned internal fixture and Both fixtures of outside positioning.In one embodiment, discharged in the event that outline data determines to need to adjust before welding Both the fixture of positioned internal and the fixture of outside positioning, so as to adjust pipeline 1022a, 1022b relative positioning.
In one embodiment, the adjustment of pipeline 1022a, 1022b relative positioning (based on welding front profile data) Behaviour can be automatically carried out or pass through by the processor 5140 for the roller 5332 (as shown in figs. 10 a and 10b) for controlling outside positioning Make librarian use crane and (inner/outer) fixture performs.In one embodiment, pipeline 1022a, 1022b's is relative The adjustment of positioning may also refer to aliging again for pipeline 1022a, 1022b (based on welding front profile data).
In one embodiment, the adjustment of pipeline 1022a, 1022b relative positioning (based on welding front profile data) It may include the adjustment along pipeline 1022a, 1022b longitudinal axis and/or the longitudinal axis along pipeline 1022a, 1022b Adjustment.In one embodiment, the adjustment of pipeline 1022a, 1022b relative positioning can wrap (based on welding front profile data) Include pipeline 1022a, 1022b position adjustment and orientation adjustment.In one embodiment, pipeline 1022a, 1022b's is relative The adjustment of positioning may include to move and vertically move up and down (based on welding front profile data) (along pipeline 1022a, 1022b longitudinal axis).
In one embodiment, release internally and/or externally fixture (before welding by pipeline during process 1022a, 1022b are held in place by), and crane, the outside positioning electronically controlled roller 5332 or its His such device can be used for based on welding front profile data manipulation pipeline.In one embodiment, before process of aliging again Discharge internally and/or externally fixture (before welding pipeline 1022a, 1022b being held in place by during process). In one embodiment, after pipeline 1022a, 1022b align again, externally and/or internally fixture clamping pipe again is used 1022a、1022b。
In one embodiment, new pipeline 1022a to be welded can be based on from detector is examined (for example, examining laser Device) 5056 obtain welding front profile data rotated around its longitudinal axis relative to welded existing pipeline 1022b. Specifically, front profile data are welded to can be used for determining that pipeline 1022a and 1022b relatively rotation place can in some cases Change to realize preferably welding matching.For example, if each in pipeline 1022a, 1022b has slight ellipse to it Degree, then make pipeline matching so that each major axis in two pipelines generally aligns and each short axle in two pipelines Generally alignment can have overall beneficial effect.Therefore, in one embodiment, detector 5056 is examined to generate by one The signal that individual or multiple processors 5140 are handled, to determine more useful rotation position for introducing pipeline 1022a to be welded. Electric rotating motivation 5030 is so that pipeline before this rotation can be activated by one or more processors 5140 before welding operation 1022a is rotated to realize.Specifically, in order that introducing pipeline 1022a rotations, central frame 5068 is relative to the pipe previously welded Road keeps being rotatably fixed.Rotatably fixed relationship passes through one or more for this between central frame 5068 and pipeline 1022b Individual processor 5140 activates rear jig 5144 to be fixedly engaged with pipeline 1022b interior surface to prevent between it Rotate against to realize.In addition to rear jig 5144 and central frame 5068 are rotatably fixed relative to pipeline, rear rotary electric Machine 5074 is not activated by processor 5140 and its motor reel is locked and do not rotated.Due to rear rotary electric arbor be prevented from into Row rotation, whole rotatable wheel hub 5078 keep being rotatably fixed relative to central frame 5068 and pipeline 1022b.Then swash Electric rotating motivation 5030 before work.Its axle is rotated to drive as shown in figure 19 and above-described train so that train 23 It is rotatably engaged the gear teeth 5023 of ring gear 5021.Because (it is fixed to rotatable wheel hub to line feed module 5020 5078) fixed and do not rotated with rotatable wheel hub 5078, before institute rotary electric machine 5030 be operatively connectable to its tooth Wheel 5023 is circumferentially driven along ring gear 5021.This rotary driving force formed in preceding electric rotating motivation 5030 makes electronic The whole whose forwardmost end portions framework 5026 that machine 5030 is connected is rotatably moved.The rotation of whose forwardmost end portions framework 5026 and then It is rotatably driven front jig 5142.Bearing 5108,5098 of the fixture 5142 between fixture 5142 and rotatable wheel hub 5078 It is upper to be rotated around rotatable wheel hub 5078.Because fixture 5142 extends and is clamped to pipeline 1022a interior surface, pipeline Therefore 1022a is rotated to by one or more processors 5140 based on scanning information before the welding received from inspection detector 5056 Defined location.In pipeline 1022a rotary course, if outside support (5330,6010A, 6010B) engagement pipeline is outer Portion surface, then one or more processors 5140 indicate that the roller 5332 on outside support (5330,6010A, 6010B) is optionally located in In free-running state (wherein described roller 5332 is passive), or optionally one or more processors 5140 indicate and roller The 5332 one or more motor being operatively connected are driving rotation with preceding electric rotating motivation 5030 on the inside of pipeline 1022a Speed quite (similar or identical) rotary speed under driven roller 5332.This latter approach is on the inside of pipeline 1022a and outer Both sides provide revolving force to pipeline, although in some embodiments, only driving force can be enough.
In embodiment just described, fixture 5142 and 5144 engages with associated pipeline 1022a and 1022b, To prevent rotating against between framework 5026 and pipeline 1022a, and prevent between central frame 5068 and pipeline 1022b Rotation.However, in one or more embodiments, fixture 5142 and 5144 need not be responsible for this function.On the contrary, with two frames The wheel that frame is operatively associated can be configured to the associated pipeline of enough frictional force and/or outward force engagement, with Prevent rotating against between pipeline and framework.In one embodiment, realize or allow the motion between framework and pipeline Wheel allow generally longitudinal movement only between framework and pipeline, and prevent from rotating against movement between it.This is right Can be real in the wheel on one or more of framework.In the available only one in the frame of wheel engagement selection, frame On two in frame, and optionally combined with clamping means for one or two in framework.
Pipeline rotation technique as described herein can also be used to complete in welding operation and new pipeline enters under Framework is returned into desired " beginning " or " original " rotation position after being scanned before one welding.
In one embodiment, one or more processors 5140 are configured to welding front profile data being sent to far Thread processor is for further processing.
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with Scan the junction surface region 5136 between pipeline 1022a, 1022b, so as to weld operate during pipeline 1022a, The profile that junction surface region is determined at the region before deposit weld material thereon at the junction surface 5136 between 1022b and Generate dynamic outline data.
Dynamic scan/inspection process is identical for joint interior welds system 3001 and purging and checking system 7001 , and therefore will not be described again on joint interior welds system 3001 and purging and checking system 7001.
In various embodiments, dynamic outline data refer to what is obtained during operation is welded from inspection detector Data.For example, dynamic outline data from before the region welded (front) (for example, before the region welded Square 1-6 inches) position acquisition.Specifically, detector is examined to scan the junction surface region in the region that will be welded, to carry For on i.e. by the data of the profile in the junction surface region of deposit weld material.It should be understood that junction surface region between pipeline Profile can somewhat change when increasing junction surface region is soldered.In other words, order welding can be altered slightly in itself Alignment/positioning of the pipeline at the unwelded part in junction surface region at the region of junction surface.Will be in junction surface region Unwelded region on deposit weld welding torch welding material before, examine detectors measure junction surface region profile, and One or more processors receive and use the signal for carrying out self-checking detector to believe to be exported to welding torch and/or its motor Number/instruction, to control various welding torch parameters welding is adapted to pipeline when pipeline is soldered.Welding torch parameter It may include one or more of following：When line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, welding Between, flow rate of gas, the power level of welding arc, welding current, weldingvoltage, welding impedance, welding torch gait of march, weldering Connect weld tip of the weld tip of welding torch along the position of conduit axis, welding torch and rotate relative to the angle of plane and determine Distance of the weld tip of position and/or welding torch to the inner surface of pipeline to be welded.
In one embodiment, dynamic weld part outline data may include height (mismatch) data.In an embodiment party In case, height (mismatch) can generally refer to difference in height of the pipeline between the bevel edge after its alignment.In an embodiment party In case, height (mismatch) data may include in the position and the position and size of size and maximum height difference of minimum constructive height difference Comparison between each its corresponding predetermined value.In one embodiment, height (mismatch) data may include average height Comparison between its corresponding predetermined value of difference.In one embodiment, height (mismatch) data may include to be based on the ratio Compared with all opening positions of the pipeline on pipeline girth difference in height deviation.
In one embodiment, dynamic weld part outline data may include solder joint feature.
In one embodiment, dynamic weld part outline data may include the width of solder joint and the root of solder joint Portion gap.
In one embodiment, one or more processors 5140 are configured to based upon the generation welding of dynamic outline data Signal is to control welding torch 5502.In one embodiment, one or more processors 5140 are configured to grasp in welding Position and speed based on dynamic outline data control welding torch 5502 during work.In one embodiment, welding torch Motor 5588 is operatively connectable to one or more processors 5140, to control welding torch during operation is welded 5502 angle.
In one embodiment, one or more processors 5140 are configured to indicate one or more welding torch motor 5512 make weld tip 5503 be moved further away from junction surface region 5136 to accommodate accumulation after each weld pass Welding material.In one embodiment, one or more processors 5140 are configured to control axial welding torch motor 5550, to control the axial movement of welding torch 5502 (that is, weld tip 5503 is moved further away from junction surface region 5136)。
In one embodiment, one or more processors 5140 are configured to based upon welding the generation of front profile data just Begin the welding contouring planned, and based on the welding contouring of dynamic outline data modification/adaptation initial plan.
In one embodiment, line feed rate, swing width, the power level of welding arc, and/or welding torch 5502 Weld tip 5503 can be controlled to the distance on the surface of pipeline to be welded based on dynamic outline data.
In one embodiment, one or more processors 5140 are configured to examining detector 5056 to interact, with The junction surface region 5136 between pipeline 1022a, 1022b is scanned, to determine pipeline 1022a, 1022b after the welding operation Between junction surface region 5136 profile and based on its generation welding rear profile data.In one embodiment, weld Rear profile data are examining detector 5056 to be positioned in the first pipeline 1022a and/or second pipe 1022b, are not making the first pipe The interior surface 5130 or second of road connected structure 5052 or second pipe connected structure 5054 respectively with the first pipeline 1022a is managed Road 1022b interior surface 5132 obtains in the case of departing from.
Scanning/inspection process is identical for joint interior welds system 3001 and purging and checking system 7001 after welding , and therefore will not be described referring again to joint interior welds system 3001 and purging and checking system 7001.
10008 additionally or alternatively, one or more processors 5140 are configured to examining video camera 5112, x-ray to take the photograph Shadow art verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, eddy-current test device or other inspections Device interacts, to scan the junction surface region 5136 between pipeline 1022a, 1022b, to determine to engage after the welding operation The profile in portion region 5136.
In one embodiment, welding rear profile data may include the profile of formed bead.In an embodiment party In case, welding rear profile data may include the profile of formed root channel welds layer.In one embodiment, after welding Outline data may include weld part shape facility, such as mismatch, beading concavity and re-entrant angle.
In one embodiment, one or more processors 5140, which are configured to based upon welding rear profile data, causes Another welding operation is performed on junction surface region 5136 between pipeline 1022a, 1022b.
Some welding variables/parameters have well known relation.That is, the change of one welding variables/parameters is welded at another Connecing in variables/parameters has corresponding change.Welding variables/parameters, (such as welding current, weldingvoltage, welding torch are advanced Speed and heat input) it is associated.If for example, welding current increase and every other welding variables/parameters guarantor Hold constant, then voltage should reduce.In addition, if the increase of welding torch gait of march and every other welding variables/parameters guarantor Hold constant, then heat input should reduce.In one embodiment, one or more processors 5140 are configured to analyze and gathered Data (for example, welding operate before, afterwards or during), with check problem and make process/parameter change.One In individual embodiment, based on analysis and detection, one or more processors 5140 are configured to make interior welds system as needed System 5004 is safeguarded offline, to prevent problem from recurring.
In one embodiment, before welding operates, afterwards or during received by one or more processors 5140 (gold standard) preferable welding value that each data point of collection/reception is corresponding is compared.If any process variable variations More than setting/predetermined limit, then can mark these differences.If it is big that the difference lasts longer than admissible greatest drawback It is small, then it can stop welding process so that weld part can be repaired.Preferable welding value and admissible limit can collect more welding Improved during data with the time.
In one embodiment, one or more processors can be configured to observe just is sent out before deviation generation Raw situation, and determine to whether there is the shortcomings that tolerance occurs in control loop programming.If it is, one or more Individual processor can internally welding system 5004 send renewal control loop program, and observe it is described change whether improve in The performance of portion's welding system 5004.
In one embodiment, one or more processors can also be configured to monitor and partly be given by operating personnel The order of interior welds system 5004.If it is determined that these orders cause weld part defect, then one or more processors by with Put and provide order to send message to operating personnel to stop internally welding system 5004.If it is determined that these orders prevent from welding Socket part defect, then one or more processors be configured to all operating personnel send message, so as to indicate that they start to make With the order.
In one embodiment, one or more processors are configured to collect and analyze non-invasive (NDT) data. In one embodiment, detect weld part defect position can again with same position record welding parameter compared Compared with even if defect is sufficiently small without repairing.In one embodiment, one or more processors are able to know that in tradition Weld part defect not to be covered in survey report.This gives one or more processors and welded for each welding parameter and gained The extraordinary statistical sample of the quality in portion.This statistical model can be used for determine for each welding parameter best setting with And with the setting can tolerance.When each new NDT scannings improve statistical model, these new parameters can be passed directly It is sent to interior welds system 5004.
In one embodiment, as described herein, computer system 5138 (including one or more processors 5140) Can be the computer system local to fielded system 5000.In another embodiment, as described herein, computer system 5138 can be the computer system positioned away from fielded system 5000 (for example, remote computer system 13704 or other are long-range Computer system), and it is communicatively connected to fielded system 5000 or its local computer system.
In one embodiment, one or more processors 5140 can receive from fielded system 5000 and (pass through receiver) The associated inspection data of the inspection in junction surface region 5136 between pipeline 1022a, 1022b is (for example, come from verifying attachment Initial data, 2D or 3D imaging datas or come other self-checking data).One or more verifying attachments for inspection can Including examining laser, examining video camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic One in powder verifying attachment, eddy-current test device, temperature monitoring or other verifying attachments or any combinations.Inspection data Laser inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasound inspection can correspondingly be included One or any group tested in data, magnetic powder test data, eddy-current test data, temperature check data or other inspection datas Close.
In one embodiment, one or more processors 5140 can be automatically generated based on the inspection data received Including junction surface region 5136 outline data (for example, welding front profile data, dynamic outline data, welding rear profile data, Or other data) response, and outline data is launched and (passes through transmitter) and arrives fielded system 5000.In an embodiment In, for example, the inspection data received based on welding operate before the scanning to junction surface region in the case of, one or Usable the received inspection data generation of multiple processors 5140 includes the welding front profile data in junction surface region 5136 Response, and fielded system 5000 is arrived into welding front profile data transmitting (passing through transmitter).In one embodiment, in institute In the case that the inspection data of reception is based on the scanning to junction surface region in welding operating process, one or more processors 5140 received inspection data can be used to generate the response for the dynamic outline data for including junction surface region 5136, and will move Fielded system 5000 is arrived in state outline data transmitting (passing through transmitter).In one embodiment, wherein the check number received According to the scanning to junction surface region after being operated based on welding, received inspection can be used in one or more processors 5140 Data generation includes the response of the welding rear profile data in junction surface region 5136, and the data transmitting of welding rear profile (is led to Cross transmitter) arrive fielded system 5000.
In one embodiment, one or more processors 5140 can include one based on the inspection data generation received Individual or multiple welding agreements or other operating protocols responses, and (pass through operating protocol as the transmitting of control operation data Transmitter) arrive fielded system 5000.For example, after operating protocol is received, fielded system 5000 can be based on the operation received Agreement performs one or more operations.In another embodiment, one or more processors 5140 can be based on being received Inspection data generates outline data, to obtain the outline data in junction surface region 5136 (for example, welding front profile data, dynamic Outline data, welding rear profile data or other outline datas).In another embodiment, one or more processors 5140 outline data can be used to obtain welding agreement or other operating protocols, and launch and (pass through transmitter) operating protocol and arrive Fielded system 5000.
In one embodiment, one or more processors 5140 can be based on other one or more pipelines (except pipe Beyond road 1022a, 1022b) associated inspection data, with for performed on other pipelines one or more operations (for example, Welding or other operations) the related data of input parameter (for example, welding or other specification), the number related with the observation of operation According to or other data generation welding agreement or other operating protocols.For example, one or more processors 5140 can be from one or more Individual fielded system obtains inspection data, and analytical control data are to determine whether pipeline has which of defect and pipeline With defect.Processor then can be by it is determined that have what is performed on one or more objects of defect (after performing an operation) One or more groups of observations of operation and the same operation that is performed on not having other defective one or more objects other one Group or multigroup observation are compared, to determine to cause the situation of defect (such as herein elsewhere further in detail Description).Based on the comparison, one or more processors 5140 can generate welding agreement or other operating protocols so that Operating protocol be used for one or more subsequent operations (for example, with it is performed and observe the same or similar subsequent operation of operation) When, operating protocol avoids or otherwise solved the situation (may already lead to defect).
In one embodiment, one or more processors 5140 can obtain junction surface region 5136 (pipeline 1022a, Between 1022b) welding front profile data, wherein welding front profile data are based on before welding operation at the scene at system 5000 The scanning to junction surface region 5136.For example, one or more processors can receive welding front profile from fielded system 5000 Data.And for example, one or more processors 5140 can be based on the inspection data generation welding front-wheel received from fielded system 5000 Wide data.After acquisition, one or more processors 5136 can analyze welding front profile data to generate to fielded system 5000 response.In one embodiment, one or more processors 5140 can be by one or more of welding front profile data Individual feature (for example, the assembling of pipeline ovality/the round degree of characteristics, pipeline beveled profile feature, solder joint and alignment feature or its His feature) compared with one or more features of acceptable predefined welding front profile.Based on the comparison, processor 5140 responses whether instruction fielded system 5000 can be started to welding operation (pass through transmitting as the transmitting of control operation data Device) arrive fielded system 5000.
For example, the response may specify junction surface region 5136 in the specification of welding operation, so as to indicate fielded system 5000 start welding operation.Response can 10008 additionally or alternatively include being used for the one or more welding agreements for welding operation. And for example, response may specify junction surface region 5136 not in specification, so as to indicate that fielded system 5000 should not be current in its Welding operation is performed on junction surface region 5136 in state.In one usage case, response may indicate that needs are grasped in welding Make before need change junction surface region 5136 (for example, it is desired to make pipeline 1022a, 1022b align again or other change).By This, response can cause the pipeline connected structure of the operation fielded system 5000 of fielded system 5000, to be changed before welding operates Junction surface region 5136 so that junction surface region 5136 is in the specification of welding operation.
In one embodiment, one or more processors 5140 can be by one or more feature (bases of outline data Obtained in the scanning to junction surface region 5136 at the scene at system 5000) compare with one or more predetermined profile features Compared with to determine one or more matching characteristics.For example, being based on matching characteristic, one or more processors 5140 can be automatically true Surely it is used for one or more welding agreements in the junction surface region 5136 between welded pipe line 1022a, 1022b, and by one Or multiple welding agreement transmittings (passing through transmitter) arrive fielded system 5000, to cause fielded system 5000 to be based on one or more Welding agreement performs welding operation on junction surface region 5136.For example, welding agreement may include one or more input parameters, Such as line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, welding arc Power level, welding current, weldingvoltage, welding impedance, welding torch gait of march, the weld tip of welding torch are along pipe The position of road axis, the weld tip of welding torch rotate relative to the angle positioning of plane, the weld tip of welding torch To the distance or other specification of the inner surface of pipeline to be welded.
In one embodiment, one or more processors 5140 can obtain junction surface region 5136 (pipeline 1022a, Between 1022b) dynamic outline data, wherein dynamic outline data are based on during welding operation at the scene at system 5000 The scanning to junction surface region 5136.For example, one or more processors 5140 can be received (by connecing from fielded system 5000 Receive device) dynamic outline data.And for example, one or more processors 5140 can be based on the inspection data received from fielded system 5000 Generate dynamic outline data.After acquisition, one or more processors 5140 can analyze dynamic outline data to generate to existing The response of field system 5000.In one embodiment, one or more processors 5140 can be by one of dynamic outline data Or multiple features (for example, the assembling of pipeline ovality/the round degree of characteristics, pipeline beveled profile feature, solder joint and alignment feature, Weld part shape facility or other features) with acceptable predefined profile (for example, predefined welding front profile, predefined weldering Connect rear profile or other profiles) one or more features be compared.Based on the comparison, processor 5140 can be to scene The transmitting of system 5000 includes being used for the response that the dynamic to one or more weld signatures for welding operation updates.It is for example, described Response can cause fielded system 5000 during operation is welded based on the dynamic renewal control welding torch to weld signature.
In one embodiment, one or more processors 5140 can obtain junction surface region 5136 (pipeline 1022a, Between 1022b) welding rear profile data, wherein welding rear profile data are based on after welding operation at the scene at system 5000 The scanning to junction surface region 5136.For example, one or more processors 5140 can be received (by connecing from fielded system 5000 Receive device) welding rear profile data.And for example, one or more processors can be based on the inspection data life received from fielded system 5000 Into welding rear profile data.After acquisition, one or more processors 5140 can analyze dynamic outline and be to scene to generate The response of system 5000.In one embodiment, one or more processors 5140 will can weld one of rear profile data or Multiple features (for example, weld part shape facility or other features) and the one or more of acceptable predefined welding rear profile Feature is compared.Based on the comparison, processor 5140 can launch to fielded system 5000 and (pass through transmitter) instruction welding Whether the result of operation is acceptable response.10008 additionally or alternatively, one or more processors 5140 can be automatically true Surely it is used for subsequent operation (for example, repairing or compensating the operation for the defects of being produced by welding operation, do not detecting notable defect In the case of be ordinarily connected to operation etc. after welding operation) one or more welding agreements, and one or more is welded Agreement is connect to be included in launched response.
For example, if welding operation is used for root passage, response may specify the root channel layer as caused by welding operation In specification, and respond and may specify that the preparation for the follow-up welding operation for the passage of heat starts.Thus, response can cause Fielded system 5000 starts performs passage of heat operation on junction surface region 5136.And for example, response may specify that the root of gained leads to Channel layer is not in specification.For example, in one usage case, response may specify that fielded system 5000 should not continue passage of heat behaviour Make, untill other notice.Under another service condition, response may specify that fielded system 5000 is assisted with different welding View (being different from what is additionally preplaned for passage of heat operation) continuation, wherein the different reparations of welding agreement or compensation does not exist The root channel layer of gained in specification.
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, A part for the computer system local to fielded system 5000), one or more processors 5140 can will with to pipeline The inspection data that the inspection in the region (for example, junction surface region 5136 or other regions) between 1022a, 1022b is associated is sent out It is mapped to remote computer system.The inspection data launched can be for example including inspection data as described herein type in one Or any combinations.In one embodiment, one or more processors 5140 may be in response to inspection data being transmitted into remotely Computer system receives (passing through receiver) response from remote computer system and (e.g., including welds front profile data, dynamic is taken turns Wide data, welding rear profile data, the confirmation for the outline data launched, welding or other operating protocols, the police for indicating defect Show or the response of other data).In one embodiment, response can be from the inspection data launched and by remote computer The other data that system receives are drawn.For example, other data can operate with the one or more performed on other pipelines Observation, the inspection to other pipelines, one or more input parameters or other data phases for the operation observed by performing Close (as described herein).So, for example, one in fielded system (for example, fielded system 5000 or other fielded systems) or Multiple operations can be based on entering from the previous disabled big data pond of identical fielded system and/or other fielded systems Row management.For example, data pool (including the observation on the operation on other pipelines, the inspection to other pipelines, for performing The data of the input parameter of observed operation or other data from identical fielded system or other fielded systems) can For generating and selecting one or more welding for subsequent operation or other operating protocols (as described herein), to prevent or Reduce weld part defect or produce and preferably welded for current and future client.And for example, from Different field system Big data pond can be used for improving its inspection and analysis (as described herein), to provide more preferable product for current and future client (for example, by reducing weld part defect, detecting defect etc. earlier in the process).
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, A part for the computer system local to fielded system 5000), one or more processors 5140 can by pipeline 1022a, Profile (for example, the profile drawn based on the scanning to the junction surface region 5136) hair in the junction surface region 5136 between 1022b It is mapped to remote computer system.As response, one or more processors 5140 can be received (by connecing from remote computer system Receive device) junction surface region profile confirmation or junction surface region 5136 profile revision.In one embodiment, One or more processors can be based on the profile in junction surface region 3136 confirmation or revision cause welding system 5004 Welding torch produces welding at junction surface region 5136.
For example, the one or more processors 5140 of fielded system 5000 can cause one or more verifying attachment test tubes Junction surface region 5136 between road 1022a, 1022b with obtain inspection data (for example, the initial data from verifying attachment, 2D or 3D imaging datas carry out other self-checking data).Verifying attachment for inspection may include that as described herein examine fills One in the type put or any combinations.The inspection data obtained can correspondingly include the class of inspection data as described herein One in type or any combinations.And for example, one or more processors 5140 can determine engagement based on the inspection data obtained The profile in portion region 5136, but also inspection data can be transmitted into remote computer system to assess inspection data.One or Multiple processors 5140 can by it is determined that the profile in junction surface region 5136 be transmitted into remote computer system for accurate Property inspection.Assessment based on their own to inspection data, remote computer system can be with the profiles in junction surface region 5136 really The profile recognize, provided is that the instruction of inaccuracy or other responses respond to one or more processors 5140.Additionally Or alternately, if the profile provided is inaccurate, remote computer system can be from remote computer system pair The revision of its own of the profile in the junction surface region 5316 that the assessment of inspection data is drawn responds.For example, response Confirm in receiving, one or more processors 5140 can based on it is determined that the profile in junction surface region 5136 cause welding system 5004 welding torch starts or continues to welding operation, to produce welding at junction surface region 5316.If however, receive wheel Wide revision, then one or more processors 5140 can cause the welding of welding system 5004 based on the revision of profile Welding torch starts or continues to welding operation, to produce welding at junction surface region 5316.
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, It is a part for the computer system local to fielded system 5000), one or more processors 5140 can be with welding system 5004 inspection laser interaction is to scan the junction surface region 5136 between pipeline 1022a, 1022b, to be operated in welding The profile in junction surface region 5136 is determined before and based on scanning generation welding front profile data.In another embodiment In, welding front profile data can be transmitted into remote computer system by one or more processors 5140.As response, one or Before multiple processors 5140 can receive the confirmation or welding of (passing through receiver) welding front profile data from remote computer system The revision of outline data.In one embodiment, one or more processors can be based on welding front profile data really Recognize or revision operates pipeline connected structure 5052 and/or pipeline connected structure 5054, managed with being changed before welding operates Junction surface region 5136 between road.
For example, the one or more processors 5140 of fielded system 5000 can cause one or more verifying attachment test tubes Junction surface region 5136 between road 1022a, 1022b, to be examined before the welding operation on junction surface region 5136 Data.Verifying attachment for inspection may include one or any combinations in the type of verifying attachment as described herein.Obtained The inspection data obtained can correspondingly include one or any combinations in the type of inspection data as described herein.It is one or more Processor 5140 can be based on the inspection data generation welding front profile data obtained, but can also be transmitted into inspection data far Journey computer system is to assess inspection data.The welding front profile data that one or more processors 5140 can generate it are launched To remote computer system for accuracy testing.Assessment based on their own to inspection data, remote computer system can It is inaccurate instruction or other responses to one with the welding front profile data welded the confirmation of front profile data, provided Or multiple processors 5140 respond.10008 additionally or alternatively, if the welding front profile data provided are inaccurate , then the welding front profile data that the assessment that remote computer system can be from remote computer system to inspection data is drawn The revision of its own responds.And for example, if the data instruction of welding front profile pipeline 1022a, 1022b are not lined up, and And receiving the confirmation of welding front profile data, then one or more processors 5140 can cause pipeline connected structure 5052,5054 Pipeline 1022a, 1022b is set to align again before producing the welding operation of welding at junction surface region 5136.If however, receive The revision of front profile data is welded, then one or more processors 5140 can be performed follow-up originally using revision on the contrary Operation, such as alignd again using the version of modification to determine the need for aliging again and how to perform, selection welding agreement with For producing welding etc. at junction surface region 5136.
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, It is a part for the computer system local to fielded system 5000), one or more processors can be based on welding front profile number According to confirmation or revision (from remote computer system receive) exploitation welding agreement.If for example, receive welding front profile The confirmation of data, then the welding front profile data that it can be used to generate for one or more processors 5140 develop welding agreement, For performing welding operation on junction surface region 5136.If for example, receive welding front profile data revision, Revision can be used to develop welding agreement originally for one or more processors 5140, for being performed on junction surface region 5136 Welding operation.
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, It is a part for the computer system local to fielded system 5000), one or more processors 5140 can be with welding system 5004 inspection laser interaction is to scan the junction surface region 5136 between pipeline 1022a, 1022b, to be operated in welding During determine junction surface region 5136 profile and based on scanning generation dynamic outline data.In another embodiment In, dynamic outline data can be launched (passing through transmitter) and arrive remote computer system by one or more processors 5140.As Response, one or more processors 5140 can receive the confirmation of (passing through receiver) dynamic outline data from remote computer system Or the revision of dynamic outline data.In one embodiment, one or more processors 5140 can be in welding operation During the welding torch of confirmation based on dynamic outline data or revision control welding system 5004.
For example, the one or more processors 5140 of fielded system 5000 can cause one or more verifying attachment test tubes Junction surface region 5136 between road 1022a, 1022b, obtained during being operated with the welding on junction surface region 5136 Inspection data.Verifying attachment for inspection may include one or any combinations in the type of verifying attachment as described herein. The inspection data obtained can correspondingly include one or any combinations in the type of inspection data as described herein.One or Multiple processors 5140 can generate dynamic outline data based on the inspection data obtained, but can also be transmitted into inspection data Remote computer system is to assess inspection data.The dynamic outline data that one or more processors 5140 can generate it are launched To remote computer system for accuracy testing.Assessment based on their own to inspection data, remote computer system can It is inaccurate instruction or other responses to one or more with the confirmation of dynamic outline data, the dynamic outline data provided Individual processor 5140 responds.10008 additionally or alternatively, if the welding rear profile data provided are inaccurate, Remote computer system can be from remote computer system to inspection data its own of dynamic outline data that draws of assessment Revision respond.
And for example, if receiving the confirmation of dynamic outline data, one or more processors 5140 can be used what it was generated Dynamic outline data are assisted to update the welding parameter of the welding torch for controlling welding system 5004 when performing welding and operating View (to perform welding operation on junction surface region 5136).And for example, if receiving the revision of dynamic outline data, one Revision can be used to be updated originally when performing welding operation for controlling welding system 5004 for individual or multiple processors 5140 The welding parameter agreement of welding torch (to perform welding operation on junction surface region 5136).
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, It is a part for the computer system local to fielded system 5000), one or more processors 5140 can be with welding system 5004 inspection laser interaction is to scan the junction surface region 5136 between pipeline 1022a, 1022b, to be operated in welding The profile in junction surface region 5136 is determined afterwards and based on scanning generation welding rear profile data.In another embodiment In, welding rear profile data can be transmitted into remote computer system by one or more processors 5140.As response, one or After multiple processors 5140 can receive the confirmation or welding of (passing through receiver) welding rear profile data from remote computer system The revision of outline data.
For example, the one or more processors 5140 of fielded system 5000 can cause one or more verifying attachment test tubes Junction surface region 5136 between road 1022a, 1022b, to be examined after the welding operation on junction surface region 5136 Data.Verifying attachment for inspection may include one or any combinations in the type of verifying attachment as described herein.Obtained The inspection data obtained can correspondingly include one or any combinations in the type of inspection data as described herein.It is one or more Processor 5140 can be based on the inspection data generation welding rear profile data obtained, but can also be transmitted into inspection data far Journey computer system is to assess inspection data.The welding rear profile data that one or more processors 5140 can generate it are launched To remote computer system for accuracy testing.Assessment based on their own to inspection data, remote computer system can It is inaccurate instruction or other responses to one with the welding rear profile data welded the confirmation of rear profile data, provided Or multiple processors 5140 respond.10008 additionally or alternatively, if the welding rear profile data provided are inaccurate , then the welding rear profile data that the assessment that remote computer system can be from remote computer system to inspection data is drawn The revision of its own responds.
In one embodiment, wherein one or more processors 5140 be to fielded system 5000 it is local (for example, It is a part for the computer system local to fielded system 5000), one or more processors 5140 can be based on welding trailing wheel The confirmation of wide data or revision (being received from remote computer system) cause on junction surface region 5136 between tubes Perform another welding operation.If for example, receiving the confirmation of welding rear profile data, one or more processors 5140 can Determine whether the result of welding operation has one or more defects, junction surface area using the welding rear profile data of its generation Whether next operational phase or other determinations are ready in domain 5136.For example, in one usage case, in junction surface area After completing root channel operation in domain 5316, the welding rear profile data of the root channel layer in junction surface region 5316 can show Root channel layer thickness deficiency is shown.As response, it can determine to repair the insufficient welding of thickness using rear profile data are welded The heat of the passage of heat layer (on the channel layer of root) of the welding parameter of operation or the root channel layer of generation compensation thickness deficiency is led to The welding parameter of road operation.And for example, if receiving the revision of welding front profile data, one or more processors 5140 Revision can be used to replace the welding rear profile data that it is generated to perform aforementioned operation.
In one embodiment, influenceing the welding parameter of the quality of weld part may include voltage, electric current, welding torch row Enter speed, line feed rate, gas flowing etc..In one embodiment, other welding parameters of the quality of weld part are influenceed It may include impedance, temperature etc..
In one embodiment, the voltage used during welding sequence can influence bead width and bead shape Shape.In one embodiment, voltage is measured with volt.In one embodiment, welding system may include voltage sensor, The voltage sensor is configured to the voltage that measurement is used to produce the power supply of welding arc.
In one embodiment, the electric current used during welding sequence can influence the fusion penetration of bead.At one In embodiment, electric current is with amperometric measurement.In one embodiment, welding system may include current sensor, the voltage Sensor is configured to the electric current that measurement is used to produce the power supply of welding arc.
In one embodiment, welding feed rate be during welding sequence welding electrode along solder joint Traveling speed.In one embodiment, welding electrode is fed from welding torch.In one embodiment, welding speed Degree can be controlled by controlling the welding torch of feeding welding electrode.In one embodiment, during welding sequence Speed of welding can influence the size of bead and/or the fusion penetration of bead.In one embodiment, speed of welding with mm/second or Inch per second measures.
In one embodiment, line feed rate/line use is welding electrode material/filler material in welding sequence During be consumed the speed of (or being fed in weld part).In one embodiment, line feed rate with mm/second or Inch per second measures.In one embodiment, welding system may include line feed rate sensor, and the line feed rate passes Sensor is configured to sense the flowing of welding electrode material.
In one embodiment, the rate of change of spool weight allows welding system measurement bonding wire 5007 to be fed to weldering Speed in socket part.In one embodiment, feed motor setting/predetermined speed under run, but hump lead 5007 wheel may be slid due to the minor variations of line 5007 or due to feeding the abrasion of wheel itself.These slidings are in essence On be probably temporary transient, and the presence of which can be recorded and used in quality control feedback loop.If sliding is to continue Property, then one or more processors 5140 can be configured to increase the speed for feeding motor to compensate.Speed exceeds the speed limit Gearratio may need to increase with the time.Finally would be impossible to compensate, and welding system 5004 will stop service with In being safeguarded.In one embodiment, overdrive is followed the trail of on whole welding system allows one than increased speed Or multiple processors determine admissible maximum overdrive than optimal limit.This sets and then can be transferred to welding system The all component in service.In one embodiment, one or more processors 5140 can be configured to become in data Numerical value is updated at any time when must can use, to minimize the frequency of process interrupt and to be used in the machine stoppage of maintenance The frequency of time minimizes.
In one embodiment, welding system may include gas flow sensor, the gas flow sensor by with Put the flow rate for carrying out the protective gas that sensed/detected uses in welding sequence.In one embodiment, protective gas can To be configured to the active gas of protection melting weldpool.In one embodiment, gas flow sensor is configured to carry For the signal proportional to flow rate of gas in protective gas line.In one embodiment, one of fielded system 5000 Or multiple processors 5140 are configured to the flow rate of gas in protective gas not in predetermined gas flow rate range In the case of stop welding.
In one embodiment, the pre-add hot channel before welding sequence.In one embodiment, the temperature of pipeline It can be monitored by one or more temperature sensors of welding system.In one embodiment, one or more temperature pass Sensor is configured to measure the temperature of pipeline along at each point of weld part.In one embodiment, fielded system 5000 One or more processors 5140 be configured to temperature in pipeline not in predetermined temperature range in the case of stop welding Process.
In one embodiment, welding system may include impedance transducer, the impedance transducer is configured to sense/ The input resistance of detection welding system resists.
In one embodiment, correct line/welding electrode/filler material is used for each weld pass.For example, two Unique difference between individual coil of wire bobbin is that 0.1 millimeter of linear diameter is poor.If manufacturer's mark of coil of wire bobbin has been got dirty Dye has been obscured, then wrong spool may be loaded into welding system.RFID label tag on spool has spiral Axle identifier.In one embodiment, the RFID label tag on spool can be read by the sensor on welding system.If RFID label tag has vicious spool identifier, then welding system is configured to not feed wire material and warns user to change For correct line.
In one embodiment, spool weight can by the one or more processors 5140 of fielded system 5000 come Monitoring.If bonding wire is finished during welding sequence, processor using come manage between weld tip and workpiece away from From voltage signal vanishing.As response, processor makes tip move closer to workpiece, and this causes the weldering that nib contacts melt The defects of connecing metal and causing to include copper.Therefore, it is known that the accurate weight of remaining line helps welding system to prevent on spool Only start to need the weld pass than available more bonding wires.In addition, if spool weight stops change, then this may refer to Show spool empty or line feed mechanism failure.In either case, the one or more processors of fielded system 5000 5140 are configured to stop welding sequence.
In one embodiment, it is every to be configured to real-time tracing for the one or more processors 5140 of fielded system 5000 The weight of individual spool.Due to the change width of the welding groove of change and the filling of diameter, each welding in solder joint Passage needs different amounts of line.
If the one or more processors 5140 of fielded system 5000 determine spool by with very few knot Shu Erwu Method completes next weld pass, but it will complete different weld passes with enough lines, then fielded system 5000 One or more processors 5140 can be configured to notify operating personnel and remove spool and be handed over to different operations Personnel.For example, spool is started with 10 pounds of line, and the weld pass performed by welding system needs 1.3 pounds of line.Weldering Welding system can have in spool completes its weld pass before very few line on 7 solder joints.
When this spool removes after the 7th weld pass, the line for having 0.9 pound on this spool is wasted.If Need such as 1.1 pounds of line in the presence of another weld pass, then the one or more processors 5140 of fielded system 5000 by with Put to warn operating personnel to remove spool after only 6 weld passes.In this case, spool will have 2.2 pounds Line it is remaining.This spool then available for the line for only needing 1.1 pounds weld pass to complete 2 such weld passes (simultaneously And without waste line).
In one embodiment, bonding wire 5507 passes through weld tip 5503.Sophisticated weld tip 5503 also carries high weldering Connect electric current.The two factors cause the bore hole of weld tip 5503 to wear.When this occurs, the contact point skew of inner side, this Inherently influence arc characteristic and therefore influence welding quality.In one embodiment, welding parameter is monitored in real time, as electricity Pressure, electric current, line feeding, electric power and impedance.This data by one or more processors be sent to tablet personal computer with for The characteristic pattern of variable described above, which compares, caused by the computation-intensive property of analysis is analyzed.When analysis detects will During generation problem, interior welds system 5004 and operating personnel are by transmission message to change weld tip before next welding 5503.In addition, this data can use in quality control feedback loop.In one embodiment, from quality control feedback The result of loop can be used for dynamicalling update weld tip loss characteristics figure.
In one embodiment, the exemplary weld parameter for ascents and descents welding sequence is shown in Figure 72 D. For example, in one embodiment, at least one on direction is rotated up (that is, upward slope) in multiple welding torch 5502 enters Row welding, while at least another on direction is rotated down (that is, descending) in multiple welding torch 5502 is welded. In one embodiment, welding parameter shown here is exemplary, and is no optimizing or is included in these All things changed may be needed during welding sequence.In one embodiment, the traveling speed of descending welding sequence Degree is 13.5 inch/minutes, and is 10.0 inch/minutes for upward slope process.In one embodiment, across groove The amplitude of swing is 0.09 inch for descending welding sequence, and is 0.15 inch for upward slope welding sequence.In a reality Apply in scheme, swing speed is 160 beats/min for descending welding sequence, and is 130 beats/min for upward slope welding sequence Clock.In one embodiment, ripple controls 1 (that is, related to line feed rate) is descending welding sequence 400 to be welded to going up a slope The 370 of process.In one embodiment, weld pass is welded under 16.5V supply of electric power control voltage.
The operation of interior welds system 5004 will now be described.In one embodiment, interior welds system 5004 by with Put to be operated by the operation circulation repeated.
It is determined that being welded in current solder joint after completion, one or more processors 5140 are configured to present to line Power transmission submodule 5046 sends signal of communication, to control (passing through control signal) welding torch motor 5512,5550,5588 (passing through) makes the welding torch 5502 bounce back to its initial advanced position.One or more processors 5140 be also configured to Whose forwardmost end portions electronic module 5014 sends signal of communication, with control/closing (passing through control signal) front jig control valve 5018 To make the first connected structure 5052 bounce back to its initial advanced position, and send and communicate to middle body electronic module 5064 Signal, the second connected structure 5054 is set to bounce back to it most with control/closing (passing through control signal) rear jig control valve 5062 First advanced position.Interior welds system 5004 (including welding torch 5502 and fixture 5144,5142) has to move to next Individual solder joint.
In one embodiment, one or more processors 5140 are configured to send out to drive part electronic module 5118 Raw signal of communication, to control (passing through control signal) drive motor 5124 to make interior welds system 5004 accelerate to make a reservation for Speed is advanced and then slows down and stop at next solder joint.In one embodiment, interior welds system 5004 predetermined speeds accelerated can be 6 feet per seconds.
When the second connected structure 5054 is positioned at next solder joint, drive part electronic module 5118 is presented to line Power transmission submodule 5046 sends signal of communication, is alignd with checking with pipe end.In one embodiment, line feeds electrons Module 5046 is configured to operate (opening) one or more inspection detectors 5056, relative to measure the second connected structure 5054 In the position of pipe end.In one embodiment, when one or more examines detector 5056 to measure the second connected structure 5054 relative to pipe end position when, rotatable wheel hub 5072 can without operation.
In one embodiment, line feeds electrons module 5046 is configured to measured range data being sent to drive Dynamic part electronic module 5118.In one embodiment, drive part electronic module 5118, which is configured to control, (passes through control Signal) drive motor 5124, so that the first connected structure 5052 and the second connected structure 5054 move measured distance number According to.
In one embodiment, when the second connected structure 5054 suitably aligns and positioned relative to pipe end When, drive part electronic module 5118 is configured to position to the transmission interior welds of middle body electronic module 5064 system 5004 Signal of communication at next solder joint.In one embodiment, middle body electronic module 5064, which controls, (passes through control Signal processed is opened) rear jig control valve 5062, to raise the second connected structure 5054 and clamp old/existing pipeline.
Next/new pipeline section 1002a and then it is introduced into by staff and internally welding system 5004 is most Slided on fore-end 5006 in appropriate location.Now, one or more processors 5140 are configured to line feeds electrons Module 5046 sends signal of communication, examines detector 5056 to check the alignment of pipeline so that operation is one or more.In a reality Apply in scheme, one or more processors 5140 can be such that rotatable wheel hub 5078 rotates to be measured in multiple opening positions.
If pipe alignment data, in predetermined tolerance, line feeds electrons module 5046 is to front end electronic module 5014 Signal of communication is sent to activate front jig 5142.In one embodiment, front end electronic module 5014 controls/opened (logical Cross control signal) front jig control valve 5018, to raise the first connected structure 5052 and clamp new pipeline section 1002a.
If pipe alignment data, not in predetermined tolerance, line feeds electrons module 5046 is to one or more processors 5140 send the signal of communication (message) not lined up recognized between pipeline 1022a, 1022b.In one embodiment, this Information can be transferred to crane operator or by electronic signal quilt by traditional crane operator's hand signal The computer display terminal being transferred in hoisting box.
After clamping pipe, one or more processors 5140, which are configured to send to line feeds electrons module 5046, leads to Believe signal, with operation it is one or more examine detectors 5056 come along the circumference of solder joint at multiple points measurement gap and Radial deflection (mismatch).In one embodiment, this data is transferred out one or more processors 5140, and with can The tolerance of permission is compared.
If seam assembles (that is, gap and radial deflection (mismatch)) in predetermined tolerance, then one or more processors 5140 or line feeds electrons module 5046 send the signal of communication that can start of instruction welding to operating personnel, or to line feeds electrons Module 5046 sends signal of communication automatically to start welding sequence.
If seam assembles (that is, gap and radial deflection (mismatch)) not in predetermined tolerance, then sent to operating personnel Warning, the operating personnel can restart to clamp order or ignore warning.In one embodiment, interior welds system 5004 are configured to the gap of up to 4 millimeters of welding and radial deflection (mismatch).
In one embodiment, line feeds electrons module 5046 is configured to automatically start welding sequence.At one In embodiment, one or more processors 5140, which are configured to supply to weld power by umbilical cables 5034, sends communication letter Number, to open weld power supply to welding torch 5502.In one embodiment, line feeds electrons module 5046 is configured Radially, axially and/or angularly to control/be moved to appropriate welding position by one or more welding torch 5502 Put.In one embodiment, line feeds electrons module 5046 is radially, axially and/or angularly by one or more Welding torch 5502 be moved to as it is one or more examine detectors 5056 measured by from pipeline and into solder joint The correct operating distance of the heart.
In one embodiment, line feeds electrons module 5046 is also configured to operate (opening) protective gas valve 5042 So that protective gas is fed into welding torch 5502, and operate welding feeder system 5044 motor with start to welding weld Torch 5502 feeds bonding wire or welding rod.
In one embodiment, line feeds electrons module 5046 is to whose forwardmost end portions electronic module 5014 and middle body Both electronic modules 5064 send signals of communication to start the rotation of rotatable wheel hub 5078.In one embodiment, line is presented Power transmission submodule 5046 sends signals of communication to both whose forwardmost end portions electronic module 5014 and middle body electronic module 5064 So that preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 are synchronous.In one embodiment, line feeds electrons module 5014 transmission control signals with electric rotating motivation 5030 before operating, and middle body electronic module 5064 send control signal with Electric rotating motivation 5074 after operation.Preceding electric rotating motivation 5030 and rear electric rotating motivation 5074 are configured to make rotatable wheel hub 5078 rotations, while keep front jig 5142 and rear jig 5144 to fix.In one embodiment, rotatable wheel hub 5078 connects The total length of continuous Spin welding socket part.
In one embodiment, line feeds electrons module 5046 is configured to operate one or more inspection detectors 5056, with the center of positioning welding seam and welding torch 5502 is axially moved to follow solder joint.
In one embodiment, line feeds electrons module 5046 is configured to measure the voltage of weld power.It is measured Voltage data can be by line feeds electrons module 5046 using determining the distance of welding torch 5502 and pipeline.In an implementation In scheme, line feeds electrons module 5046 is configured to radially adjust welding torch 5502, with maintain welding torch 5502 with The constant distance of pipeline.In one embodiment, line feeds electrons module 5046 can be such that welding torch 5502 axially swings To improve welding quality.
In one embodiment, which of solder joint be line feeds electrons module 5046 be configured to based upon and partly welded Fetch the inclination angle for changing welding torch 5502.For example, inclination angle of the welding torch 5502 in travel plane is adjusted to compensate Gravity.
In one embodiment, line feeds electrons module 5046 can be configured to based upon examining from one or more examine The measurement data for surveying device 5056 changes line feed rate or supplies the transmission signal of communication (by umbilical cables 5034) to weld power To change welding current.
In one embodiment, welding sequence can be rotated by 360 ° by a welding torch in a weld pass come Perform.In one embodiment, it can be any position along solder joint that the start and stop bit of welding, which is put,.
In one embodiment, the welding torch 5502 of N number of equal intervals can be used to perform, wherein can in welding sequence The rotation of rotary hub 5078 deposits a weld pass by (360/N) angle.In one embodiment, welding sequence can Performed using the welding torch 5502 of N number of equal intervals, wherein the rotation of rotatable wheel hub 5078 passes through (2 times of 360/N) angle Spend to deposit two weld passes.For example, in one embodiment, wherein interior welds system 5004 has three equal Every welding torch 5502, rotatable wheel hub 5078 is rotated by 120 ° to deposit a weld pass, and is rotated and passed through 240 ° deposit two weld passes.
When welding torch 5502, which reaches previous welding torch 5502, starts the point of its weld pass, one or more inspection Test detector 5056 and detect existing bead, and line feeds electrons module 5046 is configured to make welding torch 5502 radially Move to compensate.
In one embodiment, two weld passes executed as described above can deposit, between weld pass have interrupt with Examined after carrying out complete laser and vision welding.In one embodiment, N number of welding being unequally spaced can be used in welding Welding torch 5502 carries out 360 °, wherein each welding torch 5502 deposits continuous weld passes, amounts to N number of 360 ° of weld passes and adds From first welding torch to the distance of n-th welding torch.
It is determined that after welding completion, one or more processors 5140 are configured to send out to line feeds electrons module 5046 Signal of communication is sent, to control (passing through control signal) welding torch motor 5512,5550,5588 (passing through) to make welding torch 5502 bounce back to its initial advanced position.(radially, axially, incline for example, welding torch 5502 can bounce back to each of which axis Initial home position tiltedly).
In one embodiment, rotatable wheel hub 5078 continues to rotate, the operation of isochrone feeds electrons module 5,046 one Individual or multiple inspection detectors 5056 and 2D video camera 5112 examine the quality of weld part.In one embodiment, If it find that certain form of weld part defect (for example, lack of fill, lack reinforcement), then the quilt of one or more processors 5140 Configuration to send signal of communication to line feeds electrons module 5046, so that welding torch 5502 is moved to this position and applied another Outer welding material is to repair defect.
Once being completed by operating personnel and confirming inspection and any reparation, operating personnel can be to front end electronic module 5014 send signals of communication, make the first connected structure with control/closing (passing through control signal) front jig control valve 5018 5052 bounce back to its initial advanced position, and send signal of communication to middle body electronic module 5064, with control/closing (passing through control signal) rear jig control valve 5062 makes the second connected structure 5054 bounce back to its initial advanced position.
On the coast in pipeline application, angles and positions pipe alignment mistake both of which can be by from one or more processors 5140 send control signal (to control associated roller 5332) to correct to support 5330 or support 6010A and 6010B.
In one embodiment, purging and checking system 7001 or interior welds system 5004 may include a fixture, The fixture is constructed and arranged to clamp the first pipeline 1022b inner surface.In one embodiment, support 5330 or branch Frame 6010A and 6010B be configured to second/and it is introduced into pipeline 1022a and is moved in appropriate location.In one embodiment, One or more processors 7062 or 5140 are configured to examining detector 5056 or 7042 to interact to check between pipeline Alignment, and control signal is sent to repair any pipe alignment mistake (angle to support 5330 or support 6010A and 6010B Or position).In one embodiment, the control signal from one or more processors 5140 is configured to adjust pipe Relative positioning between road (to correct its alignment errors).In one embodiment, this process can be with low-down (＜ 20) Diameter Wall than small or posted sides pipeline on use because the grip strength of any amount can not significantly change low D/t The shape of pipeline.
In one embodiment, purging and checking system 7001 or interior welds system 5004 may include two fixtures. For example, a fixture is constructed and arranged to clamp the first pipeline 1022b inner surface.In one embodiment, support 5330 or support 6010A and 6010B be configured to second/be introduced into pipeline 1022a and be moved in appropriate location.In an implementation In scheme, the second fixture is constructed and arranged to clamp second/introducing pipeline 1022a inner surface.In one embodiment, One or more processors 7062 or 5140 are configured to examining detector 5056 or 7042 to interact to check between pipeline Alignment.For example, if alignment is not good, the second fixture discharges second pipe 1022a.One or more processors 7062 or 5140 are configured to send control signal to support 5330 or support 6010A and 6010B to repair any pipe alignment mistake (angle It is degree or position).In one embodiment, the control signal from one or more processors 5140 is configured to for example The relative positioning between pipeline is adjusted by changing pipeline 1022a positioning (to correct its alignment errors).It can continue described Process, untill acceptable pipe alignment is realized by examining the trial of detector or scheduled volume (for example, 10 times), in institute State in trial, second pipe 1022a is rejected and new second pipe is moved in appropriate location.
In one embodiment, pipeline aligns and used in welding sequence on the coast for crane and fixture alignment.In bank In the application of upper pipeline, angle pipe alignment mistake can be by providing instructions to correct to crane operator, and position pair Neat mistake can place pad to correct by providing instruction to worker between fixture and pipeline.
In one embodiment, purging and checking system 7001 or interior welds system 5004 may include a fixture, The fixture is constructed and arranged to clamp the first pipeline 1022b inner surface.In one embodiment, crane operation people Member by second/be introduced into pipeline 1022a and be moved in appropriate location, and outer clamp is placed on around seam by worker.One In individual embodiment, one or more processors 7062 or 5140 are configured to examining detector 5056 or 7042 to interact to examine Alignment between checking.If examine detector 5056 or 7042 detect that angle does not line up/pipe alignment mistake, to rise Heavy-duty machine operating personnel send instruction and/pipe alignment mistake are not lined up to correct angle, and worker discharges folder when pipeline moves Tool.If examining detector 5056 or 7042 to detect that position does not line up/pipe alignment mistake, sent to worker for correction Position do not line up/pipe alignment mistake required for the placement of pad and the instruction of thickness.Worker removes fixture, places pad simultaneously And reappose fixture.The process is repeated, untill pipe alignment is examined detector receiving.
In one embodiment, purging and checking system 7001 or interior welds system 5004 may include two fixtures. For example, a fixture is constructed and arranged to clamp the first pipeline 1022b inner surface.In one embodiment, crane Operating personnel by second/be introduced into pipeline 1022a and be moved in appropriate location.In one embodiment, the second fixture is constructed And arrange to clamp second/introducing pipeline 1022a inner surface.In one embodiment, one or more processors 7062 Or 5140 be configured to examine detector 5056 or 7042 interact to check aliging between pipeline.If examine detector 5056 or 7042 detect that angle does not line up/pipe alignment mistake, then the second fixture release second pipe, and being grasped to crane Make personnel's transmission instruction not lining up to correct.If detector 5056 or 7042 is examined to detect that position does not line up/pipe alignment Mistake, then the second fixture release second pipe, and send to worker and do not line up for correction position/pipe alignment mistake needed for The placement for the pad wanted and the instruction of thickness.Second pipe is moved away from the first pipeline by crane operator, and worker places Pad.Crane operator moves back to second pipe in appropriate location.Second fixture clamps second pipe.Described in repeating Process, untill pipe alignment is examined detector receiving.
Figure 103 B show pipe alignment, welding and the inspection process of interior welds system 5004.
In one embodiment, examine detector 5056 it is any welding occur before 360 ° of scanning pipeline 1022a, Junction surface region 5136 between 1022b.In one embodiment, the process of the process of front profile data is welded in generation In, examine detector 5056 to be positioned between the fixture and/or seal of internal welding system 5004, and be opened. In one embodiment, welding torch 5502 is closed during the process of generation welding front profile data.In a reality Apply in scheme, one or more processors 5140 are configured to examining detector 5056 to interact, to scan junction surface region 5136, to engage it with the first pipeline 1022a and second pipe 1022b respectively in the first fixture 5142 and the second fixture 5144 Welding front profile data are obtained afterwards.
In one embodiment, one or more processors 5140 operate (or otherwise being controlled) support 5330 And 6010A and 6010B the first pipeline 1022a of engagement (as shown in Figure 74) and/or second pipe (as shown in figs. 10 a and 10b) 1022b outer surface 5346 and/or 5348 (as shown in Figure 2 G), so that outline data determines to need the thing adjusted before welding Pipeline 1022a, 1022b relative positioning are adjusted in part.In one embodiment, the first pipeline 1022a and/or second pipe 1022b interior surface 5130,5132 is engaged and regulated and controled by the first fixture 5142 and the second fixture 5144 respectively, to weld Pipeline 1022a, 1022b relative positioning are adjusted in the event that front profile data determine to need to adjust.
In one embodiment, during the process of generation dynamic weld part outline data, detector is examined 5056 are positioned between the fixture and/or seal of internal welding system 5004, and are opened.In an embodiment In, one or more processors 5140 are configured to based upon dynamic weld part outline data control welding torch 5502 (or 7502) Position and speed.In one embodiment, dynamic scan/inspection process welds in root channel welds process, the passage of heat Performed during process, filling channel welding sequence and capping channel welds process.In one embodiment, optionally Photography inspection process (for example, as shown in Figure 1B and with reference to figure 1B describe 1044) can lead in dynamic scan/inspection and heat Performed between road welding sequence and dynamic scan/inspection and filling and capping channel welds process.
In one embodiment, 360 ° of scanning pipelines 1022a, the 1022b after the welding operation of detector 5056 are examined Between junction surface region 5136.In one embodiment, during the process of generation welding rear profile data, examine Detector 5056 is positioned between the fixture and/or seal of internal welding system 5004, and is opened.In an implementation In scheme, welding torch 5502 is closed during the process of generation welding rear profile data.
In one embodiment, weld part inspection process (for example, describe as shown in Figure 1B and with reference to figure 1B 1008) Performed after welding after scanning/inspection process.
Figure 103 B process is described with reference to interior welds system 5004.However, as shown in Figure 103 B, it is contemplated that identical Process is applied to joint interior welds system 3001 and purging and checking system 7001, and therefore will not be referring again in joint Portion's welding system 3001 and purging and checking system 7001 are described.
In one or more embodiments, because pipeline is from interior welds, (that is, root weld pass is applied from insides of pipes Add), so the root weld of gained can be excellent, because it is preferably by the height area in any mismatch and/or pipeline Take into account in domain.In addition, if thermal weld passage (second weld layer on the top of root channel layer) is also internally applied Add, then pipeline can also possess positive root on the top of root weld pass and strengthen.Thermal weld passage and even including Another weld pass that portion applies can provide the smaller bend relief extended slightly inwardly in the duct with further reinforced pipe Road.For example, the internal diameter of pipeline can be configured to be slightly less than at the region of welding welded pipe line only including pipeline material and The internal diameter at region not welded.In the one side of the application, at least one of the passage of heat weld layer of welding material Set up the interior surface being set to than welded pipe line separately welding in welded pipe line closer to longitudinal axis, described at least a portion On the opposite side of material with welding material close to region in.
In some embodiments, interior welds system 5004 disclosed herein is configured to the length of welding at least 30 ' Pipeline.In other embodiments, interior welds system 5004,3001 disclosed herein is configured to weld diameter as 26 " Or smaller pipeline.In other embodiments again, 5004 solderable diameter of interior welds system is less than 24 " pipeline. Again in other embodiments, interior welds system 5004 disclosed herein is configured to the length of welding at least 30 ' and diameter Pipeline less than 24 ".
Figure 73-85 shows and openly according to the another of the interior welds system of another embodiment of present patent application Individual embodiment.
Present patent application provides a kind of be used for the system for facing together and to weld together of two pipeline sections.The system Including outside registration mechanism and welding mechanism.Outside registration mechanism can as shown in drawings alignment modules it is equally complicated or such as the U.S. Tipton fixtures shown in the patent No. 1,693,064 are equally simple.Used mechanism is also suitable on the bank or offshore pipelines structure Make.U.S. Patent number 1,693,064 is incorporated herein in its entirety by reference.No matter what kind of mechanism, outside alignment machine are used Structure support each section and make each section be adjustably located so that section be substantially collinear or along its longitudinal direction Axis is axially aligned.
Outside registration mechanism can support pipeline section, and may include the dynamic characteristic for allowing the position and orientation for adjusting pipeline Part.Specifically, outside registration mechanism may include the roller for allowing pipeline longitudinally to move.Pipeline also can be by permission pipeline around longitudinal axis The roller support that line is rolled and moved up and down.Position and orientation adjustment can be by motor power or waterpower Automatically, the motor power or waterpower are controlled or are fed to based on predetermined alignment parameter or from reading at operating personnel's platform Take feeding back in the automatically central controller of the alignment of control zone for the inner laser device of junction surface or joint profile.
Welding mechanism is interior welds machine, the interior welds machine face of lateral sectors or edge joint out of pipeline section Apply welding (for example, gas metal arc welding " GMAW ") and generate what is formed by the inclined-plane edge of two pipeline sections (other section shapes in addition to V can also be used) in v-shaped opening.Welding mechanism includes：Bracket, it can engage the inwall of pipeline So that welding mechanism is secured or locked in fixed position in pipeline in itself；And welding portion, it is by the rotatable twelve Earthly Branches of bracket Support is in pipeline.Specifically, internal welding machine is in alignment pipeline, and is then longitudinally oriented into and soldering tip or welding torch are indulged To ground neighboring edge seam.Welding mechanism also includes being used to make the rotating mechanism that welding portion rotates relative to bracket.Soldering tip or Welding torch is pivotally supported on welding portion around pipeline longitudinal axis so that welding torch can closely follow whole in track rotation Inner-seam junction surface.Specifically, during welding, the welding torch on head of joint motions is carried out around the whole interior of pipeline Portion's circumference follows edge joint, so as to apply welding material.In addition to the circle rotation relative to bracket, various control elements can Soldering tip is set to move relative to bracket, radially be moved toward and away from seam axially along the pipe and around point or axis (example Such as, parallel or perpendicular to pipeline longitudinal axis A-A axis) it is pivotally displaced.Controller can be oriented to welding torch and be pivoted.Close These frees degree of section motion allow soldering tip to be very in terms of most preferably and in case of need filling engages contouring It is effectively and efficient.
Welding mechanism also includes laser traces mechanism, the welding torch combination work of the laser traces mechanism and welding portion, To sense junction surface joint profile and/or welding material profile, so as to which welding material is applied into side with appropriate position and amount Edge seam.The laser light mechanism surveys weld part and sends signal to the controller for the soldering tip for carrying out joint motions to control head Portion surrounds the movement of whole edge joint.Specifically, welding contouring letter is continuously received from edge joint in soldering tip control system During breath, welding torch follows laser.Described information is subsequently used for continuously adjusting welding torch to realize desired weld part structure.
In addition to laser traces mechanism, the system may include the 2D video cameras for visual inspection weld part.2D is imaged Machine is arranged on welding portion and follows welding torch so that once weld part is produced by welding torch, operating personnel can examine weldering Socket part.Visual signal is delivered to outside operator's display.For example, 2D video cameras can be colour TV camera, and face Color change can indicate weld part defect to operating personnel.The profile variations perceived can also indicate that defect.
With reference to figure 73-75, the system for line section to be welded together is as described below.Figure 73 illustrate the ability to support, Position and reposition the outside registration mechanism 6010A and 6010B of the pipeline of multiple length.Each mechanism 6010A and 6010B It may include support member (for example, roller), the pipeline of certain length may be supported on the support member.Longitudinal roller 6012 may move twelve Earthly Branches Support line section 6105 so that its longitudinal direction that section 6105 can define along arrow A is repositioned.In addition, rotating roller 6014 can rotate around the parallel axis of the axis A-A with supporting section 6105 in any example of section 6105, so that described Section 6105 can rotate or the angle orientation around axis A-A adjustment section 6105.Outside registration mechanism 6010 can be by electronic Machine, hydraulic means etc. automatically regulate and control multiple sections into various positions and orientation.For example, section can be raised, reduces, revolved Turn, tilt, pivoting etc..
As shown in Figure 73, outside registration mechanism 6010A and 6010B support multiple sections 6105,6110 and adjust its position Put and be orientated untill section 6105,6110 aligns so that its longitudinal axis A-A is conllinear and section 6105, An each end in 6110 abuts in junction surface edge.Specifically, Figure 74 shows that edge forms pipeline junction surface Figure 73 of 6120 (also known as " assembling " seam) 6100 amplification detailed view.
The pipeline alignment of present patent application and welding system are out of assembling section 6105,6110 in lateral junction surface 6120 Portion applies welding.Welded to apply to the inside of seam 6120, interior welds mechanism 6300 is rolled to one in section 6105 In individual end, as shown in Figure 75.Second section 6110 is then placed within outside registration mechanism 6010B and regulated and controled, Untill two sections 6105,6110 satisfactorily align.Can the pull bar 6345 of internally welding mechanism 6300 apply External force, or the mechanism may include the automation of the axial location in alignment section 6105,6110 for adjusting it certainly Propulsioning means.
As shown in Figure 76-79, welding mechanism 6300 includes bracket 6301 and welding portion 6302.Bracket 6301 is included at least One registration mechanism 6340A, 6340B, registration mechanism 6340A, 6340B can radially expand with junction section 6105 or 6110 interior surface.This expansion and engagement both of which make welding mechanism 6300 relative to section 6105,6110 axially/longitudinally Position is fixed, and makes the alignment or radially placed in the middle in section 6105,6110 of welding mechanism 6300.Bracket 6301 also includes master Body 6311, rotating mechanism 6335 are supported in the main body 6311.Main body 6311 be included in registration mechanism 6340A and 6340B it Between multiple elongated structure supporting members for extending.As discussed below, welding portion 6302 includes similar counter structure 6313。
Welding portion 6302 is rotatably connected to bracket 6301 and extended from the end of bracket 6301.Bracket 6301 with Rotating against by rotating mechanism 6335 to promote between welding portion 6302.Rotating mechanism 6335 is fixed to bracket 6301 simultaneously And automatically welding portion 6302 is set to be rotated relative to bracket 6301 around longitudinal axis A-A (by motor and gear).Welding Part 6302 can suspend from bracket 6301, or can be supported by other registration mechanism 6340C, the other registration mechanism 6340C is located so that welding torch 6305 is positioned between registration mechanism 6340B and 6340C.When providing registration mechanism 6340C, Welding portion 6302 can be when registration mechanism 6340B and 6340C be expanded so that itself is fixed to the inside of section relative to right Neat mechanism 6340B and 6340C and rotated between registration mechanism 6340B and 6340C.In addition, bracket 6301 may include pull bar 6345, the pull bar 6345 can be configured to the extension extended from bracket 6301, and operating personnel can grasp the extension to insert Enter/push or retraction/drawing welding mechanism 6300 is to make it be axially positioned in section 6105,6110.
Figure 76 shows the zoomed-in view of Figure 75 part 6200, wherein only section 6105 is present and section 6110 is not deposited .As shown in Figure 76, welding portion 6302 includes welding group 6303, and the welding group 6303 includes welding torch 6305, laser sensing Device 6310 and colour TV camera 6320.Welding portion 6302 also has a main body 6313, welding torch 6305, laser sensor 6310, And colour TV camera 6320 is supported in the main body 6313.Laser 6310 follows the trail of the inner-seam of section 6105,6110 And engagement contouring is detected, for positioning welding torch 6305 when applying to seam junction surface and welding.Main body 6313 is being alignd Extend between mechanism 6340B and 6340C.Part 6200 is shown at the welding mechanism 6300 of the inner side of section 6105, wherein welding torch 6305 are pointing substantially towards radially outward direction and are located to apply welding to face seam 6120.Figure 77 shows welding mechanism The embodiment of the 6300 somewhat diagrammatic sectional view by part B-B, the embodiment are shown in welding mechanism 6300 Direction of insertion on the welding group 6303 watched.Figure 77 also illustrates rotation of the welding machine group 6303 when being rotated by rotating mechanism 6335 Turn direction D.Therefore, acted first by laser sensor 6310, then along welding of the solder joint 6120 on specified point Video camera 6320 is examined to act on by welding torch 6305 and finally by 2D.
Figure 82-84 shows multiple perspective views of welding portion 6302.Figure 82 shows line delivery system 6322.Line delivery system 6322 include coil of wire bobbin storage device 6323, optional line straightener 6325 and line feed mechanism 6330, the line feeding Mechanism 6330 is automatically controlled to deliver the line of appropriate amount to welding torch 6305.Welding portion 6302 is revolved in rotating mechanism 6335 When turning, line is fed to welding torch 6305 by line delivery mechanism 322.
As mentioned above, welding torch 6305 can be positioned and be orientated in many ways by multiple mechanisms.Welding torch 6305 supports On executor.Executor includes radial locator, axially position device and pivoter (pivoter).Specifically, welding torch 6305 radial locators 6307 (for example, rack and pinion) being supported on can be such that welding torch is radially inwardly directed to and away from section 6105th, 6110 interior surface movement.In other words, toward and away from the junction surface of section 6105,6110 to be welded.In addition, Axially position device 6309 (for example, rack and pinion) can be such that welding torch 6305 is axially moved in section 6105,6110.Executor Also include pivoter 6308, the pivoter 6308 allows welding torch to pivot (for example, around parallel to section longitudinal axis A-A axis).Power can be provided by the pivot movement of pivoter 6308 by motor and gear 6306.It is for example, electric Motivation can be stepping motor.
Welding torch executor can be moved by relatively supporting above mentioned element to synthesize the maneuverability of the element. For example, main body 6313 can support axially position device, the axially position device and then support radial locator, the radial locator And then supporting pivot circulator, the pivoter and then support welding torch.Similarly, axially position device can be by radial locator Support.It is also possible to use any support order.
The element of executor is controlled by controller, and the controller, which receives, includes one of the signal from laser 6310 Series of signals as input and then processing information, backward at least radial locator 6307, axially position device 6309, pivot Circulator 6308 and the transmission signal of line delivery system 6322.Then welding torch 6305 is based on coming according to the predefined parameter of controller The continuous repositioning of signal and the reorientation of laser 6310 are read from profile.
The operation of current internal welding system will now be described.Figure 73, Figure 80 and Figure 81 show the and of location area section 6105 6110 and it is welded to process together.In operation, one or more of following step for indicating letter is can perform, So that：A) pipeline section 6105 is placed on alignment means/duct frame 6010A；B) and then by interior welds machine 6300 it is inserted into In pipeline section 6105；C) and then by the second pipeline section 6110 with pipeline section 6105 align, and pulled forward by pull bar 6345 or automatic Ground drives welding mechanism 6300 so that the face seam 6120 of welding torch 6305 and pipeline section 6105,6110 in general alignment with；D) and then connect Registration mechanism 6340A, 6340B (and 6340C, if desired) is closed so that welding mechanism 6300 is in pipeline section 6105,6110 Interior fixation；E) an embodiment (optionally), rotating mechanism 6335 makes soldering tip 6305 rotate to be filled by laser sensor Preliminary sweep of 6310 execution to the junction surface seam 6120 of pipeline section 6105,6110 is put, to ensure most preferably to assemble；F) if desired If, repeat step (c), (d) and (e), i.e. pipeline section 6105,6110 is alignd/is rotated again and enter by laser 6310 Row scans again, to improve " assembling "；G) optionally, the inside registration mechanism 6340C being bonded on the rear portion of welding mechanism 6300 To keep axial location of the welding mechanism 3600 relative to pipe section 6105,6110；H) in welding mechanism 6300 in pipeline section In the case of being fixed in 6105 and 6110, root weld (first welding) circulation starts so that laser 6310 scans pipeline Junction surface 6120, welding torch 6305 follows laser 6310, and carries out joint fortune using the output control from laser 6310 The position of dynamic welding torch 6305, wherein control welding torch 6305 is best to produce relative to the position at junction surface 6120 and orientation Welding quality；I) in addition to the signal from laser 6310, arc current monitoring can also use in welding torch position is oriented to；j) After 360 ° of welding are completed, soldering tip 6305 is rotated back to original position；K) fortune is examined in previous steps (j) or single Profile (using laser 6310) and visual inspection (using 2D colour TV cameras 6320) are performed on row；L) after inspection, release Put registration mechanism 6340A-C and the open end towards welded pipe line 6105,6110 pulls or driven forward welding mechanism 6300, and in the case of the exposure of the front end of welding mechanism 6300, pipeline section 6110 is placed on outside alignment with (b) equally On mechanism 6010B and proceed to next seam；M) and then for whole production run repeat step (c) to (l).
In one embodiment, the signal from laser sensor 6310 is sent to internal registration mechanism 6010 Electronic controller, to arrange automatically reposition in section 6105,6110 one for more desirable face seam 6120 It is individual or two.In addition, the order that abovementioned steps can be stated performs.However, the it is also contemplated that change of order.
In another embodiment, not stop after first 360 ° of welding, and it is another to lay to be to continue with rotation One weld pass, after second welding, laser 6310 can be used for testing and following the trail of simultaneously, while the 2D followed Colour TV camera continues to examine.
In still another embodiment, and complete 360 ° of non-solder is welded, with identical starting position at two 180 ° Welding is performed in half.This specific implementation needs to be used for multiple laser sensors of tracking or makes laser and/or welding torch physics Ground is swung to maintain the leading position of tracing sensor in two rotational directions (that is, welding torch and laser is rotated and is caused Their switching positions) mechanism.
In one embodiment, present patent application discloses a kind of joint interior welds system 3001.In an embodiment party In case, joint interior welds system 3001 is incorporated to all features of interior welds system 5004.In one embodiment, connect The other feature of head interior welds system 3001 includes high capacity cell so that joint interior welds system 3001 can be carried out Advance over long distances and there is airborne weld power.In one embodiment, joint interior welds system 3001 is configured to Independently operate so that not to the external cable of joint interior welds system 3001.
Because weld power, motion electric power and the electric power required for other are carried in a manner of airborne (by framework carrying Complete battery system), joint inside welder system 3001 can be used for traversing very long pipeline span, and in these opening positions Perform welding operation.This is achievable, because the system need not be fastened because of the electric power from external power source.
In one embodiment, joint interior welds system 3001 may also include for by pipe pullout together so that The device of any gap-closing.In one embodiment, for by pipe pullout together so that the dress of any gap-closing Put and may refer to as slackless arrangement (upgapping device).In one embodiment, slackless arrangement is constructed simultaneously cloth It is set to so that one in fixture is configured to move relative to another fixture.In one embodiment, gapless fills Put and be constructed and arranged to connect portion of external in main weldering.In one embodiment, slackless arrangement is constructed and arranged to In pipeline.
In one embodiment, joint interior welds system 3001 includes similar with interior welds system 5004 Whose forwardmost end portions 3002, middle body 3004 and drive part 3006.In one embodiment, joint interior welds system 3001 whose forwardmost end portions 3002, the structure of middle body 3004 and drive part 3006, configuration, component and operation are with more than The whose forwardmost end portions of the interior welds system 5004 of detailed description, middle body are similar with drive part, and therefore in joint The whose forwardmost end portions 3002 of portion's welding system 3001, the structure of middle body 3004 and drive part 3006, configuration, component and Operation will not be described in detail herein.In one embodiment, the electronic module of whose forwardmost end portions 3002, middle body 3004 electronic module and the electronic module of drive part 3006 each include one or more processors.
For example, joint interior welds system 3001 includes：Framework, it is configured to be placed in pipeline 1022a, 1022b； Multiple rollers 3125, it is configured to the framework for being pivotably supported joint interior welds system 3001；Drive motor 3124, its Driven roller 3125 is so that the framework of joint interior welds system 3001 moves in pipeline 1022a, 1022b；Brakes, it will The desired locations that the framework of joint interior welds system 3001 is fixed in pipeline 1022a, 1022b do not move；Examine detection Device, it is carried by the framework of joint interior welds system 3001, and is configured to detect connecing between pipeline 1022a, 1022b The feature in conjunction portion region；And welding torch, it is carried by the framework of joint interior welds system 3001.In an embodiment In, as interior welds system 5004, the brakes of joint interior welds system 3001 may include joint interior welds system The fixture of system 3001, the fixture are configured to be clamped to pipeline 1022a, 1022b respectively.In one embodiment, with it is interior As portion's welding system 5004, the brakes of joint interior welds system 3001 may include joint interior welds system 3001 Stopper cylinder and actuator valve.In one embodiment, roller 3125, the drive motor of joint interior welds system 3001 3124th, examine structure, configuration, and/or the operation of detector and welding torch similar with interior welds system 5004, and And therefore it will not be described in detail herein.
In one embodiment, joint interior welds system 3001 also includes detecting with drive motor 3124, inspection The one or more processors that device and welding torch are operatively connected.At the one or more of joint interior welds system 3001 It is similar with interior welds system 3004 to manage configuration and the operation of device, and therefore will not be described in detail herein.
In one embodiment, joint interior welds system 3001 is not fastened completely.Specifically, joint internal welding Welding system 3001 need not include pull bar or umbilical cables, and whereabouts and all communications from joint interior welds system 3001 It is fully wireless.In one embodiment, joint interior welds system 3001 may include：Transmitter, its be configured to by All communication signal emittings fully wirelessly from joint interior welds system 3001 are to long-range uLog processing systems；And reception Device, it is configured to receive all signals of communication from long-range uLog processing systems fully wirelessly.In one embodiment, The one or more processors of joint interior welds system 3001 and/or all electronic modules are configured to and long-range uLog processing System communicates fully wirelessly.In one embodiment, the inspection detector of joint interior welds system 3001, inspection shooting Machine, all the sensors, all motor, all valves and/or other assemblies/element are configured to complete with long-range uLog processing systems Communicate to full Wireless.
In one embodiment, any information from joint interior welds system can be by WiFi, bluetooth, NFC, logical Cross radio frequency or transmitted by cell tower and communicated (only for citing) with the system wireless on the outside of pipeline.In some embodiments In, in appropriate circumstances, information is transmitted by using repeater or extensor, and wherein transmission signal carries out long range traveling Or it is advanced through bending area.
In one embodiment, the one or more processors of joint interior welds system 3001 and one or more biographies Sensor is configured to monitor the charging water of airborne weld power supply, airborne motion supply of electric power and the supply of other onboard electrics It is flat.For example, the voltage exported by these supplies of electric power can be monitored (continuously or under aturegularaintervals).In an embodiment In, the transmitter of joint interior welds system 3001 by the battery life monitored/charge level information it is fully wireless launch To long-range uLog processing systems for further processing.For example, the charge level information monitored of onboard electric supply can For the remaining operation time for the estimation for determining joint interior welds system 3001.In one embodiment, joint internal welding The one or more processors of welding system 3001 can be configured to partly determine joint in joint interior welds system 3001 The remaining operation time of the estimation of interior welds system 3001.In one embodiment, long-range uLog processing systems can by with Put to determine the residue of the estimation of joint interior welds system 3001 based on the battery life wirelessly launched/charge level information Operating time.In one embodiment, long-range uLog processing systems can be configured to joint interior welds system 3001 The remaining operation time of estimation is transmitted into the one or more processors of joint interior welds system 3001.In an embodiment In, long-range uLog processing systems can also be configured to based upon the remaining operation time hair of the estimation of joint interior welds system 3001 Penetrate (to joint interior welds system 3001 it is fully wireless launch) on joint interior welds system 3001 operation in addition Instruction.
In one embodiment, the one or more processors of joint interior welds system 3001 and one or more biographies Sensor is configured to monitor the supply of airborne inertia (protection/purging) gas, airborne air supply and the supply of other airborne gas Gas level (for example, in the volume of compressed air in airborne compressed air cylinder or pressure, airborne protection/purge gas tank Protection or the volume of purge gas or pressure etc.).For example, the supply of (continuously or under aturegularaintervals) these gases can be monitored Gas consumption.In one embodiment, the transmitter of joint interior welds system 3001 believes the gas level monitored Cease and be transmitted into long-range uLog processing systems fully wirelessly for further processing.For example, airborne gas supply is monitored Gas level information can be used for the remaining operation time for determining the estimation of joint interior welds system 3001.In an embodiment party In case, the one or more processors of joint interior welds system 3001 can be configured in joint interior welds system 3001 Partly determine the remaining operation time of the estimation of joint interior welds system 3001.In one embodiment, long-range uLog The gas level information that processing system can be configured to based upon wirelessly launching determines the estimation of joint interior welds system 3001 The remaining operation time.In one embodiment, long-range uLog processing systems can be configured to joint interior welds system The remaining operation time of 3001 estimation is transmitted into the one or more processors of joint interior welds system 3001.In a reality Apply in scheme, long-range uLog processing systems can also be configured to based upon the remaining operation of the estimation of joint interior welds system 3001 Time transmitting (to joint interior welds system 3001 it is fully wireless launch) operation on joint interior welds system 3001 Other instruction.
In one embodiment, the one or more processors of joint interior welds system 3001 and one or more biographies Sensor is configured to monitor the bonding wire material horizontal of joint interior welds system 3001.For example, it can monitor (continuously or in rule Under interval) rotation of line feeding motor (distribution bonding wire) in joint interior welds system 3001 and the weight of remaining bonding wire material Measure to determine the bonding wire material horizontal of joint interior welds system 3001.In one embodiment, joint interior welds system 3001 transmitter by the bonding wire material horizontal information monitored it is fully wireless be transmitted into long-range uLog processing systems for Further processing.For example, the bonding wire material horizontal monitored can be used for the surplus of the estimation for determining joint interior welds system 3001 Remaining operating time (for example, bonding wire material be finished or less than operation joint interior welds system 3001 minimum threshold level it Before).In one embodiment, the one or more processors of joint interior welds system 3001 can be configured in joint The remaining operation time of the estimation of joint interior welds system 3001 is partly determined on portion's welding system 3001.In an implementation In scheme, the bonding wire material horizontal information that long-range uLog processing systems can be configured to based upon wirelessly launching is determined inside joint The remaining operation time of the estimation of welding system.In one embodiment, long-range uLog processing systems can be configured to connect The remaining operation time of the estimation of head interior welds system 3001 is transmitted into the one or more of joint interior welds system 3001 Processor.In one embodiment, long-range uLog processing systems can also be configured to based upon joint interior welds system 3001 Estimation the remaining operation time transmitting (to joint interior welds system 3001 it is fully wireless launch) on joint internal welding The other instruction of the operation of welding system 3001.
In one embodiment, long-range uLog processing systems from diverse location (for example, across country or across the earth Diverse location) multiple joint interior welds systems at place receive battery charge data, and database is established thereon.This number Used according to storehouse by uLog processing systems, to determine the expection of the different operating parameter based on interior welds system based on big data group Battery life time.This can by uLog processing systems and/made by the one or more processors of joint interior welds system 3001 With predicting the battery life times of these components with the current operation status based on various assemblies.This information can be by one or more Individual processor uses, to be disappeared by changing one or more operating parameters to reduce or adjust the electric power of one or more assemblies Consumption.For example, if one or more processors determine that such mode of operation can be changed without negatively affecting what is be carrying out Associated operation, then (for example, reduction) whole speed of welding, bonding wire speed, voltage and electric currents are can adjust to save battery Life-span.
In one embodiment, any one in battery life, voltage output and operating parameter is wirelessly sent to User interface (such as computer monitor with computer display) so that they can be monitored by user.
In one embodiment, joint interior welds system 3001 also include adjacent driven part 3006 position (i.e., At the rear portion of joint interior welds system 3001) partial power 3008.
In one embodiment, with reference to figure 101, whose forwardmost end portions 3002 include preceding most end part frame 3522, center Part 3004 includes middle body framework 3524, and drive part 3006 includes drive part framework 3526, and partial power 3008 include partial power framework 3528.In one embodiment, the framework or frame set of joint interior welds system 3001 Piece installing includes whose forwardmost end portions framework 3522, middle body framework 3524, drive part framework 3526 and partial power framework 3528.In one embodiment, the framework of joint interior welds system 3001 or frame assemblage are configured to be placed on pipe In road 1022a, 1022b.
In one embodiment, partial power 3008 includes universal joint 3010, motor power 3012, welding torch Power supply 3014, weld power supply 3016 and adjustable wheel 3018.
In one embodiment, drive part 3006 can be connected to partial power 3008 by universal joint 3010. In one embodiment, universal joint 3010 is constructed and arranged to allow joint interior welds system 3001 to surround in pipeline Bending section carries out joint motions.
In one embodiment, welding torch power supply 3014 may include multiple welding torch power battery 3014a- 3014e.In one embodiment, welding torch power supply 3014 is configured to power to welding torch 3502.In an implementation In scheme, welding torch power supply 3014 is carried by the frame assemblage of joint interior welds system 3001.In an embodiment In, the quantity of welding torch power battery can change.In one embodiment, welding torch power supply 3014 is configured to electricity Power is fed to welding torch supply of electric power 3016 for generating welding arc.In one embodiment, welding torch power supply 3014 Separated with other electric systems so that if welding torch power drain, the remainder of joint interior welds system 3001 is still It is so operable.
In one embodiment, motor power 3012 is configured to the electric drive motor in drive part 3006 3124 power supplies.In one embodiment, motor power 3012 may include multiple motor power battery 3012a-3012e. In one embodiment, motor power 3012 may also refer to as driving power.In one embodiment, motor power 3012 are carried by the frame assemblage of joint interior welds system 3001.In one embodiment, motor power battery Quantity can change.In one embodiment, motor power 3012 is only used for driving and (that is, supplies power to drive part Electric drive motor 3124 in 3006) so that in the case where other battery packs 3014a-3014e exhausts, joint internal welding Welding system 3001 is not trapped in pipeline.
In one embodiment, motor power 3012 (including battery 3012a-3012e) and welding torch power supply 3014 (including battery 3014a-3014e) are carried by the framework of joint interior welds system 3001.In one embodiment, connect Head interior welds system 3001 one or more battery unit (for example, motor power 3012, welding torch power supply 3014, Battery 3514 etc.) it is configured to drive motor 3124, examines detector and welding torch power supply.In an embodiment In, the one or more battery unit 3514,3012 or 3014 of joint interior welds system 3001 may include multiple independent electricity Pool unit.In one embodiment, the battery unit 3014 for welding torch, 3014a-3014e are independently of for driving The battery unit 3012 of motor and inspection detector, 3012a-3012e, 3514.In one embodiment, for driving electricity The battery unit 3012 of motivation 3124,3012a-3012e are independently of the battery unit 3514 for examining detector.That is, one In individual embodiment, battery unit 3012,3012a-3012e are configured to power to drive motor 3124, battery unit 3514 are configured to examining detector power supply, and battery unit 3014,3014a-3014e are configured to butt joint internal welding The welding torch power supply of welding system 3001.
In one embodiment, driven roller 3125 is configured to reference to figure 101, drive motor 3124, to make to connect The framework or frame assemblage, the first pipeline connected structure of joint interior welds system 3001 of head interior welds system 3001 3127th, second pipe connected structure 3129 and detector 3130 is examined along at least one at it in pipeline 1022a, 1022b Inside is mobile.In one embodiment, driven roller 3125 is configured to engage one or more of pipeline 1022a, 1022b Interior surface 5130,5132.In one embodiment, joint interior welds system 3001 includes multiple driven rollers 3125, The driven roller 3125 is configured to be pivotably supported the framework or frame assemblage of weld system 3001.
In one embodiment, weld power supply 3016 is configured to obtain DC electricity from welding torch power supply 3014 Power, and DC electric power is converted into the correct electric current and voltage wave of the welding sequence for being performed by welding torch 3502 Shape.
In one embodiment, wheel 3018 is can adjust to be constructed and arranged to be adjusted so that joint interior welds The partial power 3008 of system 3001 and is flatly run in pipeline cathetus.
The stream that Figure 103 shows to show electric power (including weld power), communication data and control data passes through joint internal welding The schematic diagram of welding system 3001, wherein showing for the sake of clarity and preferably other groups of joint interior welds system 3001 Part and/or feature, some components of joint interior welds system 3001 are not shown.
Communication data in communication data and control data pass through joint interior welds system 3001 in Figure 103 stream and Figure 71 It is similar by the stream of interior welds system 5004 with control data, except difference indicated below.
In one embodiment, drive part electronic module 3126 is configured to be operatively connectable to position/be located at Driving battery 3012 in the partial power 3008 of joint interior welds system 3001.
In one embodiment, the battery 3012 of partial power 3008 is connected to by drive part electronic module 3126 The drive motor 3124 of joint interior welds system 3001.
Weld power is different from welding electricity in Figure 71 by the stream of joint interior welds system 3001 in Figure 103 and Figure 103 A The stream that power passes through interior welds system 5004.
For example, internally in welding system 5004 and joint interior welds system 3001, weld power comes from different Direction.That is, the anterior interior welds system 5004 of system is come from not by its umbilical cables 5034 with wherein weld power Together, for joint interior welds system 3001, weld power comes from rear portion.Wherein weld power comes from inside joint This configuration at the rear portion of welding system 3001 can by add the second slip ring or by turn round welding portion and by it to pusher Send by pipeline (this may make it difficult to touch the spool of bonding wire for being safeguarded) to realize.
In one embodiment, weld power from airborne welding torch power supply 3014 by joint interior welds system 3001 Welding torch 3502 receive.In one embodiment, the weld power from airborne welding torch power supply 3014 is supplied To weld power supply 3016.In one embodiment, weld power supply 3016 is arranged to generate welding arc.That is, weld Connect supply of electric power 3016 to be configured to obtain DC electric power from welding torch power supply 3014, and DC electric power is converted into for passing through The correct electric current and voltage waveform for the welding sequence that welding torch 3502 performs.In one embodiment, from welding electricity The correct electric current and voltage waveform of power supply 3016 are supplied to welding torch 5502 by rear slip ring 3512.
As interior welds system 5004, in one embodiment, the battery 3514 of drive part 3006 is configured Come supply power to all electronic modules in joint interior welds system 3001 (including front end electronic module, line feeding Electronic module, middle body electronic module and drive part electronic module 3126), and be also configured to supply power to All electric drive motors in joint interior welds system 3001, including the motor of preceding electric rotating motivation, line feeder system, Electric rotating motivation, drive motor, axial welding torch motor, radial direction welding torch motor and oblique weld weldering afterwards Torch motor.In one embodiment, battery 3514 is configured to as the inspection video camera of joint interior welds system 3001 And/or examine detector power supply.However, the battery 3514 of drive part 3006 is configured to not supply power to inside joint The drive motor 3124 of welding system 3001.In one embodiment, the battery 3012 of partial power 3008 is configured to Supply power to the drive motor 3124 of joint interior welds system 3001.In one embodiment, partial power 3008 battery 3012 is connected to the drive motor of joint interior welds system 3001 by drive part electronic module 3126 3124。
In one embodiment, the battery used in joint interior welds system 3001 can be electrically serially connected in Together to obtain the energy content of higher electric current and Geng Gao.For example, two 12 volts of battery is serially connected to obtain 24 volts. In one embodiment, two batteries are installed to identical framework and line is together in series.In one embodiment, Battery can also be connected to each other (for example, by universal joint or otherwise) so that battery can carry out joint relative to each other Move to manipulate pipeline.
In one embodiment, joint interior welds system 3001 may include four batteries, and one of battery can use In drive sub interior welds system 3001, and other three batteries can be connected in parallel and can be used for joint interior welds The welding sequence of system 3001.
In one embodiment, positioned internal (being positioned at insides of pipes) can be used in joint interior welds system 3001 Fixture or the fixture of outside positioning (being positioned on the outside of pipeline).For example, in one embodiment, joint interior welds system 3001 can use the fixture of positioned internal (being positioned at insides of pipes) during its welding sequence.In an embodiment In, what joint interior welds system 3001 was positioned and (is positioned on the outside of pipeline) using outside during can internally scanning process (wherein, laser/detector of positioned internal and/or other devices are configured to connect from insides of pipes scanning welding fixture Seam).
Implement pipeline of the weld so that the pipeline welding of elongation to be extended to another.In general, it is to be welded new Pipeline is at least 120 feet long, and can be long more than two miles.Joint interior welds machine disclosed herein has on-board batteries Electric power, and perform root of joint weld pass and optional thermal weld passage available for from insides of pipes.
In one embodiment, pipeline is outside alignment.As interior welds machine disclosed herein, joint Welding machine can possess only single soldering tip (there is single welding torch) or multiple soldering tips (for example, only for citing, from 2 to 8 in appoint One).
As shown in Figure 103 C and Figure 103 D, and as understood according to discussion previous herein, weld machine 9000 have the nose cone part 9002 for electronic device, support wheel 9004, airborne weld power supply 9006 and ensure to connect The internal welding machine of head a pair of the fixtures 9008 concentric with pipeline.As described in greater detail below, joint welding machine includes having individual The soldering tip clockwise and anticlockwise " box " 9010 of laser and 2D colour TV cameras.In Figure 103 C and Figure 103 D, joint welding machine Machine is shown positioned in the pipeline 9012 of the slight curvature with 38 inch inner diameters (for example, 30D is bent).Also such as Figure 103 C Shown in Figure 103 D, there are joint welding machine 90 degree to offset to reduce the drive system of length and brake 9014 and for driving The airborne power supply of motor and brake (that is, battery pack) 9020.
As understood from Figure 103 E-J and following description, shown model has four soldering tips, and two soldering tips are welding Turn clockwise (soldering tip 9022 and 9024) during operation, and two rotate counterclockwises during operation is welded (soldering tip 9032 and 9034).In an alternate embodiment, shown all 4 soldering tips rotate on single direction of rotation, such as exist It is described elsewhere in the application.In addition, in the embodiment shown in Figure 103 E-J, there is provided labeled as 9042, 9044th, four of 9046, the 9048 airborne source of welding current/supplies of electric power (for example, battery).Soldering tip/the welding torch provided is more, weldering Connecing cycle time can be shorter.No matter single direction of rotation on progress or in clockwise and anticlockwise both direction enterprising is welded on OK, this is correct.However, it should be understood that the rotation on single direction of rotation can be faster than clockwise and anticlockwise both Rotation, latter of which can use the reversion of motor direction.
Each soldering tip 9022,9024,9032 and 9034 has following equipment：Welding torch, the angulation for allowing each welding torch At least one welding torch motor, line feeder, the line straightener of the type described previously herein of degree, axial direction and edge to edge movement And the coil of wire bobbin by bonding wire feed material to welding torch.Laser inspection/detector dress of previously described type is also provided Put to guide welding torch and examine weld part.In addition, colored CCD/cmos camera is used in the manner previously described Examine weld part.
Each soldering tip is associated with one in four supplies of electric power 9042,9044,9046 and 9048 and connects.Four Soldering tip and four supplies of electric power are installed on rotary assembled part 9050.Rotary assembled part performs and previously described rotatable wheel The identical function of hub 5078.Rotary assembled part can be driven by one or more orientation motor, as discussed previously.
In order to realize welding operation, weld machine be fed in pipeline one (for example, shorter tube road or to drive Move out of one with less obstruction) an open end in.The face of second pipe matches and alignd with the face of the first pipeline (externally).Weld machine is driven to place of the soldering tip just at the region of pipeline junction surface.Laser detector provides Feedback, and at least one welding torch motor makes appropriate position alignment of the welding torch tip at junction surface.Fixture 9008 are activated and expand (they serve as expander) so that joint welding machine machine and pipeline are concentric, and fixture is engaged to The position being maintained on weld machine.When joint welding machine machine is fixed by fixture, the rotation of Rotatable mechanism 9050 The longitudinal axis of shaft axis and pipeline 9012 is coaxial.
In one embodiment, weld by operating soldering tip 9032 and 9034 in the counterclockwise direction first to realize. As shown in Figure 103 H, four soldering tip rotation steps open 90 degree.When they are welded, soldering tip 9032 starts at 12 o'clock, And soldering tip 9034 starts at 9 o'clock, as shown in Figure 103 H.Rotary assembled part 9050 is rotated by 90 °, until soldering tip 9032 stops Only (progress is checked by Figure 103 H and Figure 103 I) at 9 o'clock and untill soldering tip 9034 was stopped at 6 o'clock.This point Place, soldering tip 9032 and 9034 stops welding (at Figure 103 I), and soldering tip 9022 and 9024 is welded (at Figure 103 I). One or more orientation motor and then make rotatable assembly 9050 in the rotation clockwise as shown in Figure 103 J, directly To at soldering tip 9022 stopped at for 3 o'clock and untill soldering tip 9024 was stopped at 6 o'clock.Complete root weldering is completed by this way Connect road.
After root weld laying, remaining welding can be used automatic welding machine or manually be completed from outside.Expand Prop or fixture and then disengaging, and joint welding machine is driven to the open end of pipeline.
In one embodiment, include can be associated by each in supply of electric power 9042,9044,9046 and 9048 The rechargeable battery box inserted in opening 9062,9064,9066 and 9068.After being inserted into opening, battery case electrical connection The soldering tip associated to its.Each battery case can be readily removable for recharging and then placing again.
As illustrated, joint welding machine has self-powered driving and arrestment mechanism 9014, it is by the airborne source of welding current 9020 Power supply.In various previous embodiments as described herein, this joint welding machine can utilize the inside of no onboard electric ability The all properties of welding robot.
In this described joint welding machine embodiment, it is appreciated that multiple (for example, two) welding torch are exclusively used in up time Pin welds, while multiple (for example, two) are exclusively used in welding counterclockwise in addition.In addition, as described, all welding torch Implement welding in a downward direction.Thus, welding torch is optionally fixed (for disclosed herein with predetermined soldering angle For any one in interior welds machine, either joint does not fasten type or fastens type, and this is correct) so that Torch tip points to positive welding direction (" promotion " weldpool).Alternately, as discussed above with reference to figure 56A, welding weldering Torch can be mounted for around point P pivot movements so that welding torch axis A can be positioned in RADIAL R any example.This is substituted Form is implemented in the clockwise or counterclockwise direction by making welding torch pivot no matter to weld, and welding torch can be just Pivoted on to welding direction to make same welding torch can be used in welding both clockwise and anticlockwise.
In one embodiment, welding torch is configured to navigate to the first pipeline 1022a and/or second pipe Operated outside 1022b with providing outside weldings.In one embodiment, the welding torch of outside positioning is installed to pipeline 1022a, 1022b outer surface.
In one embodiment, purging and checking system 7001 are provided with reference to figure 86, present patent application.For example, one In individual embodiment, the first pipeline section 1022a and the second pipeline section 1022b each can be completely or partially by some corrosion resisting alloys (CRA) material is made, and the anti-corrosive alloy material may need protective gas on the both sides of weld part.In an embodiment party In case, purging and checking system 7001 can be internally positioned in pipeline 1022a, 1022b with the inside of pipeline 1022a, 1022b And the offer purge gas chamber 7054 (as shown in Figure 81) (as shown in Figure 81) around junction surface region 5136, while outside weldering Welding system 7500 (as shown in Figure 81) example outside pipeline 1022a, 1022b at junction surface region 5136 performs welding sequence (bag Include root channel welds process 1002, passage of heat welding sequence 1004 and filling and capping channel welds process 1006).
In one embodiment, purging and checking system 7001 also provide internally be positioned at pipeline 1022a to be welded, Internal jigging in 1022b.I.e., in one embodiment, purging and checking system 7001 fixture 7050 and 7052 by with Put to clamp pipeline 1022a, 1022b to be welded inner surface 5130,5132 (as shown in figure 33).
In one embodiment, purging and checking system 7001, which also provide, is internally positioned at pipeline 1022a, 1022b Interior inspection detector 7042 and/or inspection video camera 7044.In one embodiment, the inspection of purging and checking system 7001 Test detector 7042 and/or examine video camera 7044 to be positioned in the purge gas chamber 7054 of purging and checking system 7001. In one embodiment, the one or more processors 7062 (as shown in Figure 81) of purging and checking system 7001 are configured to With examining detector 7042 and/or examining video camera 7044 to interact, to scan the junction surface region between pipeline 1022a, 1022b 5136, so as to before welding sequence, during and determine junction surface region 5136 between pipeline 1022a, 1022b afterwards Profile, to generate welding front profile data, dynamic welding outline data and welding rear profile data based on scan data, and Based on welding front profile data, dynamic welding outline data or the welding rear profile data control outside weldings system generated 7500 or its operation.
In one embodiment, purging and checking system 7001 can be used for the first pipe with 26 to 28 inches of external diameter Section 1022a and the second pipeline section 1022b.In one embodiment, purging and checking system 7001, which can be used for having, is less than 24 English The the first pipeline section 1022a and the second pipeline section 1022b of very little external diameter.
In one embodiment, purging and checking system 7001 include whose forwardmost end portions 7002, the and of middle body 7004 Drive part 7006.In one embodiment, whose forwardmost end portions, middle body and the drive division of purging and checking system 7001 Point structure, configuration, component and operation and the whose forwardmost end portions of interior welds system 5004 described above in detail, central portion It is point similar with drive part, and the therefore whose forwardmost end portions of purging and checking system 7001, middle body and drive part Structure, configuration, component and operation will not be described in detail herein, except difference indicated below.
Different from the middle body of interior welds system 5004, middle body 7004 does not include being arranged on its rotatable wheel hub On welding torch assembly.In one embodiment, the middle body 7004 of purging and checking system 7001 includes installation Inspection detector 7042 on its rotatable wheel hub 7012.In one embodiment, in purging and checking system 7001 Part 7004 is entreated to include the inspection detector 7042 and inspection video camera 7044 being arranged on its rotatable wheel hub 7012.At one In embodiment, the middle body 7004 of purging and checking system 7001 includes the inspection being arranged on its rotatable wheel hub 7012 Video camera 7044.
In one embodiment, whose forwardmost end portions 7002 accommodate all purging support components.In an embodiment In, middle body 7004 is making pipe alignment, sealing purging region and examining weld part for purging and checking system 7001 Part.In one embodiment, required for the receiving of drive part 7006 purging and the remainder of inspection 7001 are operated Battery, compressed air and purge gas.
Before Figure 87 shows the detailed view of the whose forwardmost end portions 7002 of purging and checking system 7001, and Figure 88 is shown most Hold the detailed view of the purging assembly of part 7002.In one embodiment, the front end of purging and checking system 7001 Part 7002 includes traction hookup, front end electronic module, preceding slip ring, front jig control valve, front position sensor, adjustable Swash plate, whose forwardmost end portions framework, guide wheel, preceding electric rotating motivation and preceding rotary unions 7104, and in these components Each is structurally and operationally similar with those in the whose forwardmost end portions of interior welds system 5004.
In one embodiment, the whose forwardmost end portions 7002 of purging and checking system 7001 do not include line feeding assembling Part.On the contrary, the whose forwardmost end portions 7002 of purging and checking system 7001 include purging assembly 7014.
In one embodiment, purging assembly 7014 is rotatably connected to the rotatable wheel hub of middle body 7004 7012 so that when rotatable wheel hub 7012 is rotated by the first electric rotating motivation and the second electric rotating motivation, being connected to revolve The purging assembly of runner hub 7012 also rotates with together with rotatable wheel hub 7012.
In one embodiment, purging assembly 7014 is configured to receive valve, sensor and adjuster and blown with controlling Scavenging body is to the flowing in purge gas chamber 7054.In one embodiment, purging assembly 7014 is also configured to hold The electronic device received for operating all component in purging assembly and rotatable wheel hub 7012.
In one embodiment, with reference to figure 88, purging assembly 7014 includes low blow down valve 7016, primary low purging is adjusted Save device 7018, secondary low purging adjuster 7020, high blow down valve 7022, high purging adjuster 7024, oxygen sensor 7026, pump 7028th, assembly framework 7030 and purging electronic module 7032 are purged.
In one embodiment, low blow down valve 7016 is configured to control purge gas into purge gas chamber 7054 Flowing.In one embodiment, low purging is generally designated as when purging and checking system 7001 are in purge gas chamber Purging during inert atmosphere is maintained in 7054.In one embodiment, the output end whereabouts from low blow down valve 7016 is primary Low purging adjuster 7018.In one embodiment, (or unlatching) that low blow down valve 7016 is always on, works as seal Except when not purged in 7046 and 7048 (as shown in Figure 81) unaerateds and purging and checking system 7001.
In one embodiment, primary low purging adjuster 7018 is configured to press the pressure of purge gas from 5 pounds Power is decreased to 0.5 pound of pressure.In one embodiment, the output end whereabouts secondary from primary low purging adjuster 7018 is low Purge adjuster 7020.In one embodiment, primary low purging adjuster 7018 is configured to set manually.
In one embodiment, secondary low purging adjuster 7020 is configured to by closed circuit feedback control flow Move the electronic installation of the pressure (between 0.1 and 0.5 pound) in purge gas chamber 7054.In one embodiment, come from The output end whereabouts purge gas chamber 7054 of secondary low purging adjuster 7020.
In one embodiment, high blow down valve 7022 is configured to control purge gas into purge gas chamber 7054 Flowing.In one embodiment, high purging is generally designated as when purging and checking system 7001 are in purge gas chamber Purging during inert atmosphere is established in 7054.In one embodiment, the output end whereabouts height from high blow down valve 7022 blows Sweep adjuster 7024.In one embodiment, high blow down valve 7022 is configured to work as the oxygen in purge gas chamber 7054 (as measured by oxygen sensor 7026) closes when being less than predetermined oxygen content value.
In one embodiment, high purging adjuster 7024 is configured to the pressure of purge gas from supply pressure (up to 75 pounds) are decreased to the low purging pressure of greatest hope (being typically 5-20 pounds).In one embodiment, purged from height The output end whereabouts purge gas chamber 7054 of adjuster 7024.In one embodiment, high purging adjuster 7024 by with Put to set manually.In one embodiment, high purging adjuster 7024 is configured as opening or exercisable, until blowing Untill oxygen (as measured by oxygen sensor 7026) in scavenging fluid chamber 7054 is less than predetermined oxygen content value.
In one embodiment, the input of oxygen sensor 7026 is connected to the port of export of purge gas chamber 7054 Mouthful.In one embodiment, oxygen sensor 7026 is operatively connectable to one or more processors 7062.In a reality Apply in scheme, oxygen sensor is configured to detect the amount of oxygen between first seal 7046 and second seal 7048. In one embodiment, oxygen sensor 7026 is configured to the oxygen content of the gas in measurement purging chamber 7054, and will Oxygen content data are sent to one or more processors 7062, and the oxygen content data instruction purges the gas in chamber 7054 Oxygen content.In one embodiment, oxygen sensor 7026 is configured to measurement and is present in leave purge gas chamber 7054 Gas in oxygen level, and by oxygen content data be sent to purging electronic module 7032.
In one embodiment, one or more processors 7062 are configured to close in first seal 7046 and second Amount of oxygen between sealing 7048 allows to be subjected to after being less than threshold level or predetermined oxygen content value.In a reality Apply in scheme, one or more processors 7062 are configured to receive oxygen content data, by the oxygen content data received and its Predetermined oxygen content value is compared, and is generated oxygen in the case where oxygen content data are more than predetermined oxygen content value and excessively believed Number.In one embodiment, can be configured to open high purging tune based on oxygen excessive signal, purging and chucking appliance system 7100 Section device 7024 is to allow purge gas (coming from purge gas source/tank 7070) to flow in purging chamber 7054, until measured Oxygen content be brought down below predetermined oxygen content value untill.In one embodiment, based on oxygen excessive signal, purging and fixture The one or more processors 7062 of system 7100 can send signal of communication to stop welding sequence to outside welding system 7500.
In one embodiment, predetermined oxygen content value is 50,000 a ten thousandths (ppm).In one embodiment, oxygen Content value can be in 50 to 100ppm preset range.
In one embodiment, during low purging, the low pressure in purge gas chamber 7054, which does not generate, to be enough Pass through the flowing of oxygen sensor 7026.In one embodiment, pump 7028 is used for from purge gas chamber 7054, passes through oxygen Gas sensor 7026 extracts gas out.In one embodiment, pump 7028 can be used continually or intermittently.In an implementation In scheme, pump 7028 is used for low purge operations.
In one embodiment, purging electronic module 7032 is configured to communication upstream transporting through preceding slip ring 7034 arrive whose forwardmost end portions electronic module 7036.In one embodiment, purging electronic module 7032 is configured to communicate Downstream transport through rear slip ring 7038 and arrive middle body electronic module 7040.
In one embodiment, purging electronic module 7032, which is configured to control, is attached to revolving for middle body 7004 The all the sensors and valve of runner hub 7012.For example, in one embodiment, purging electronic module 7032 is configured to control Oxygen sensor 7026, pump 7028, low blow down valve 7016, high blow down valve 7022 and secondary low purging adjust machine 7020.One In individual embodiment, purging electronic module 7032 is configured to examine detector 7042 and video camera 7044 logical with one or more Believe and control one or more of inspection detectors 7042 and the video camera 7044.
Figure 89 and Figure 90 shows the front view and sectional view of the middle body 7004 of purging and checking system 7001, and this It is each structurally and operationally similar with those in the middle body of interior welds system 5004 in a little components.Figure 91 shows to blow The detailed view of seal 7046 or 7048 is swept, and Figure 92 shows the detailed view of rotatable wheel hub 7012.
In one embodiment, as discussed above, the framework of whose forwardmost end portions 7002 is connected to middle body 7004 front jig 7050 (as shown in Figure 81), and purge assembly 7014 and be rotatably connected to rotatable wheel hub 7012.
In one embodiment, the middle body 7004 of purging and checking system 7001 includes front jig 7050, first Pipeline connected structure 7050 and second pipe connected structure 7052, examine detector 7042, examine video camera 7044 (such as Figure 92 institutes Show), it is rear jig 7052, rear jig control valve 7058, middle body electronic module 7040, prenex wheel, middle body framework, adjustable Whole swash plate, rear rotary unions 7072, rear electric rotating motivation, rear position sensor, rotary module 7012, purging seal 7046 and 7048 and rear slip ring 7038.
In one embodiment, purging seal 7046 and 7048 is configured to what is activated with fixture 7050 and 7052 The same time is inflated.After purging seal 7046 and 7048 is inflated, they are constructed and arranged to distinguish conjugation tube Road 1022a, 1022b inner surface 5130,5132, so as to form chamber 7054 in-between.In one embodiment, purge Seal 7046 and 7048 is bonded on the opposite side in junction surface region 5136 after inflation.In one embodiment, chamber 7054 be that may refer to the closed volume for purge gas chamber 7054.In one embodiment, chamber 7054 is constructed simultaneously cloth Put to receive purge gas (or inert gas) wherein.
In one embodiment, front jig control valve 7056 and rear jig control valve 7058 are continuous No. 4 direction valve (examples Such as, there are four hydraulic connections, corresponding to ingress port (P), actuator port (A and B) and return to port (T), Yi Jiyi Individual physical signalling port connection part (S)).For example, in one embodiment, one in actuator port A or B is used to extend Its corresponding fixture 7050 or 7052 and its corresponding seal 7046 or 7048 is inflated, and in actuator port A or B Another be used to make its corresponding fixture 7050 or 7052 bounce back and its corresponding seal 7046 or 7048 is lost heart.
Figure 93 shows the detailed side view of the drive part 7006 of purging and checking system 7001.In an embodiment In, the drive part 7006 of purging and checking system 7001 includes protective gas tank 7070, battery, drive part electronic module 7064th, pneumatic operated valve, driving wheel, drive motor 7068, brake and compressed air cylinder, and it is each in these components It is structurally and operationally similar with those in the drive part of interior welds system 5004.
Figure 94 shows to show the stream of purge gas by purging and the schematic diagram of checking system 7001, wherein in order to clearly rise See and the other assemblies and/or feature of purging and checking system 7001 are preferably shown, purging and the one of checking system 7001 A little components are not shown.
In one embodiment, inertia/purge gas supply line is configured to transmit purging/inert gas source 7070 To the region 7054 between first seal 7046 and second seal 7048.In one embodiment, from inertia/purging The gas of gas source 7070 is directed in the region 7054 between first seal 7046 and second seal 7048, to reduce Weld the oxidation in operating process.
With reference to figure 94, purge gas tank 7070 is shown in the drive part 7006 with checking system 7001 is purged.One In individual embodiment, high pressure regulator 7074 can be positioned in the drive part 7006 of purging and checking system 7001.At one In embodiment, high pressure regulator 7074 can be positioned in the middle body 7004 of purging and checking system 7001.In a reality Apply in scheme, rear rotary unions 707, rotatable wheel hub 7012, purge gas chamber 7054, front jig 7050 and rear jig 7052 and front seal 7046 and rear seal 7048 show in the middle body 7004 of purging and checking system 7001. Low blow down valve 7016, primary low purging adjuster 7018, secondary low purging adjuster 7020, high blow down valve 7022, high purging are adjusted Section device 7024, oxygen sensor 7026 and pump 7028 are shown in the whose forwardmost end portions 7002 of purging and checking system 7001.
In one embodiment, purge gas tank 7070 is configured to maintain under the pressure of 500-2400 pounds.Purging Gas tank 7070 is in fluid communication by fluid communication line and rear rotary unions 7072.In one embodiment, purge gass Body tank 7070 is in fluid communication by valve 7071 and high pressure regulator 7074 with rear rotary unions 7072.In an embodiment In, high pressure regulator 7074 is configured to automatically shut off the flowing of purge gas under 75 pounds of pressure.That is, high pressure regulator 7074 be generally positioned by the pressure in purge gas tank 7070 be decreased to the downstream of high pressure regulator 7074 and from rear rotation About 75 pounds in rotatable articulation 7072 to the fluid communication line of low blow down valve 7016 and high blow down valve 7022.
In one embodiment, rear rotary unions 7072 are blown by fluid communication line and low blow down valve 7016 and height Valve 7022 is swept to be in fluid communication.In one embodiment, the purge gas being stored in purge gas tank 7070 is connected by fluid Logical line is sent to rear rotary unions 7072, and is then blown from rear rotary unions 7072 by fluid communication line to low Sweep valve 7016 and high blow down valve 7022.
In one embodiment, high purging adjuster 7024 is connected to the outlet of high blow down valve 7022.That is, high purging is adjusted Section device 7024 is positioned at the downstream of high blow down valve 7022.In one embodiment, high purging adjuster 7024 be provided to by By the paramount purging adjuster 7024 downstream of pressure reduction of high blow down valve 7022 output and purge adjuster 7024 in height Usual in fluid communication line between purge gas chamber 7054 is between 30 and 5 pounds.
In one embodiment, fluid communication line extends to primary low purging adjuster 7018 from low blow down valve 7016. In one embodiment, primary low purging adjuster 7018 is connected to the outlet of low blow down valve 7016.That is, primary low purging is adjusted Section device 7018 is positioned at the downstream of low blow down valve 7016.
In one embodiment, be generally positioned will be defeated by low blow down valve 7016 for primary low purging adjuster 7018 It is that the pressure gone out is decreased to primary low purging adjuster 7018 downstream and blow primary low purging adjuster 7018 is low with secondary Sweep between about 0.5 and 5 pound in the fluid communication line between adjuster 7020.
In one embodiment, fluid communication line extends to secondary low purging regulation from primary low purging adjuster 7018 Device 7020.In one embodiment, secondary low purging adjuster 7020 is positioned at the downstream of primary low purging adjuster 7018.
In one embodiment, secondary low purging adjuster 7020 is provided to by primary low purging adjuster The pressure of 7018 outputs be decreased to secondary low purging adjuster 7020 downstream and in secondary low purging adjuster 7020 with blowing Usual in fluid communication line between scavenging fluid chamber 7054 is between 0.1 and 0.5 pound.
In one embodiment, welding sequence starts under about 0.5 pound of pressure, and in the process of welding sequence In, when purge gas by the leakage of solder joint due to welding (for example, being soldered based on the gap between how many pipeline) And when slowing down, then secondary low purging adjuster 7020 can pull back to 0.1 pound.
In one embodiment, output end/outlet port stream of the pump 7028 on side with purge gas chamber 7054 Body connects (passing through fluid communication line), and is in fluid communication with oxygen sensor 7026 (passes through fluid communication on another side Line).In one embodiment, the output end of pump 7028 and purge gas chamber 7054 is in fluid communication so that pump 7028 by with Put to be operated (continually or intermittently) with from the gas bleeding sample of purge gas chamber 7054.
In one embodiment, the purge gas from purge gas tank 7070 is only used for fill and maintain purge gass Purge gas in fluid chamber 7054.In one embodiment, compressed air is used for the inflation of seal 7046 and 7048 simultaneously And expand fixture 7050 and 7052.In one embodiment, the drive part 7006 of purging and checking system 7001 can wrap Include both purge gas tank 7070 and compressed air gas tank.
Figure 95 shows to show the stream of compressed air by purging and the schematic diagram of checking system 7001, wherein in order to clearly rise See and the other assemblies and/or feature of purging and checking system 7001 are preferably shown, purging and the one of checking system 7001 A little components are not shown.
Compressed air passes through interior welds by compressed air in the stream and Figure 70 of purging and checking system 7001 in Figure 95 The stream of system 5004 is similar, except difference indicated below.
In one embodiment, valve 7076 is positioned in fluid communication line 7078.In one embodiment, fluid connects Logical line 7078 is between rear jig control valve 7058, rear jig 7052 and rear seal 7046, and is configured to supply pressure Contracting air is so that the rear seal 7046 of rear jig 7052 is expanded.In one embodiment, an output end quilt of valve 7076 It is configured for answering compressed air so that rear jig 7052 is expanded, and another output end of valve 7076 is configured to supply compression Air to rear seal 7046 to inflate.
In one embodiment, valve 7082 is positioned in fluid communication line 7084.In one embodiment, fluid connects Logical line 7084 is between front jig control valve 7056 and front jig 7050 and front seal 7046, and is configured to supply pressure Contracting air is so that front jig 7050 and rear seal 7046 are expanded.In one embodiment, an output end quilt of valve 7082 It is configured for answering compressed air so that front jig 7050 is expanded, and another output end of valve 7082 is configured to supply compression Air to front seal 7046 to inflate.
Figure 96 shows to show the stream of purge gas by purging and the schematic diagram of checking system 7001, wherein in order to clearly rise See and the other assemblies and/or feature of purging and checking system 7001 are preferably shown, purging and the one of checking system 7001 A little components are not shown.For example, in one embodiment, in less purging and checking system 7001, purge gas is not only For filling and maintaining the purge gas in purge gas chamber 7054, and seal 7046 and 7048 is inflated and makes fixture 7050 and 7052 expansions.
In Figure 96 purge gas by purging and checking system 7001 stream and Figure 94 in purge gas by purging and examining The stream of check system 7001 is similar, except difference indicated below.
In one embodiment, rear rotary unions 7072 are blown by fluid communication line and low blow down valve 7016, height Sweep valve 7022 and preceding rotary unions 7104 are in fluid communication.In one embodiment, it is stored in purge gas tank 7070 Purge gas rear rotary unions 7072 are sent to by fluid communication line, and then from rear rotary unions 7072 Pass through fluid communication line to low blow down valve 7016 and high blow down valve 7022.In one embodiment, purge gas also passes through stream Body communication line is sent to preceding rotary unions 7104 from rear rotary unions 7072.The preceding rotary unions have with The substantially the same component of preceding rotary unions 5032 shown in Figure 25 and grasped in a manner of substantially the same with its Make, and therefore not to be shown with the preceding identical details of rotary unions 5032.
In one embodiment, purge gas is pressed from both sides after being sent to by fluid communication line from rear rotary unions 7072 Has control valve 7058.In one embodiment, the purge gas from rear jig control valve 7058 passes through fluid communication line 7088 are supplied so that rear jig 7052 is expanded, and is supplied by fluid communication line 7090 to be filled to rear seal 7048 Gas.In one embodiment, pressure regulator 7092 is positioned in fluid communication line 7090, and is configured in pre- level pressure Flowing of the purge gas to seal 7048 is automatically shut off under power in one embodiment, the purging from rear jig 7052 Gas is received so that rear jig 7052 bounces back by fluid communication line 7094 by rear jig control valve 7058.
In one embodiment, purge gas is sent to fore-clamp by fluid communication line from preceding rotary unions 7104 Has control valve 7056.In one embodiment, the purge gas from front jig control valve 7056 passes through fluid communication line 7098 are supplied so that front jig 7050 is expanded, and is supplied by fluid communication line 7100 to be filled to front seal 7046 Gas.In one embodiment, pressure regulator 7102 is positioned in fluid communication line 7100, and is configured in pre- level pressure Flowing of the purge gas to seal 7046 is automatically shut off under power in one embodiment, the purging from front jig 7050 Gas is received so that front jig 7050 bounces back by fluid communication line 7096 by front jig control valve 7056.
Figure 97 shows the partial view of purging and checking system 7001, wherein examining detector 7042 and the quilt of video camera 7044 Configuration to perform inspection from insides of pipes, while the outside weldings welding torch 7502 of outside weldings system 7500 is configured in pipeline Welding is performed outside 1022a, 1022b.In one embodiment, the welding torch 7052 of outside positioning may be mounted to the first pipe The outer surface of one in road 1022a and second pipe 1022b.
For example, in Figure 97, show welding torch 7502 with inclined-plane 7106 (along pipeline 1022a, 1022b longitudinal axis Line A-A) desired alignment.Figure 98 shows the close-up view of the welding torch 7502 ideally to be alignd with inclined-plane 7106.Figure 97 Ideally alignd with pipeline 1022a, 1022b shown in Figure 98 and do not have any mismatch.
Figure 99 and Figure 100 shows the outside weldings used respectively in prior art systems and purging and checking system 7001 The close-up view of the outside weldings welding torch of system, wherein pipeline have gap and radial deflection (mismatch) alignment.For example, as schemed Shown in 99 and Figure 100, pipeline 1022a, 1022b have 1 millimeter of gap and radial deflection (mismatch).
As shown in Figure 99, in prior art systems, the right side of the raising edges protection welding groove of pipeline, so as to cause Welding penetration reduces.As shown in Figure 100, it is configured with purging with the outside weldings system 7500 that checking system 7001 is used together Come from purging and checking system 7001 receive weld part outline data (for example, before welding sequence, during and afterwards), and And it is configured to based upon received weld part outline data and offsets its outside weldings welding torch 7502 and/or make its outside weldings Welding torch 7502 tilts, to realize complete welding penetration.Therefore, the weld part outline data from purging and checking system 7001 can By outside weldings system 7500 using manufacturing more preferable welding.
The operation of purging and checking system 7001 will now be described.In one embodiment, purging and checking system 7001 It is configured to be operated by the operation circulation repeated.
It is determined that being welded in current solder joint after completion, (the computer system of one or more processors 7062 7060) be configured to send signal of communication to purging electronic module 7032, to control (passing through control signal) low blow down valve 7016th, high blow down valve 7022 and secondary low purging adjuster 7020 make purging seal 7046 and 7048 lose heart.One or more Individual processor 7062 is also configured to send signal of communication to front end electronic module 7036, (is believed with control/closing by controlling Number) front jig control valve 7056 makes the first connected structure 7050 bounce back to its initial advanced position and/or seal purging Part 7046 loses heart.One or more processors 7062 are also configured to send signal of communication to middle body electronic module 7040, Initial returned with control/closing (passing through control signal) rear jig control valve 7058 to make the second connected structure 7052 bounce back to its Condense and put and/or purging seal 7048 is lost heart.Purging and checking system 7001 (including purging seal 7046 and 7048 with And fixture 7050 and 7052) have to move to next solder joint.
In one embodiment, one or more processors 7062 are configured to send out to drive part electronic module 7064 Raw signal of communication, to control (passing through control signal) drive motor 7068 to make purging and checking system 7001 accelerate so as to pre- Constant speed degree is advanced and then slows down and stop at next solder joint.In one embodiment, purge and examine system The predetermined speed that system 7001 accelerates can be 6 feet per seconds.
When the second connected structure 7052 is positioned at next solder joint, drive part electronic module 7064 is to purging Electronic module 7032 sends signal of communication, is alignd with checking with pipe end.In one embodiment, electronic module is purged 7032 are configured to operate (opening) one or more inspection detectors 7042, to measure the second connected structure 7052 relative to pipe The position of road end.In one embodiment, when one or more examines detector 7042 to measure the second connected structure 7052 Relative to pipe end position when, rotatable wheel hub 7012 can without operation.
In one embodiment, purging electronic module 7032 is configured to measured range data being sent to driving Part electronic module 7064.In one embodiment, drive part electronic module 7064 is configured to control (is believed by controlling Number) drive motor 7068, so that the second connected structure 7052 moves measured range data.
In one embodiment, when the second connected structure 7052 suitably aligns and positioned relative to pipe end When, drive part electronic module 7064 is configured to send purging to middle body electronic module 7040 and checking system 7001 is fixed Signal of communication of the position at next solder joint.In one embodiment, middle body electronic module 7040, which controls, (passes through Control signal is opened) rear jig control valve 7058, to raise the second connected structure 7052 and clamp old/existing pipeline. In one embodiment, middle body electronic module 7040 controls and (opened by control signal) rear jig control valve 7058, with Rear seal 7048 is inflated in the same time.
Then next/new pipeline section 1002a is introduced into by staff and in purging and checking system 7001 Slided into whose forwardmost end portions 7002 in appropriate location.Now, one or more processors 7062 are configured to purging electronics Module 7032 sends signal of communication, examines detector 7042 to check the alignment of pipeline so that operation is one or more.In a reality Apply in scheme, one or more processors 7062 can be such that rotatable wheel hub 7012 rotates to be measured in multiple opening positions.
If pipe alignment data, in predetermined tolerance, purging electronic module 7032 is sent out to front end electronic module 7036 Signal of communication is sent to activate and operate front jig 7050.In one embodiment, front end electronic module 7036 is controlled/opened (passing through control signal) front jig control valve 7056, to raise the first connected structure 7052 and clamp new pipeline section 1002a.One In individual embodiment, front end electronic module 7036 controls/opened and (pass through control signal) front jig control valve 7056, with same One time inflated to front seal 7046.
If pipe alignment data not in predetermined tolerance, purge electronic module 7032 to one or more processors 7062 send the signal of communication (message) not lined up recognized between pipeline 1022a, 1022b.In one embodiment, this Information can be transferred to crane operator or by electronic signal quilt by traditional crane operator's hand signal The computer display terminal being transferred in hoisting box.
After clamping pipe, one or more processors 7062 are configured to send communication to purging electronic module 7032 Signal, detectors 7042 are examined to come along the circumference of solder joint measurement gap and footpath at multiple points so that operation is one or more To skew (mismatch).In one embodiment, this data is transferred out one or more processors 7062, and with that can permit Perhaps tolerance is compared.
If seam assembles (that is, gap and radial deflection (mismatch)) in predetermined tolerance, then one or more processors 7062 or purging electronic module 7032 send the signal of communication that can start of instruction welding to operating personnel.
If seam assembles (that is, gap and radial deflection (mismatch)) not in predetermined tolerance, then warning is sent to behaviour Make personnel, the operating personnel can restart to clamp order or ignore warning.
In one embodiment, purging electronic module 7032 is configured to send the control opened to high blow down valve 7022 Signal and the control signal that operation is sent to high purging adjuster 7024.In one embodiment, electronic module is purged 7032 are configured to the reading of the oxygen levels in purge gas chamber 7054 of the continuous monitoring from oxygen sensor 7026. When the measurement data of oxygen sensor 7026 is less than predetermined oxygen content value (for example, 50,000 a ten thousandths (ppm)), purging electricity Submodule 7032 is configured to send the control signal closed to high blow down valve 7022 and send to low blow down valve 7016 to open Control signal.In one embodiment, the measurement data of oxygen sensor 7026 preset range (for example, 50 to In 100ppm).
In one embodiment, when high blow down valve 7022 is opened, purging electronic module 7032 and front end electronic die Block 7036 and middle body electronic module 7040 are configured to use one or more inspection detectors 7042 along welding together The circumference of seam measures gap and the mismatch of solder joint at multiple points.The result of scanning is sent to one or more processing Device 7062 is with pre-programmed outside weldings system 7500.
In one embodiment, after the closing of low blow down valve 7016, secondary low purging adjuster 7020 is configured to Maintain setting pressure constant in purge gas chamber 7054.In one embodiment, the secondary low purging quilt of adjuster 7020 Configuration makes between pressure maintains 0.1 and 0.5 pound, and is configured to stop its operation when pressure is higher than 0.5 pound.
In one embodiment, when pressure starts under relatively high value (for example, 5 pounds), and as welding is carried out Progressively fade to relatively low value.In one embodiment, secondary low purging adjuster 7020 may include to be configured to and one Or the pressure sensor that multiple processors 7062 communicate.In one embodiment, pressure sensor is configured to measurement purging The pressure of purge gas in chamber 7054, and pressure data is sent to one or more processors 7062, the pressure The pressure of purge gas in data instruction purging chamber 7054.In one embodiment, one or more processors 7062 Pressure data is configured to receive, by the pressure data received compared with its scheduled pressure value, and in pressure data Superpressure signal is generated in the case of scheduled pressure value more than 0.5 pound.In one embodiment, based on superpressure signal, purging Exhaust structure can be configured to open with checking system 7100 to discharge the pressure in purging chamber 7054, until measured Untill pressure is brought down below scheduled pressure value.In one embodiment, based on superpressure signal, purging and checking system 7100 can It is configured to send signal of communication to outside welding system to stop welding sequence.
In one embodiment, the signal of communication that correct purge gas is horizontal and welding sequence can start has been reached Sent out from umbilical cables.In one embodiment, operating personnel issue order to start to weld to outside welding system 7500 Process.In one embodiment, order is automatically sent to outside weldings system from one or more processors 7062 7500 to start welding sequence.
In one embodiment, electronic module 7032 and front end electronic module 7036 and middle body electronic die are purged Block 7040 is configured to use one or more inspection detectors 7042 on the ground that outside welding system 7500 currently welds together The gap of short distance measurement solder joint before side and mismatch.In one embodiment, self-checking detector 7042 is carried out Inspection data can be sent to one or more processors 7062 in real time, one or more of processors 7062 use check number According to the welding parameter that renewal is sent to outside welding system 7500.
In one embodiment, outside weldings system 7500 is configured to its one or more processing of position transmission Described information is transferred to purging electronic module 7032 by device 7062, one or more of processors 7062 so that purging electronics Module 7032 can maintain appropriate purge gas chamber pressure and the suitably position of control test detector 7042.
In one embodiment, welding sequence can perform in several different ways.
In one embodiment, welding sequence can perform in the side upper top of pipeline to bottom, and then in pipe The opposite side upper top in road performs to bottom.In one embodiment, the second welding starts after the first welding is completed.Herein In the case of, examine detector 7042 to carry out real time scan before welding.
In one embodiment, welding sequence equal top-to-bottom can perform on every side of pipeline, wherein the second weldering It is connected on before the first welding is completed and starts.In one embodiment, detector 7042 is examined to be advanced than welding machine quickly one It is scanned at a certain distance from before individual weld part, then quickly changes position to another weld part to carry out before it Scanning.In one embodiment, detector 7042 is examined to replace between two welding positions, until the first welding is completed Untill.
In one embodiment, welding sequence can perform in a passage in whole pipeline, wherein examining inspection Short distance of the device 7042 before weld part is surveyed to be scanned.
In one embodiment, after the welding is completed, rotatable wheel hub 7012 continues to rotate, while purges electronic die Block 7032 examines weld part using inspection detector 7042 and video camera 7044.In one embodiment, weld part check number According to being sent to one or more processors 7062.
In one embodiment, if detecting one or more weld part defects in weld part inspection data, Weld part defect can be repaired, while fixture 7050 and 7052 is still in position, and purge gas chamber 7054 is still filled out Filled with inert gas.
In one embodiment, once being completed by operating personnel and confirming inspection and any reparation, operating personnel are just Order is sent to whose forwardmost end portions electronic module 7036 and middle body electronic module 7040, to close front jig control valve 7056 7050 and 7052 are bound round with rear jig control valve 7058, reduction/retraction fixture braking and seal 7046 and 7048 is lost heart.
In one embodiment, the one or more processors 7062 of purging and checking system 7100 operably connect It is connected to the front end electronic module of purging and checking system 7100, purges electronic module 7032, purging and checking system 7100 Middle body electronic module and drive part electronic module 7064.
In one embodiment, the fielded system of present patent application may include one in shunt/hub/router Individual or multiple, the shunt/hub/router is configured in one or more processors 5140 or 7062 and the application Described in one or more electronic modules between transmit data, control signal and signal of communication.
During pipeline formation process (for example, for marine or land (on the bank) application), pipeline 1022a or A 1022b part is by by two counterpart end part alignings of pipe section and forming solder joint 1026 come in weld Portion (position that two pipe sections weld together) place is connected to pipeline 1022b or 1022a another part.This connects Seam 1026 makes two pipe sections 1022a, 1022b be connected in its counterpart end so that solder joint 1026 is in two connections Pipe section between produce fluid tight and seal and therefore produce continuous fluid passage.Each pipe section 1022a, 1022b can be considerably long (for example, hundreds of or several thousand feet or even 1 mile long), so that being difficult in solder joint After 1026 formation internal cooling is provided in pipe section 1022a, 1022b at or near weld part.Specifically, Cooling structure and removal are internally placed in pipe section 1022a, 1022b for the cooling at solder joint 1026 This structure can be a challenge.
The inner cooling system of present patent application is fixed on one in pipe section 1022a, 1022b by solder joint 1026 After rising internal cooling is provided in pipe section 1022a, 1022b.In one embodiment, inner cooling system can be It may refer to as the inner heat exchanger of " IHEX ".In one embodiment, inner cooling system includes：Cooling segment, its to Pipeline 1022a, 1022b interior surface portions, which provide, directly to be cooled down；And control section or controller, it is configured to control The component of cooling segment and it is also configured to promote mobility of the inner cooling system in pipe section 1022a, 1022b. In one embodiment, cooling segment internally provides cooling using cooling agent in pipe section 1022a, 1022b. In one embodiment, inner cooling system may also include cooling agent supply section, and the cooling agent supply section is included The cooling agent of cooling segment is fed in the operating process of portion's cooling system.In one embodiment, present patent application is interior Portion's cooling system includes：One mechanism, it is arranged to make pipeline after pipe section 1022a, 1022b weld together 1022a, 1022b are internally cooled down for part；And a mechanism, it is used to put inner cooling system in pipeline forming process Put in pipe section 1022a, 1022b and fetch inner cooling system from pipe section 1022a, 1022b, this to reduce Make the time required for pipe section cooling after heating, and also accelerate the progress by needing the platform for manufacturing.
Figure 104 shows the example internal cooling system 2010 of present patent application.In one embodiment, internal cooling System 2010 includes accommodating the appropriate rigid framework of the component of inner cooling system, wherein the framework is included by a kind of or more Multiple longitudinal directions of kind suitable material (for example, the metal of such as steel or other appropriate rigidity and durable materials) construction or lengthwise The bar 2019,2021 of extension, and with suitably configuring to allow framework to be inserted in pipe section, to promote pipe section Internal cooling in 1022a, 1022b.
The Part I 2011 of framework includes coolant supply 2012, and the coolant supply 2012 includes being fixed on One or more tanks in Part I 2011 (single tank is shown in Figure 104).Coolant supply tank may include any conjunction Suitable cooling fluid, including but not limited to water, cryogen liquid argon or liquid nitrogen etc..Second cooling segment 2016 is fixed Framework the middle part adjacent with Part I 2011 and by suitable valve arrangement 2014 (for example, institute in Figure 104 Show, as one or more valves, adjuster, pipeline etc.) connected with coolant supply 2012, the valve arrangement 2014 is advantageous to Cooling agent is fed to cooling segment under one or more suitable pressure and/or flow rate from coolant supply 2012 2016 outlet nozzle 2007.
The Part III 2018 of framework be arranged to it is adjacent with cooling segment 2016, and including formed surround controller 2020 Cage type housing multiple bars 2021.Pneumatic and/or Electric Drive System 2022 also may be at least partially disposed at Part III In 2018, and it may include the roller 2025 and/or any other suitable motility structure of one or more Motor Controls, institute State roller 2025 and/or motility structure is configured to when inner cooling system 2010 is arranged in such pipe section and pipeline Partial interior surface portions engagement, to control inner cooling system 2010 during process as described herein in pipe section Movement in point in forward and backward directions.In one embodiment, drive system 2022 can communicate with controller 2020 (for example, hardwired or radio communication), to be advantageous to control inner cooling system by controller 2020 during process 2010 forward and reverse movement is (for example, control the rotation of the Motor Control roller of drive system 2022 by controller 2020 And therefore control the forward direction of inner cooling system 2010 or be moved rearwards).In one embodiment, drive system 2022 can Be substantially included in the framework of inner cooling system 2010 and/or be inner cooling system 2010 framework a part. In one embodiment, drive system 2022 may include the structure for extending beyond framework.In one embodiment, drive system 2022 may include suitable cable arrangement, and the cable arrangement extends from inner cooling system 2010 and passes through one or more Pipe section to pipe section open end, wherein the cable arrangement be used for promote inner cooling system 2010 in pipe section Forward direction and/or reverse movement in point is (for example, by providing internally in cooling system framework and/or outside pipe section Anchorage point at and the winch configurations that are connected with cable arrangement).In one embodiment, roller can also provide for internal cold But system 2010 an end (such as, there is provided in the roller of the end of the framework Part I 2011 as shown in Figure 104 2023), to strengthen mobility of the inner cooling system 2010 in pipe section 1022a, 1022b.
In one embodiment, controller 2020 may include at least one suitable processor, at least one conjunction Suitable processor by the suitable control process logical order that is stored in the memory of controller and by be arranged on away from The electronic signal that remotely provides from the device of another user's control at the suitable distance of inner cooling system controls inside The operation of cooling system 2010.In one embodiment, controller 2020 can be configured to by electronic signal with can by with Remote control (for example, computer, manual overvide or any other the suitable electronic installation) communication of family operation, Wherein electronic signal is transmitted by the wireless or hard wired links between controller 2020 and remote control.In a reality Apply in scheme, remote control is shown as computer 2030 (for example, laptop computer, notepad, individual number in Figure 104 Word assistant, smart mobile phone etc.), the computer 2030 passes through wireless communication link (dotted line is shown as in Figure 104) and control Device 2020 communicates.Electronic signal communication may include the two-way communication between controller 2020 and remote control so that control Device 2020 is configured to that (other kinds of in such as measured internal temperature information and/or pipe section is surveyed by information Condition) and the control information that is received provide and arrive remote control, to realize the long-range of inner cooling system 2010 Control operation.
In one embodiment, one or more electronic sensors 2017 may be provided in inner cooling system framework One or more suitable opening positions, and being communicated with controller 2020 (by hardwired or wireless communication link), with Information on the condition in pipe section is provided during process.For example, in one embodiment, one or more electricity Sub- sensor 2017 includes one or more temperature sensors (for example, IR temperature sensors, RTD temperature sensor, thermocouple Deng), the temperature sensor may be provided in the Part I 2011 of inner cooling system 2010, cooling segment 2016 and/or At one or more diverse locations at three parts 2018, wherein temperature sensor is configured to measure temperature during process Spend and provide such measured temperature information to controller 2020.In one embodiment, one or more electronics Sensor 2017 includes pressure and/or flow rate sensor, and the pressure and/or flow rate sensor may be provided in cooling The tank 2012 in agent source 2012 is interior, one or more of the outlet nozzle 2007 of the interior and/or neighbouring cooling segment 2016 of valve arrangement 2014 Individual suitable opening position, wherein measured pressure and/or flow rate information is carried during process by sensors with auxiliary electrode It is supplied to controller 2020.It should be understood that sensor 2017 may also include the combination of temperature and pressure sensor.In an embodiment In, the one or more video cameras 2027 for controlling (and by remote control remote control) by controller 2020 can also provide In one or more suitable opening positions, to be advantageous to the observation in pipe section (for example, to determine to use during process In the suitable position that inner cooling system 2010 is positioned in pipe section 1022a, 1022b).Exemplary pressure/temperature passes Sensor and/or video camera are generally shown in Figure 104 at position 2017 and 2027.
In one embodiment, inner cooling system 2010 may include suitable supply of electric power source, and electric power is provided To controller 2020, drive system 2022, electronic sensor, valve arrangement 2014 (for example, electrically control is one or more Valve and therefore flowing of the control cooling agent from coolant supply 2012 to cooling segment 2016).In one embodiment, Supply of electric power source may be housed in inner cooling system framework (for example, being arranged on offer in the Part III 2018 or internally One or more of the battery pack of any other suitable opening position in cooling system framework battery).In an embodiment party In case, supply of electric power source can be located at the outside of pipe section, and wherein cable makes supply of electric power source connect with inner cooling system 2010 Connect, to provide power to the various assemblies of inner cooling system.
In one embodiment, cooling segment 2016 may include by with its of inner weld parts and pipe section The heat exchange of his inner wall section promotes any suitable structure of cooling.In one embodiment, from coolant supply 2012 cooling agent is provided by valve portion 2014 and arrives cooling segment 2016.In one embodiment, cooling segment 2016 wraps Multiple nozzles 2007 are included, the multiple nozzle 2007 is arranged on around the periphery of cooling segment 2016, to promote cooling agent closing From cooling segment 2016 under suitable flow rate (such as designed and controlled by the nozzle of valve portion 2014 and cooling segment nozzle 2007) Towards the flowing of the interior surface at the solder joint and other interior sections of the pipe section of two connections.
Operation of the inner cooling system 2010 on pipeline welding process is described with reference now to Figure 105-107.Will in preparation When first pipe section 1022a open end is welded to second pipe part 1022b counterpart open end, two pipe sections Point 1022a, 1022b each other in position in be axially aligned with.In one embodiment, two pipe section 1022a, Joint clamp (not shown in Figure 105-107) can be used to keep in this alignment for 1022b.Suitable joint clamp is (for example, such as Fixture 5302 (being positioned at pipeline external) disclosed elsewhere in this application) it can externally be fixed to pipe section 1022a, 1022b counterpart end, so that part 1022a, 1022b are maintained at into suitable relative to each other during welding sequence Work as position.In one embodiment, internal connection fixture is (for example, such as inner clamps disclosed elsewhere in this application 5142,5144 (being positioned at insides of pipes) of tool) it can be used for being held in place by counterpart end during welding sequence. Two kinds of joint clamp is (outwardly and inwardly) that pipeline welding field is known and therefore further not detailed herein Thin description.Applying joint clamp so that pipe section 1022a, 1022b end are held in place by into it relative to each other Afterwards, solder joint 1026 is formed in weld opening position (that is, in two counterparts of the first pipe section and second pipe part At open end).Solder joint 1026 is formed in a manner of as described in detail above, and may include root channel welds layer, Passage of heat weld layer, filling channel weld layer and capping channel welds layer, appropriate solder joint is formed to ensure.At one In embodiment, the formation of solder joint 1026 can relate to pair by the first pipe section 1022a and second pipe part 1022b Mouth end is preheated to about 150 DEG C of minimum temperature.The remainder of welding sequence can cause about 300 DEG C around solder joint Temperature rise.After the formation of solder joint 1026, solder joint 1026 is generally carried out as in this application elsewhere Disclosed AUT (ultrasonic tesint) and/or X-ray procedure, to confirm the quality/integrity of solder joint 1026.In an implementation In scheme, AUT weld parts are examined can not be in greater than about 50 DEG C to about 75 DEG C (TIt is maximum) at a temperature of implement, wherein TIt is maximumIt is that inspection can The maximum temperature effectively implemented.In addition, the AUT weld parts inspection process of pipeline manufacturing process must stop, until solder joint Untill pipe temperature near 1026 reduces the temperature so far examined around temperature range.The inner cooling system of the application by with Put from welding region and remove heat, temperature is examined so as to which the temperature in pipeline welding region is reduced into as little as acceptable AUT (TIt is maximum)。
In one embodiment, after weld part inspection process, repaired mouth coating (FJC) may be applied to pipe section 1022a, 1022b around the perimeter of solder joint 1026 to provide insulation barrier, to prevent at welding region Corrode or minimize the corrosion.This insulant generally only can be higher than minimum pipe temperature T in pipe temperatureIt is minimumWhen effectively Apply.Therefore heat is added into welding region, until the temperature rise in welding region to be insulated be back to about 220 to 240℃(TIt is minimum), wherein TIt is minimumIt is the minimum temperature that insulant can be effectively applied to insulating regions.
After coating/insulant applying step, can winding pipeline for in-site installation.However, in about TIt is minimumTemperature Under degree, rolling step can not effectively realize while weld part integrality is maintained.Therefore, pipeline manufacturing process can push away again Late, while make pipe temperature little by little from TIt is minimumNaturally acceptable coiling temperature (T is dropped toIt is maximum), wherein TIt is maximumBeing can be effective Highest/maximum temperature of ground winding pipeline.In one embodiment, the inner cooling system of present patent application is configured to again It is secondary to remove heat from welding region, so as to which temperature is reduced into active volume around (by pipeline on spool) acceptable about 50 To about 75 DEG C of (TIt is maximum) maximum temperature.Therefore, the inner cooling system of the application is configured to before weld part inspection process Reduce temperature and/or temperature is reduced before rolling step, to make welding, inspection, insulation and the pipe for winding certain length The time that section is spent minimizes.
The operating time section of (with after-applied coating/insulant) is welded together in pipe section 1022a, 1022b During, inner cooling system 2010 is carried in pipe section 1022a open end, as shown in Figure 105.In an implementation In scheme, one or two pipe section 1022a, 1022b may include single piping unit.In another embodiment, manage One in road part 1022a, 1022b multiple piping units that may include to weld together.In one embodiment, pipe is worked as One in road part 1022a or 1022b when including the multiple piping units welded together, it may be desirable to will be internal cold But system 2010 be carried in including single piping unit pipe section 1022a or 1022b (or with more short length pipe section Point) place, advanced to reduce inner cooling system 2010 in pipe section to reach the time required for weld part. Therefore, in one embodiment, pipe section 1022a may include the longer pipe section with being represented by pipe section 1022b The single piping unit of (for example, two or more piping units connected by solder joint) connection.
In one embodiment, inner cooling system 2010 be loaded into pipe section 1022a open end (that is, with The end opposite towards the open end of the pipe section 1022b open end for limiting weld position) in so that it is internal The Part I 2011 of cooling system framework serves as front end and therefore initially entered in pipe section 1022a.At one In embodiment, inner cooling system 2010 moves (with Part I 2011 preceding) in pipe section 1022a and connect to neighbouring The suitable position of head welding position, as shown in Figure 106.In one embodiment, (it can be long-range by user for controller 2020 Ground controls) operation of drive system 2022 is configured to control (for example, making the inner wall part with pipe section 1022a by control One or more motor that the tactile roller 2025 of tap moves), to promote inner cooling system 2010 in pipe section 1022a And towards the advance of weld position.The correct position of adjacent joint welding position is reached (for example, as shown in Figure 106 Inner cooling system position) after, controller 2020 can control drive system 2022 to stop inner cooling system 2010 Further movement, until such as refrigerating work procedure start time untill.For example, the suitable position on Part I 2011 The place of the putting and video camera 2027 controlled by controller 2020 can provide video image to remote control so that Yong Huke It is how close to determine that inner cooling system has apart from solder joint 1026.In one embodiment, with being provided by video camera 2027 Video image combines, the measurement pipe of one or more temperature sensors 2017 being suitably located on the framework of inner cooling system 2010 Internal temperature in the 1022a of road part and provide such temperature information to controller 2020.When measured by one or more Temperature when reaching threshold value (for example, about 100 DEG C or bigger), this can provide inner cooling system 2010 and reach neighbouring connect The instruction of the position of seam 1026.Can also using any other suitable mechanism come cooling system 2010 internally towards weld Position provides the suitable instruction of its position in pipe section 1022a during moving.
After the desired locations near adjacent joint welding position or weld position are reached, refrigerating work procedure can weld Performed after seam 1026 is formed and before AUT/X radioscopies occur (if desired).In an embodiment In, refrigerating work procedure can be reheated to apply external skin and apply in pipeline and perform after FJC (if desired). In one embodiment, internally cooling system 2010 reaches the conjunction of the adjacent joint welding position in pipe section 1022a When right position is put and before welding sequence is completed, inner cooling system 2010 be maintained in its position and once welding or again Heating process is completed to be ready for being used to be cooled down.By the way that cooling segment 2016 is positioned in place (for example, phase first For solder joint 1026, such as shown in Figure 107) place performs refrigerating work procedure.This can be by controlling the control of drive system 2022 Device 2020 (it is user's control by remote control) processed makes inner cooling system 2010 from its position in Figure 106 Its position in Figure 107 is proceeded to realize untill inner cooling system 2010 is in desirable opening position.To The movement of this position (for example, as shown in Figure 107) can be arrived in pipe section 1022a, 1022b of remote control based on providing Video image, provide to remote control temperature sensor information and/or by any other suitable mechanism come reality It is existing.
The desired locations in pipe section 1022a, 1022b are reached (for example, wherein cooling segment 2016 is arranged adjacent to Solder joint 1026, as shown in Figure 107) after, controller 2020 (it can be user's control by remote control) control The operation (for example, by controlling one or more electronic valves) of valve arrangement 2014 promoting cooling agent in suitable pressure and/or Flowed under flow rate from coolant supply 2012 to the flowing of cooling segment 2016, wherein cooling agent from nozzle 2007, institute State nozzle 2007 be arranged at cooling segment 2016 and be properly oriented carry out Directed cooling agent away from cooling segment 2016 and Towards the inside wall surface portion flowing in pipe section 1022a, 1022b.Temperature sensor monitors pipe section 1022a, The internal temperature at inner cooling system 2010 in 1022b, and provide measured temperature information to controller 2020. Reach enough temperature in pipe section 1022a, 1022b (as measured by temperature sensor, such as TIt is maximumDEG C or it is lower Temperature) after, controller 2020 can control valve arrangement 2014 to stop flowing of the cooling agent to cooling segment 2016.
In one embodiment, inner cooling system 2010 can be by controlling drive system 2022 to exist by controller 2020 Forward or backwards side move up, with along pipe section 1022a and/or pipe section 1022b inside wall surface portion at it His opening position provides other refrigerating work procedure (as needed and based on measured internal pipeline temperature).When it is determined that realizing foot During enough coolings, inner cooling system 2010 can take out from pipe section 1022a, 1022b of connection.For example, internal cooling system System 2010 can by controlling drive system 2022 to move backward by controller 2020, with towards pipe section 1022a freedom and Open end moves so that Part III 2018 exposes from pipe section 1022a first.Another pipe section then can be with pipe Road part 1022a (being connected now by solder joint 1026 with pipe section 1022b) freedom and open end is alignd (new When being partially fitted to 1022a, inner cooling system is positively retained on the inside of the 1022a of part) to form weld position, and Then the process is repeated, wherein inner cooling system 2010 is entered simultaneously by the freedom and open end of another pipe section And refrigerating work procedure is performed at the solder joint for advancing to treat to be formed between the tube sections towards weld position.
Can be by being controlled by controller 2020 although drive system 2022 shown in Figure 104-107 embodiment includes The roller 2025 of electric motor system operation, but the drive system 2022 for inner cooling system can also implement that inside can be provided Any suitable mechanism of the movement of user's control of the cooling system in pipe section.For example, one or more cables can be implemented Line/capstan system, wherein one or more capstan winches can be provided as the part of inner cooling system and/or positioned at outside pipe sections At one or more anchor points in portion.Cable is in each capstan winch and tie point (internally outside cooling system or pipe section At tie point) between extend, so as to be advantageous to during process placement of the inner cooling system in pipe section and/or Taking-up of the inner cooling system from pipe section.
It should be noted that appointing between line segments in pipeline system can be directed to above with respect to the process of inner cooling system description The weld application of what type performs.For example, inner cooling system can be used for producing for marine, submerged applications and master The pipeline of line application.In one embodiment, inner cooling system 2010 can be used for spool base weld order (such as Described shown in Fig. 6 and with reference to figure 6) and barge welding procedure (describing as shown in Figure 7 and with reference to figure 7).
In main line application, the pipe section of 40 feet of (12 meters) to 80 feet (24 meters) is welded together to form length " joint " part.Umbilical cable may needed for the movement of control inner cooling system and/or the situation of other processes In, the length of umbilical cable can be at least 240 feet (72 meters).(there is optional AUT/X rays weld part to examine in welding sequence Test and coating/insulant/FJC applies) after loading internal cooling system and inner cooling system is moved in pipe section Move into appropriate location process for cooling with it is previously described on Figure 104-107 similarly generation.
Figure 108 shows the inner cooling system 2010-1 according to another embodiment of present patent application.Internal cooling System 2010-1 is similar with previously described embodiment, except difference indicated below.In one embodiment, it is internal cold But system 2010-1 be configured at the end sections 2024 of the 3rd frame part 2018 of cooling system 2010-1 internally with Internal connection fixture 2060 connects.In one embodiment, including framework 2062, (it has permission to internal connection fixture 2060 The suitable configuration that joint clamp 2060 is inserted in pipe section (for example, pipe section 1022a and 1022b)), and including portion Divide 2064, the part 2064 is configured to make two of pipe section 1022a, 1022b to be open and counterpart end is welded in joint Opening position is connect to align and be held in place by (for example, by when joint clamp 2060 is in pipe section 1022a and 1022b When being inside properly located, expand to form the friction with the inside wall surface portion of pipe section in the counterpart end of pipe section Engagement).In one embodiment, part 2064 and fixture 60, which correspond in interior welds system 5004, has the first pipeline The part of fixture 5142 and second pipe fixture 5144.In one embodiment, connecting elements 2080 is (for example, bar or spring Component) it is configured to make the end sections 2024 of the end 2066 of joint clamp 2060 and inner cooling system 2010-1 framework Connection.
In one embodiment, inner cooling system 2010-1 can be the trailer component for joint clamp 2060. For example, the joint clamp 2060 that inner cooling system 2010-1 connections are arrived (by connecting elements 2080) can be in its end 2065 (that is, with by the frame ends opposite with the frame ends 2066 that inner cooling system 2010-1 is connected of connecting elements 2080) place It is inserted into pipe section, wherein movement of the joint clamp 2060 in pipe section also causes inner cooling system 2010-1 to exist Corresponding movement in pipe section.In one embodiment, inner cooling system 2010-1 can pass through its first frame section 2011 are divided to be inserted into pipe section and then move in appropriate location, also to make joint clamp 2060 be alignd with two Align weld location-appropriate between pipe section.In one embodiment, inner cooling system 2010-1 drive Dynamic system 2022 can be used for making the inner cooling system 2010-1 of joint clamp 2060/ combining structure be moved in pipe section Suitable position, or alternately, also this structure can be made in pipe section using any other suitable drive mechanism Mobile (for example, one or more cable/capstan systems).
In one embodiment, joint clamp 2060 keeps together pipe section 1022a, 1022b end, directly Untill solder joint 1026 is formed.In one embodiment, part 2064 and fixture 60 correspond to interior welds system 5004 part with the first pipeline jig 5142 and second pipe fixture 5144.Formed in solder joint 1026 (and press Coating is needed to be formed) after, joint clamp 2060 can depart from the inside wall surface portion of pipe section, to be advantageous to internal cooling System 2010-1 be moved to suitable position (such as so that cooling segment 2016 aligns with solder joint), so as in pipe section Divide and start internal cooling in 1022a, 1022b.
Figure 109 discloses another embodiment for inner cooling system to be connected to internal connection fixture, wherein carrying Inner cooling system 2010-1 is set to be connected with joint clamp 2060 for longer connecting elements 2082 (for example, elongation bar).One In individual embodiment, connecting elements 2082 has the lengthwise dimension more than connecting elements 2080 (being shown in Figure 108), and this is being welded Inner cooling system 2010-1 heating is set to minimize (due between inner cooling system and joint clamp during connecing process Bigger distance of separation).
In one embodiment, the process includes joint clamp 2060 and inner cooling system 2010-1 being loaded into In one in pipe section and align so that joint clamp 2060 is by two counterpart ends of pipe section in weld Opening position is held in place by.Some welding sequences are being performed (for example, root channel welds process and passage of heat Welder Sequence) after, joint clamp 2060 and inner cooling system 2010-1 can together with and move away from weld position, to avoid Exposed to the other heat of the ongoing welding process required for solder joint is completed.In one embodiment, If connecting elements has enough length (for example, Figure 109 connecting elements 2082), joint clamp 2060 and internal cooling System 2010-1, which may move into, causes joint clamp on the side of weld position, while inner cooling system is in opposite side Upper (only connecting elements 2082 is arranged on weld position underface or adjacent joint welding position).Complete welding and AUT/ After X-ray procedure (if desired), and further after any coating/insulant/FJC is applied, connector clamp Tool 2060 and inner cooling system 2010-1, which is movable to, make it that the cooling segment 2016 of inner cooling system is adjacent in appropriate location Nearly solder joint and executable refrigerating work procedure (for example, with previously described similar of the embodiment on Figure 104-107 Mode).
In one embodiment, the cooling segment of inner cooling system, which can be used, rapidly and/or effectively cools down newly Any kind of cooling structure of pipe section at the solder joint of formation is realized, and is therefore not limited to Figure 104-109 Shown exemplary.For example, in one embodiment, it is integrated into the cooling structure of the part of inner cooling system It may include but be not limited to push the air through the interior surface portions of pipe section and/or through heat-exchange fin or internal cooling Other cooling elements of system cooling segment cooling fan (for example, it is as shown below and describe fan 2122), suitable The interior surface portions of nozzle 2007 or 2318 towards pipe section under pressure and temperature from cooling segment 2016 or 2316 are arranged Go out liquid and/or gaseous fluid (for example, cryogen, liquid, air), using in closed-loop path recirculation loop (for example, such as Pump 2212, manifold 220 and fin members 2218 shown in Figure 111 A and Figure 111 b) in and through cooling segment heat friendship Change the cooling fluid of structure, using thermoelectric-cooled (for example, the Po Er directly contacted by the inside wall surface portion with pipe section Note device (Peltier devices)) etc..
Figure 110 A and Figure 110 B show the inner cooling system 2110 according to another embodiment of present patent application.It is interior Portion's cooling system 2110 is similar with previously described embodiment, except difference indicated below.In one embodiment, it is interior The cooling segment 2116 of portion's cooling system 2110 includes radiator and (including is arranged in the central supporting component of cooling segment 2116 The multiple fin members 2118 to be extended radially outwardly around 2120 periphery and from central supporting member 2120), and including The curved inner surface that the fin 2118 of crooked outer surface part, the crooked outer surface part and pipe section extends towards Part is corresponding.In one embodiment, each fin members 2118 include multiple thin material parts, the thin material part from The central heat sink device position of cooling segment 2116 radially outwardly toward fin members 2118 bending end wall portion extension.At one In embodiment, fin members 2118 are constructed by the material (for example, copper, aluminium etc.) with suitable thermal conductivity, to promote from pipe Heat transfer of road part 1022a, 1022b inside wall surface portion to the high-speed of the radiator of cooling segment 2116.At one In embodiment, fin members 2118 include the open channel 2120 being limited between adjacent thin material part, its split shed Passage 2120 extends through fin members on longitudinally.In one embodiment, electric fan 2122 may be mounted to central branches Support component 2123 and be positioned adjacent to the end of fin members 2118 and alignd with fin channels 2120.In an embodiment party In case, electric fan 2122 provides air by fin channels 2120 with the flowing of cooling fins component 2118, and therefore by coming Heat is promoted from the convection current of the radiator of cooling segment 2116.In one embodiment, fan 2122 and controller 2020 communications (for example, by hardwired or wireless communication link), to promote the choosing of fan 2122 during refrigerating work procedure Selecting property operates.In one embodiment, each fan 2122 can be implemented with variable service speed, so as in refrigerating work procedure During optionally control fan speed and the corresponding air stream for passing through fin members 2118 differently and on demand Dynamic speed.
On being used to be directed to after placement and welding sequence completion of the inner cooling system 2110 during welding sequence The positioning of cooling, the process of Figure 110 A and Figure 110 B inner cooling system 2110 and the embodiment for Figure 104-107 are first It is similar described in preceding.In cooling procedure, fan 2122 can be activated and existed with providing by the passages 2120 of fin members 2118 One or more it is expected the flowing of the cooling air under flow rate.In one embodiment, fin members 2118 are from pipeline Part 1022a, 1022b inside wall surface portion (including at solder joint 1026) are towards the central supporting of cooling segment 2116 The heat extraction of component 2123, and the air stream provided by fan 2122 is provided, heat is removed from fin members 2118, so as to real The cooling of existing pipe section 1022a, 1022b in the opening position of cooling segment 2116.As described in previous example, The temperature sensor of inner cooling system can provide measured temperature information controller 2020, and such measured Temperature information can be used for controlling the operation of fan 2122 (including to change one or more fans 2122 during refrigerating work procedure Fan speed).When reaching preferred temperature in pipe section 1022a, 1022b, fan 2122 can pass through controller 2020 Close.In one embodiment, inner cooling system 2110 can be also moved in pipe section 1022a, 1022b on demand Diverse location is cooled down with being realized at diverse location.
Figure 111 A and Figure 111 B show the inner cooling system 2210 according to another embodiment of present patent application.It is interior Portion's cooling system 2210 is similar with previously described embodiment, except difference indicated below.In one embodiment, it is interior Portion's cooling system 2210 includes cooling segment 2216, and the cooling segment 2216 includes the central supporting along cooling segment 2216 A series of fin members 2218 that the periphery of component 2223 is arranged and extended radially outwardly from central supporting member 2223, wherein Fin members 2218 have the outer shape or profile similar with the fin members 2118 of Figure 110 A and Figure 110 B embodiment. In one embodiment, fin members 2218 can also be constructed by the material (for example, aluminium or copper) with suitable thermal conductivity.So And each fin members 2218 can have inside that is hollow and sealing, to promote coolant fluid to pass through fin members 2218 Flowing.In one embodiment, each fin members 2218 are including entrance on one end and in another end On outlet, and provide suitable pipeline configuration to promote cooling agent from pump 2212 to the recirculation flow of fin members 2218 Loop, wherein cooling agent flow through fin members 2218 and return to pump 2212.Using the cooling agent of any suitable type (for example, water, cryogen liquid nitrogen or liquid argon etc.).
In one embodiment, pump 2212 (being shown in Figure 111 A) can be positioned on pipe section 1022a, 1022b Outside, wherein supply and returning to flow-catheter 2214 and prolonging between pump 2212 and manifold structure 2220 (in Figure 111 B show) Stretch.In one embodiment, manifold structure 2220 includes the multiple pipelines being connected with the entrance and exit of fin members 2218 Connecting portion.Therefore, cooling segment 2216 promotes recycle stream of the cooling agent in fin members 2218 during refrigerating work procedure The dynamic heat friendship between pipe section 1022a, 1022b inside wall surface portion (for example, at or near solder joint 1026) Change.
In one embodiment, pump 2212 can be controlled (by suitable by the controller of inner cooling system 2210 Hardwired or wireless communication link).Alternately, pump 2212 can be outside control (because it can easily be accessed by the user). The cooling agent flowing carried out by pump 2212 can be based on one or more temperature sensors by cooling system 2210 internally The measured temperature information control provided.Once realize preferred temperature in pipe section 1022a, 1022b, so that it may deactivate Or close pump, with stop the recirculation flow of cooling agent and promote inner cooling system 2210 pipe section 1022a, Movement in 1022b.
Figure 112 A and Figure 112 B show the inner cooling system 2310 according to another embodiment of present patent application.It is interior Portion's cooling system 2310 is similar with previously described embodiment, except difference indicated below.In one embodiment, it is interior Portion's cooling system 2310 includes cooling segment 2316, and the cooling segment 2316 has the central branches for being positioned at cooling segment 2316 Support multiple spray nozzles 2318 around component 2323.In one embodiment, spray nozzle 2318 is positioned to along central supporting The general linear row of the lengthwise of component 2323 extension.Suitable pipeline configuration provide spray nozzle 2318 each linear row it is every Individual end, wherein pipeline configuration are connected with manifold 2320.Manifold 2320 is connected to offer in pipeline by fluid conduit systems 2314 Portion of external or the cooling medium pump 2312 in outside.In one embodiment, the operation of cooling medium pump 2312 provides cooling agent (example Such as, water, cryogen liquid nitrogen or liquid argon etc.) from coolant source by manifold 2320 and spray spray nozzle 2318 simultaneously Towards the flowing of pipe section 1022a, 1022b interior surface portions (including at solder joint 1026).Although Figure 112 A and Figure 112 B embodiment is shown at the pump 2312 outside pipe section 1022a, 1022b, it is noted that and spray nozzle The cooling segments 2316 of 318 alignment can also be easy embodiment (that is, wherein manifold 2320 and the spray nozzle for Figure 104-107 2318 receive cooling agent from coolant source 2012) realize.The refrigerating work procedure of inner cooling system 2310 can with for previous Similar mode described in embodiment performs, wherein pump 2312 can by the controller of inner cooling system 2310 and/or Outside control, and wherein cooling agent flowing can be based on the temperature sensor offer by being arranged on inner cooling system 2310 Measured temperature information is realized.
Therefore, the inner cooling system of present patent application is configured to provide the improvement to pipeline welding process, including logical Cross and internally provide what controlled cooling was carried out afterwards to strengthen the pipe section of connection in solder joint formation in pipe section Cool down and reduce the production time (because cooling can quickly and more effectively occur, so as to increase in preset time section The quantity of solder joint between generable pipe section).In addition, the number of the workbench associated with welding sequence can be reduced Amount, and can also reduce the quantity of the resource associated with such welding sequence.Pipe section is welded on one for example, can reduce Play required working space, and this can (for example, on barge or other water crafts) limited in working space situation In become particularly advantageous.
In one embodiment, there is provided one kind is used for a pair of isolated pipes (for example, pipeline as shown in Figure 113 1022a, 1022b) method that is welded to one another.As shown in Figure 113, each pipeline 1022a, 1022b are included by insulating material 5244 inside 5246 metallic conduits surrounded.In one embodiment, pipeline 1022a, 1022b to be welded end sections 5248th, 5250 make 5244 exposure inside metallic conduit.
In one embodiment, include with reference to figure 113-134, methods described：By exposing metal pipeline end to be welded Align in portion 5248,5250；Exposed metallic conduit end 5248,5250 is welded to one another；Heat welded pipe line 1022a, 1022b Exposed end part 5248,5250；Insulator 5246 is applied to the heating of welded pipe line exposed end part 5248, 5250 so that insulator 5246A is adhered to inside metallic conduit 5244 outer surface 5254 (as shown in Figure 118), so that The end sections 5248,5250 of pipeline 1022a, 1022b previous exposure insulate；And will be cold out of pipeline 1022a, 1022b But energy is applied to metallic conduit 1022a, 1022b interior surface 5130a, 5130b.
In one embodiment, energy will be cooled down out of pipeline and is applied to the interior surface of metallic conduit in application insulation Performed after body.In one embodiment, methods described also includes execution pipeline deployment process.In one embodiment, Apply cooling energy and reduce the stand-by period applied between insulator and execution pipeline deployment process.In one embodiment, Pipeline deployment process is rolling step.In one embodiment, pipeline deployment process is S types laying process.
In one embodiment, pipeline development process is pipeline decentralization process.In one embodiment, pipeline is disposed Process is described with reference to Figure 1B of present patent application.
In one embodiment, support 5330 (as shown in figs. 10 a and 10b) or support 6010A and 6010B are (as schemed Shown in 73) it is used to carry simultaneously movement pipeline 1022a and 1022b, and for being introduced into pipeline 1022a exposing metal pipeline end Portion 5248 is provided at pipeline 1022b exposing metal pipeline end 5250.That is, support 5330 or 6010A/6010B are used to make Align exposing metal pipeline end 5248,5250 to be welded.
In one embodiment, the alignment of exposing metal pipeline end 5248,5250 to be welded can by one or Multiple processors 5140 control support 5330 (or 6010A or 6010B) to automatically carry out, and can pass through hydraulic control support 5330 (or 6010A or 6010B) is performed, or can be held by operating personnel using (internal or external) arrangement of crane and fixture OK.In one embodiment, after pipeline 1022a, 1022b alignment, outer clamp can be used in pipeline 1022a, 1022b 5302 (as shown in figures 7 a and 7b) and/or Internal jigging 5142 or 5144 clamp.In one embodiment, such as the application It is described, can be used during the alignment of exposing metal pipeline end 5248,5250 (to be welded) it is one or more outside or Internal jigging.That is, one or more outside or inside fixtures can be used independently and/or be used with holder combination.In a reality Apply in scheme, the operation of one or more outside or inside fixtures and support can be controlled by one or more processors 5140.
In one embodiment, one or more processors 5140 are configured to based upon welding front profile data manipulation branch Frame 5330 (or 6010A and 6010B), to adjust pipeline 1022a, 1022b relative positioning.In one embodiment, weld Front profile data can examine detector to obtain from the one or more of one or more processors 5140 are operatively connectable to. In one embodiment, the adjustment of pipeline 1022a, 1022b relative positioning may include (based on welding front profile data) along The adjustment of pipeline 1022a, 1022b longitudinal axis and/or the adjustment of longitudinal axis along pipeline 1022a, 1022b.One In individual embodiment, after pipeline 1022a, 1022b is adjusted, pipeline 1022a, 1022b are come using externally and/or internally fixture Clamp again.Figure 113 shows that exposed metallic conduit end 5248,5250 is correctly alignd and prepared for welding sequence Pipeline 1022a, 1022b.
Figure 114 shows to form the pipeline of solder joint 1026 between exposed metallic conduit end 5248,5250 1022a、1022b.In one embodiment, the welding torch of positioned internal (for example, on the inside of pipeline 1022a, 1022b) 5502 can be configured to exposed metallic conduit end 5248,5250 being welded to one another.In one embodiment, outside positioning The welding torch 7502 of (for example, on the outside of pipeline 1022a, 1022b/outside) can be configured to exposed metallic conduit end 5248th, 5250 it is welded to one another.In one embodiment, the welding torch 5502 of positioned internal and the welding torch of outside positioning 7502 combination can be used for exposed metallic conduit end 5248,5250 being welded to one another.In one embodiment, it is outside fixed The welding torch 7502 of position and/or the welding torch 5502 of positioned internal are operatively connectable to one or more processors 5140。
In one embodiment, with reference to figure 115A and Figure 115 B, heater 5304 can be configured to heat welded pipe line 1022a, 1022b exposed end part 5248,5250.In one embodiment, heater 5304 can be sensing heating System, the induction heating system are used for the welded pipe line that pipeline 1024 is heated when preparing to apply coating material or insulator 1022a, 1022b exposed end part 5248,5250.In one embodiment, heater 5304 may include hyperfrequency (UHF) induction coil, the hyperfrequency induction coil are configured to welded pipe line 1022a, 1022b of pipeline 1024 exposure End sections 5248,5250 are heated rapidly to required application temperature.In one embodiment, heater 5304 can be used Two induction coils.In one embodiment, heater 5304 can be electric heating system.In one embodiment, add Hot device 5304 can be radiating heat system.In one embodiment, the induction coil 5307 of heater 5304 is in Figure 115 A In show.
As shown in Figure 115 A and Figure 115 B, heater 5304 is configured to circumferentially surround the welded pipe line of pipeline 1024 1022a, 1022b exposed end part 5248,5250.In one embodiment, heater 5304 may include two half Circle, ring heater component 5304a and 5304b.In one embodiment, the circle of two half, ring heater Component 5304a and 5304b is pivotally joined to one another by fastener 5305 at top, and passes through one at bottom Or multiple connector members (not shown) are connected releasably to each other.
In one embodiment, heater 5304 be also configured to adjust pipeline 1024 welded pipe line 1022a, The temperature of 1022b exposed end part 5248,5250 is to maintain suitable coating to apply temperature.In one embodiment, Heater 5304 may also include：Heater reponse system, it is configured to enable heater 5304 to realize and remains required Application temperature；And temperature sensor, it is operatively coupled to heater reponse system.In one embodiment, temperature Sensor can be contact or non-contact temperature sensor.In one embodiment, heater reponse system may include other Sensor, the other sensors are configured to sense the other specification of heating process, such as the heat time etc..In an implementation In scheme, by the feedback signal from one or more sensors, heater reponse system is configured to adjust inductor line Electric current in circle is to realize required application temperature.In one embodiment, heater 5304 and its reponse system can be grasped Operatively it is connected to one or more processors 5140.In one embodiment, one or more processors 5140 can by with Put to control the operation of heater 5304 and its reponse system.
In one embodiment, with reference to figure 116A, Figure 116 B, Figure 117 A and Figure 117 B, insulator supply 5306 by with The exposed end part 5248,5250 for the heating that insulating material 5312 is applied to welded pipe line 1022a, 1022b is put, is made The outer surface 5254 that insulator 5246A is adhered to inside metallic conduit 5244 (as shown in Figure 118) is obtained, so that welded pipe line The end sections 5248,5250 of 1022a, 1022b previous exposure insulate.In one embodiment, insulator supply 5306 Including：Container 5310, it is configured to receive insulating material 5312；With delivery nozzle 5308, it is configured to insulator Material 5312 is sprayed on welded pipe line 1022a, 1022b exposed end part 5248,5250.In one embodiment, The container 5310 for being configured to receive insulating material 5312 can be pressurizeed.
In one embodiment, insulator supply 5306 may include：Reponse system, it is configured to supply insulator 5306 can realize desired coating on pipeline 1024；With one or more sensors, it is operatively connectable to feedback system System.In one embodiment, one or more sensors can be configured to sense the following parameter of insulator applying step-absolutely Edge body material temperature, insulating material volume etc..
In one embodiment, it is automated system and wraps with reference to figure 116A and Figure 116 B, insulator supply 5306 Coating framework 5393 is included, the coating framework 5393 is configured to be positioned on the region of solder joint 1026.In an embodiment party In case, the coating framework 5393 of insulator supply 5306 is configured to be programmed to rotate around the region of solder joint 1026, To realize the desired thickness of dry film of insulating material.That is, coating framework 5393 is constructed and arranged uniformly around weldering Move in the region of seam 1026.In one embodiment, shower nozzle (including container 5310 and delivery nozzle 5308), which is arranged on, applies Cover in the ad-hoc location on framework 5393 (for example, the exposed end part of the heating perpendicular to welded pipe line 1022a, 1022b 5248、5250)。
In one embodiment, the insulator supply 5306 shown in Figure 116 A and Figure 116 B is configured to fusion bonded epoxy Resin insulator material is applied to the exposed end part 5248,5250 of welded pipe line 1022a, 1022b heating so that clinkering Epoxyresin insulator 5246A is adhered to inside metallic conduit 5244 outer surface 5254 (as shown in Figure 118), so that weldering The end sections 5248,5250 of adapter road 1022a, 1022b previous exposure insulate.
In one embodiment, the insulator supply 5306 shown in Figure 117 A and Figure 117 B is configured to that poly- third will be molded Alkene insulating material is applied to the exposed end part 5248,5250 of welded pipe line 1022a, 1022b heating so that injection is poly- Propylene insulator 5246 is adhered to inside metallic conduit 5244 outer surface 5254.In one embodiment, Figure 117 A and Figure 117 B insulator supply 5306 can be used for injection polyurethane insulating material being applied to welded pipe line 1022a, 1022b The exposed end part 5248,5250 of heating so that injection polyurethane insulator 5246 is adhered to 5244 inside metallic conduit Outer surface 5254.
With reference to figure 117A and Figure 117 B, in one embodiment, insulator supply 5306 is automated system and wrapped Mould 5381 is included, the mould 5381 is configured to circumferentially about the region of solder joint 1026 and produces filling injection insulation The annular gap 5383 of body material 5246.In one embodiment, hydraulic control valve (not shown) is configured to melting is exhausted Edge body material 5385 is supplied/is expelled in annular gap 5383.The melting insulating material 5385 of supply/injection enters mould 5381 (and annular gaps 5383), so as to encase the region of solder joint 1026 and form Internal periphery/nearside wheel of mould 5381 It is wide.In one embodiment, cold water can be supplied to mould with the outline of cool insulators material so that injection polyurethane Insulator 5246 is adhered to inside metallic conduit 5244 outer surface 5254, so that welded pipe line 1022a, 1022b elder generation The end sections 5248,5250 of preceding exposure insulate.
In one embodiment, above with reference to shown in Figure 116 A and Figure 116 B and the insulator supply 5306 that describes is available In pipeline application on the bank.In one embodiment, above with reference to shown in Figure 117 A and/or Figure 117 B and describe insulator supply 5306 are answered to can be used for offshore pipelines application.
In one embodiment, above with reference to described in Figure 116 A, Figure 116 B, Figure 117 A and/or Figure 117 B and describe Insulator supply 5306 can be additionally used in by other insulating materials described elsewhere in this application and/or such as by ability Other insulating materials that the technical staff in domain is understood are applied to the exposed end part of welded pipe line 1022a, 1022b heating 5248、5250。
In one embodiment, insulator supply 5306 and its corresponding reponse system are operatively connected to one Or multiple processors 5140.In one embodiment, one or more processors 5140 can be configured to control insulator confession Answer the operation of 5306 and its corresponding reponse system.
In one embodiment, Figure 118 shows pipeline 1024, and wherein insulating material is applied to welded pipe line The exposed end part 5248,5250 of 1022a, 1022b heating so that insulator 5246A is adhered to inside metallic conduit 5244 outer surface 5254, so that the end sections insulation of pipeline 1022a, 1022b previous exposure.
In one embodiment, it is configured to be positioned at pipeline with reference to figure 119 and Figure 120, chiller system 6500 In 1022a, 1022b.In one embodiment, chiller system 6500 includes framework, multiple rollers 6530, drive motor 6532 and brakes.In one embodiment, the front end framework 6618 of chiller system 6500, central frame 6634 and rear frame 6522 can be referred to as the framework of chiller system 6500 together.
For example, the framework is configured to be placed in welded pipe line 1022a, 1022b, multiple rollers 6530 are configured to can Framework is pivotally supported, the driven roller 6530 of drive motor 6532 is so that framework moves in pipeline 1022a, 1022b, and makes The desired locations that framework is fixed in pipeline 1022a, 1022b by dynamic system do not move.Multiple rollers of chiller system 6500, The structure of drive motor and brakes, configuration and multiple rollers of operation and interior welds system described herein, Drive motor and brakes are similar, and therefore they will not be described in detail herein.For example, in an implementation In scheme, the brakes of chiller system 6500 may include the interior surface 5130,5132 in welded pipe line 1022a, 1022b The upper one or more fixtures for clamping circumferentially spaced position.In another embodiment, the braking of chiller system 6500 System may include the wheel lock for preventing that roller 6530 from rotating.
In one embodiment, chiller system 6500 includes cooler, and the cooler is carried by framework and will Cooling energy is applied to metallic conduit 1022a, 1022b interior surface 5130a, 5132a, to promote welding metal pipeline 1022a, 1022b cooling.In one embodiment, cooler includes heat exchanger 6502, in the heat exchanger 6502 Carry cooling fluid and interior surface 5130a, 5132a with contact pipeline 1022a, 1022b is to promote welded pipe line The pipe contact surface 6572 of 1022a, 1022b cooling.In one embodiment, chiller system 6500 includes heat exchange Device motor 6552, the heat exchanger motor 6552 are configured to be moved radially outward heat exchanger 6502 so that Framework is positioned at after the desired locations in pipeline 1022a, 1022b, and pipe contact surface 6572 can be displaced outwardly to engage Welded pipe line 1022a, 1022b interior surface 5130a, 5132a.
In one embodiment, chiller system 6500 includes and drive motor 6532, brakes and cooler 6502 one or more processors being operatively connected.In one embodiment, one or more processors are configured to Operating cooler 6502 by welded pipe line 1022a, 1022b temperature to be reduced to predeterminated level.For example, in an embodiment In, chiller system includes one or more temperature sensor 2017a, one or more of temperature sensor 2017a and one Individual or multiple processors operatively communicate (wire or wirelessly) to determine the temperature of pipeline.In one embodiment, It can continue to cool down energy, untill predetermined threshold is detected.
In one embodiment, one or more processors are connected by one or more wired or wireless connection communications It is connected to brakes, drive motor 6532 or cooler 6502.Wireless connection may include for example Wi-Fi connection, bluetooth connection, NFC connections, cellular connection or other wireless connections.
In one embodiment, from the one or more processors of temperature sensor 2017a receiving pipeline temperature informations It is communicably connected to remote computer system and is configured to tube-cooled data being transmitted into remote computer system.One In individual embodiment, the cooling data launched by one or more processors include cool time calibration curve information.In a reality Apply in scheme, cool time calibration curve information includes change of the pipe temperature with the time.In one embodiment, remote computer System includes the cooling data from other welding systems and calculates expeced time, until the temperature of welded pipe line is less than threshold value Untill.In one embodiment, it is contemplated that the time is sent to one or more processors.
In one embodiment, chiller system 6500 may include user interface, and wherein expeced time and/or pipe Channel temp is sent to user interface by one or more processors.User interface can be such as calculating with display Machine.
In one embodiment, pipeline (at least a portion of the pipeline in discussion) is cooled to the pre- of a certain threshold temperature Time phase is based at least partially on the size (for example, girth, thickness, thermal mass or its any combinations) of welded pipe line to calculate. In another embodiment, the cooling energy output also based on cooler is calculated.For example, this cooling energy output can be based on drawing Lead initial temperature of the volume of the water or gas at pipe surface, pipeline or gas etc..And for example, closed fluid system heat exchange The cooling energy of device can be previously known, or based on its operating parameter (fluid velocity, fluid temperature (F.T.), heat transference efficiency etc.) To calculate.
In another embodiment, the cooling energy output of cooling system and/or expected cool time are based on from long-range The information that computer system based on cloud receives, the remotely computer system based on cloud are included from some remote-operated cold But the big centralized information database that device system obtains.In one embodiment, it is predetermined to cool down energy output.In a reality Apply in scheme, one or more processors are communicably connected to remote computer system, and are configured to transmitting cooling agent and disappear Consumption data (for example, amount for being used to cool down the water of the pipeline of known dimensions required for reaching threshold temperature).
In one embodiment, chiller system 6500 can not fastened completely.Specifically, chiller system 6500 need not include pull bar or umbilical cables, and whereabouts and all communications from chiller system 6500 are fully wireless 's.In one embodiment, chiller system 6500 may include：Transmitter, it is self cooling in the future that it is configured to fully wireless ground But all communication signal emittings of device system 6500 are to long-range uLog processing systems；And receiver, it is configured to fully wireless Ground receives all signals of communication from long-range uLog processing systems.In one embodiment, one of chiller system 6500 Or multiple processors and/or all electronic modules be configured to long-range uLog processing systems it is fully wireless communicate.At one In embodiment, all the sensors of chiller system 6500, all motor, all valves and/or other assemblies/element by with Put come with long-range uLog processing systems it is fully wireless communicate.
In one embodiment, any information from chiller system 6500 can by WiFi, bluetooth, NFC, pass through Radio frequency or transmitted by cell tower communicates (only for citing) with the system wireless on the outside of pipeline.In some embodiments, In appropriate circumstances, information is transmitted by using repeater or extensor, wherein transmission signal carry out long range traveling or It is advanced through bending area.
In one embodiment, the one or more processors of chiller system 6500 and one or more sensor quilts Configuration carrys out the monitoring machine refrigerating charge level that but supply of electric power, airborne motion supply of electric power and other onboard electrics are supplied.For example, The voltage exported by these supplies of electric power can be monitored (continuously or under aturegularaintervals).In one embodiment, cool down The transmitter of device system 6500 by the battery life monitored/charge level information it is fully wireless be transmitted into long-range uLog processing System is for further processing.For example, the charge level information of the onboard electric supply monitored can be used for determining cooler The remaining operation time of the estimation of system 6500.In one embodiment, one or more processing of chiller system 6500 Device can be configured to locally determine the remaining operation time of the estimation of chiller system 6500 on chiller system 6500. In one embodiment, long-range uLog processing systems can be configured to based upon the battery life/charge level letter wirelessly launched Breath determines the remaining operation time of the estimation of chiller system 6500.In one embodiment, long-range uLog processing systems can It is configured to the remaining operation time of the estimation of chiller system 6500 being transmitted into the one or more of chiller system 6500 Processor.In one embodiment, long-range uLog processing systems can also be configured to based upon the estimation of chiller system 6500 The transmitting of remaining operation time (to chiller system 6500 it is fully wireless launch) operation on chiller system 6500 Other instruction.
In one embodiment, the one or more processors of chiller system 6500 and one or more sensor quilts Configuration carrys out the level that monitoring machine carries cooling agent supply/tank.For example, cooling agent supply can be monitored (continuously or under aturegularaintervals) The pressure of tank and/volume.In one embodiment, the cooling agent monitored is consumed number by the transmitter of chiller system 6500 Long-range uLog processing systems according to fully wireless are transmitted into for further processing.
For example, the cooling agent consumption data monitored can be used for determining the cooler before cooling agent is refilled/refilled The remaining operation time of the estimation of system 6500.In one embodiment, one or more processing of chiller system 6500 Device can be configured to locally determine the remaining operation time (example of the estimation of chiller system 6500 on chiller system 6500 Such as, before cooling agent refills).In one embodiment, long-range uLog processing systems can be configured to based upon wirelessly The cooling agent consumption data of transmitting determines the remaining operation time of the estimation of chiller system 6500 (for example, being cooled down next time Before agent refills).In one embodiment, long-range uLog processing systems can be configured to estimating chiller system 6500 The remaining operation time (for example, before cooling agent refills) of calculation is transmitted into one or more processing of chiller system 6500 Device.In one embodiment, long-range uLog processing systems can also be configured to based upon the behaviour of the estimation of chiller system 6500 Make the time (for example, before cooling agent refills) transmitting (to chiller system 6500 it is fully wireless launch) on cooler The other instruction of the operation of system 6500.
In one embodiment, long-range uLog processing systems from diverse location (for example, across country or across the earth Diverse location) multiple chiller systems at place receive battery charge data, and database is established thereon.This database quilt ULog processing systems use, to determine the expection battery life of the different operating parameter based on chiller system based on big data group Time.This can be used by the one or more processors of uLog and/or cooled device system 6500, with working as based on various assemblies Preceding mode of operation predicts the battery life time of these components.This information can be used by one or more processors, with by repairing Change the power consumption that one or more operating parameters reduce or adjust one or more assemblies.If for example, at one or more Reason device determination can change such mode of operation without negatively affecting the associated operation being carrying out, then can adjust (example Such as, reducing) whole cooldown rate, voltage, and/or electric currents to be to save battery life.
In one embodiment, any one quilt in battery life, voltage output, coolant level and operating parameter It is wirelessly transmitted to user interface (such as computer monitor with computer display) so that they can be monitored by user.
In one embodiment, as chiller system 6500, other all coolings described in this application Device system (for example, 2010,2110,2210,2310) is configured to wirelessly communicate with long-range uLog processing systems.
In one embodiment, with reference to figure 120, chiller system 6500 is configured to applying insulating material 5312 Cooling energy is applied to metallic conduit 1022a, 1022b interior surface 5130a, 5132a afterwards, to promote metallic conduit 1022a, 1022b cooling.In one embodiment, chiller system 6500 may move through it including being configured to carrying Fluid heat exchanger or cooler 6502.That is, cool down energy and pass through the removable fluid that is arranged in heat exchanger 6502 Apply.In one embodiment, removable fluid can be gas or liquid.
For example, in one embodiment, there can be carrying removable as shown in Figure 119-122, in heat exchanger 6502 By the fluid path line 6593 of its liquid, and energy is cooled down by being arranged on the fluid passage line of heat exchanger 6502 Removable liquid in 6593 applies.In one embodiment, as shown in Figure 124-125, can have in heat exchanger 6502 Carry and may move through the air duct 6576 of its air, and cool down energy by being arranged on the air of heat exchanger 6502 Movable air in passage 6576 applies.
In one embodiment, the contact surface 6572 of heat exchanger 6502 is configured to be positioned to and welded pipe line 1022a, 1022b interior surface 5130a, 5132a contact, to remove heat from welded pipe line 1022a, 1022b.
In one embodiment, the contact surface 6572 of heat exchanger 6502 can be can conformal, heat-transfer surface.Example Such as, in one embodiment, the contact surface 6572 of heat exchanger 6502 is constructed and shaped to conform closely with welded pipe Road 1022a, 1022b interior surface, to remove heat from welded pipe line 1022a, 1022b.In one embodiment, heat is handed over The contact surface 6572 of parallel operation 6502 is constructed and arranged to heat conduction.
In one embodiment, cooling energy is applied by fluid, and the fluid is in pipeline 1022a, 1022b inside Interior release so that fluid directly contacts pipeline 1022a, 1022b interior surface 5130a, 5132a.In an embodiment In, fluid includes liquid.In one embodiment, fluid includes gas.For example, in one embodiment, fluid tip 6562 are configured to cooling fluid (directly) application (or spraying) arriving welded pipe line 1022a, 1022b (as shown in Figure 123) Interior surface 5130a, 5132a on, with from welded pipe line 1022a, 1022b remove heat.In one embodiment, air blast Machine 6505 be configured to (as shown in Figure 133) by cooling gas (directly) apply (or blowing) to welded pipe line 1022a, In 1022b interior surface 5130a, 5132a, to remove heat from welded pipe line 1022a, 1022b.
In one embodiment, the contact surface 6572 of heat exchanger 6502 is configured to be positioned to and welded pipe line 1022a, 1022b interior surface 5130a, 5132a contact, to remove heat from welded pipe line 1022a, 1022b.For example, such as Shown in Figure 119-121, Figure 124, Figure 130 and Figure 132, each contact surface in these different types of heat exchangers 6502 6572 are configured to be positioned to contact with welded pipe line 1022a, 1022b interior surface 5130a, 5132a, with from welded pipe line 1022a, 1022b remove heat.
With reference to figure 119-122, the heat exchanger 6502 of chiller system 6500 may include multiple heat exchanger elements or wing Piece 6580, the multiple heat exchanger element or fin 6580 are centrally located the circumferentially spaced position on framework 6634 Place.In one embodiment, each heat exchanger element 6580 can have the one or more cooling agent lines passed through 6593.In one embodiment, each heat exchanger element or fin 6580 are supported in central frame 6634, and are operated It is connected to actuator mechanism 6582 to property.In one embodiment, actuator mechanism 6582 is configured to make each heat exchange Device element or fin 6580 are between its extended position (as shown in Figure 120 and Figure 121) and its advanced position (as shown in Figure 122) It is mobile.In one embodiment, as shown in Figure 122, when heat exchanger element 6580 is in its advanced position, handed in heat Exist between the contact surface 6572 of transformer element 6580 and pipeline 1022a, 1022b inner surface 5130a, 5132a between radial direction Gap G.
In one embodiment, actuator mechanism 6582 may include piston 6586, cylinder 6584, multiple first components 6588 and multiple second components 6590.In one embodiment, first component and the quantity of second component may depend on just In the quantity of the heat exchanger element 6580 used.
In one embodiment, two actuator mechanisms may be present, one of actuator mechanism positioning is (along pipeline Axis is axially) on the side of heat exchanger element 6580, and the positioning of another actuator mechanism is (along conduit axis axle To ground) on the opposite side of heat exchanger element 6580.In one embodiment, two actuator mechanisms can operate simultaneously with Heat exchanger element 6580 is set to be moved between its extended position and advanced position.In one embodiment, it is understood that there may be only One actuator mechanism, the actuator mechanism are configured to make each heat exchanger element or fin 6580 in its extended position Moved between (as shown in Figure 120 and Figure 121) and its advanced position (as shown in Figure 122).
In one embodiment, each second component 6590 is constructed and arranged to be connected to hot friendship on one end Transformer element 6580, and first component 6588 is connected on another end.In one embodiment, each first structure Part 6588 is constructed and arranged to be connected to second component 6590 on one end, and is connected to work on another end The part (or the component that can be moved by piston 6586) of plug 6586.
In one embodiment, second component 6590 is constructed and arranged to be positioned in (fixation) framing component 6594 Radially extend opening 6592 in so that radially extend opening 6592 promotion second components 6590 wherein move radially (example Such as, move radially up and down).
In one embodiment, piston 6586 is configured to axially move in cylinder 6584.In an implementation In scheme, first component 6588 is for example, by by fluid (hydraulic pressure or air pressure) pressure-actuated axial reciprocating in cylinder 6584 Piston 6586 moves.
Moved axially by activating the piston 6586 of cylinder 6584 in cylinder 6584, heat exchanger element 6580 from its Advanced position is moved to its extended position (as shown in Figure 120 and Figure 121) (as shown in Figure 122), in the advanced position, heat The contact surface 6572 of exchanger element 6580 does not contact with pipeline 1022a, 1022b inner surface 5130a, 5132a, described In extended position, the contact surface 6572 of heat exchanger element 6580 is configured to the inner surface with pipeline 1022a, 1022b 5130a, 5132a are contacted.The compressed air of entry port 6503 promotes piston 6586 so that heat exchanger element 6580 is moved to Its extended position.
In one embodiment, the transfer of first component 6588 that moves axially through of piston 6586 is second component 6590 Move radially.Therefore, radially contact with power and generated by acting on the Fluid pressure of the compressed air on piston 6586.Piston The axial movement of piston 6586 is converted into second component 6590 by 6586 driving first components 6588, the first component 6588 Move radially.Because each heat exchanger element 6580 is operatively connectable to second component 6590, second component 6590 Move radially and cause the moving radially between its extended position and advanced position of heat exchanger element 6580.
In one embodiment, the size of cylinder, the Fluid pressure applied and actuator mechanism 6582 can be changed Various assemblies size, to control the extension of heat exchanger element 6580 and retraction.
In one embodiment, as shown in Figure 123, chiller system 6500 may include fluid tip 6562, the stream Body nozzle 6562 is configured to cooling liquid being applied in welded pipe line 1022a, 1022b interior surface 5130a, 5130b, To remove heat from welded pipe line 1022a, 1022b.In one embodiment, fluid tip 6562 is (operating) water nozzle, the water Water is blowed/sprayed in pipeline 1022a, 1022b interior surface 5130a, 5132a by nozzle, to promote welding metal pipeline 1022a, 1022b cooling.
In one embodiment, heat exchanger 6502 may include multiple fluid tips 6562, the multiple fluid tip 6562 are positioned at circumferential and axially spaced apart (along conduit axis) opening position.In one embodiment, each fluid spray Mouth 6562 is configured to receive cooling from coolant source 6564 by cooling agent supply line 6566 and by one or more valves Liquid.In one embodiment, cooling agent is gas or liquid.In one embodiment, the cooling agent received passes through Fluid tip 6562 is sprayed in welded pipe line 1022a, 1022b interior surface 5130a, 5132a, with from welded pipe line 1022a, 1022b remove heat.
Figure 124 and Figure 125 shows heat exchanger element or fin 6574, the heat exchanger element or fin 6574 by with Put come for example using with reference to shown in figure 120-122 and describe actuator mechanism 6582 be extendible.In an embodiment In, when heat exchanger element or fin 6574 are in extended position, the contact surface of heat exchanger element or fin 6574 6572 are configured to be positioned to contact with welded pipe line 1022a, 1022b interior surface 5130a, 5132a, with from welded pipe line 1022a, 1022b remove heat.In one embodiment, heat exchanger may include to be positioned at circumferentially spaced position simultaneously And actuating mechanism (for example, pneumatic or other) extension and multiple this heat exchanger element or fin 6574 of retraction can be passed through. In one embodiment, may include to be configured to allow fluid to pass through in heat exchanger element or fin 6574 is multiple Fluid (air) passage 6576.In one embodiment, passage 6576 radially and can be circumferentially spaced.
With reference to figure 126-128, in one embodiment, chiller system 6500 may include drive system 6602.One In individual embodiment, drive system 6602 may include cable arrangement 6604, and the cable arrangement 6604 is from internal cooler system 6500 and pipeline 1022a open end 6606 is extended to by one or more pipeline 1022a, 1022b.In an implementation In scheme, the forward direction that cable arrangement 6604 is used to promote internal cooler system 6500 in pipeline 1022a, 1022b is mobile.
In one embodiment, one or more cable/capstan systems 6608 and 6604 can be implemented, one of them or it is more Individual capstan winch 6608 can be provided as the part of internal cooler system 6500 and/or positioned at one outside pipeline 1022a, 1022b Individual or multiple anchor point (for example, 6610) places.In one embodiment, winch configurations may be provided in internal cooler system In 6500 frameworks.
For example, in one embodiment, winch configurations 6608 provide the anchorage point outside pipeline 1022a, 1022b At 6610 and it is connected to cable arrangement 6604.That is, connect with reference to figure 127 and Figure 128, an end 6612 of cable arrangement 6604 Winch configurations 6608 are connected to, and another end 6614 of cable arrangement 6604 is connected to the front end of chiller system 6500 The component 6616 of framework 6618.This of cable arrangement 6604 and winch configurations 6608 configuration promote internal cooler system 6500 to exist Forward direction in pipeline 1022a, 1022b is mobile.
In one embodiment, another cable arrangement may be connected to the rear frame 6622 of chiller system 6500 The component 6620 of (as shown in Figure 119), to promote reverse shifting of the internal cooler system 6500 in pipeline 1022a, 1022b It is dynamic.This cable arrangement can by another winch configurations (such as, there is provided behind pipeline 1022a, 1022b and outside anchoring position Put place) operation, to promote reverse movement of the internal cooler system 6500 in pipe section 1022a, 1022b.
Therefore, cable arrangement 6604 is in capstan winch 6608 and tie point (internally at chiller system 6500 or pipeline At tie point outside 1022a, 1022b) between extend, to be advantageous to internal cooler system 6500 during process The taking-up of placement and/or internal cooler system 6500 in pipeline 1022a, 1022b from pipeline 1022a, 1022b.
In one embodiment, as shown in Figure 129, chiller system 6500 may include：Multiple rollers 6530, it is configured To engage one or more of pipeline 1022a, 1022b interior surface 5130,5132；With drive motor 6532, its quilt Configuration come driven roller 6530 so as to move the frame assemblage 6503 of chiller system 6500 (including front end framework 6618, in Entreat framework 6634 and driver framework 6622).
In one embodiment, cooler electronic module 6528 is configured to control the operation (example of drive system 6602 Such as, by controlling one or more motor 6532 (it makes the movement of roller 6530 be contacted with the inner wall section of pipeline)), with promotion Portion's chiller system 2010 is in pipeline 1022a and towards the advance of welding position.In one embodiment, internal cooling The cooler electronic module 6528 of device system 6500 is configured to one or more processors 5140 and as retouched in this application One or more other processors or electronic module stated communicate (for example, being operatively connected from different welding systems, with branch Connect and/or be remotely located from frame, fixture or other pipe alignment system operabilities the opening position of these systems).
In the embodiment illustrated, the corresponding drive motor 6532 of each roller 6530 of chiller system 6500 It is operatively connected.That is, four drive motors 6532 are connected to four rollers 6330 as depicted.In another embodiment In, two rollers 6530 can be connected directly to two drive motors 6532, and other two rollers 6530 operably connect It is connected to two rollers 6530 for being connected directly to drive motor 6532.
In one embodiment, as shown in Figure 130 and Figure 131, chiller system 6500 may include supply of electric power source 6526, to provide power to the cooler electronic module 6528 of chiller system 6500, drive system 6602, electronic sensor Device, valve arrangement are (for example, electrically controlling one or more valves 6522 and therefore controlling cooling agent from coolant supply The flowing of 6524 heat exchangers 6502).In one embodiment, supply of electric power source 6526 by chiller system 6500 frame Frame assembly carries.In one embodiment, supply of electric power source 6526 includes the rear frame by chiller system 6500 The multiple battery units or battery pack of 6622 carryings.In one embodiment, seven batteries are shown.In an embodiment In, the quantity of battery can change.In one embodiment, the quantity of battery may depend on the class for the heat exchanger being used Other electrical power demands of type and/or chiller system 6500.In the embodiment illustrated, supply of electric power source 6526 shows having Have in the chiller system of thermoelectric heat exchanger.It is contemplated, however, that supply of electric power source 6526 can with such as described in this application The chiller system of any kind of heat exchanger be used together.
In one embodiment, the one or more battery unit carried by the framework of chiller system 6500 is configured Carry out drive motor 6532 and the brakes power supply for chiller system 6500.In one embodiment, by cooler system The one or more battery unit of the framework carrying of system 6500 is configured to power for the cooler 6502 of chiller system 6500.
In one embodiment, as shown in Figure 130 and Figure 132, the heat exchanger 6502 of chiller system 6500 can be with It is thermoelectric heat exchanger 6502.For example, thermoelectric heat exchanger can be peltier device.
In one embodiment, thermoelectric heat exchanger 6502 can have multiple framing components 6538, the multiple framework Component 6538 is positioned at the circumferentially spaced position on the shaft component 6542 of chiller system 6500.In shown embodiment party In case, six framing components 6538 are shown.In one embodiment, the quantity of framing component 6538 can change.In a reality Apply in scheme, each framing component 6538 there can be the multiple thermoelectricity heat transfer elements 6544 being positioned on.In shown reality Apply in scheme, six thermoelectricity heat transfer elements 6544 are positioned on each framing component 6538.In one embodiment, position The quantity of thermoelectricity heat transfer element 6544 on each framing component 6538 can change.
In one embodiment, framing component 6538 can be supported on cooling by supporting member 6540 (for example, two) On the shaft component 6542 of device system 6500.In one embodiment, supporting member 6540 can be extended and be returned by actuating mechanism Contracting.In one embodiment, actuating mechanism is configured to extend supporting member 6540 so that framing component 6538 and positioning Thermoelectric element 6544 thereon is positioned to contact with interior surface 5130a, 5132a of welded pipe line, with from welded pipe line 1022a, 1022b remove heat.In one embodiment, actuating mechanism can be controlled in a manner of pneumatic, or can such as by Any other mode that those skilled in the art is understood controls.
In one embodiment, as shown in Figure 133, the heat exchanger 6502 of chiller system 6500 can be air blower 6505, the air blower 6505 is configured to cooling gas being blown into welded pipe line 1022a, 1022b interior surface On 5130a, 5132a, to remove heat from welded pipe line 1022a, 1022b.In one embodiment, air blower blows air It is sent in pipeline 1022a, 1022b interior surface 5130a, 5132a, to promote welded pipe line 1022a, 1022b cooling. In one embodiment, air blower 6505 may include in the framing component 6550 thereon with multiple holes 6552.In an implementation In scheme, framing component 6550 is constructed and arranged from the outlet in compressed air (for example, high pressure) source 6554 and receives air. In one embodiment, framing component 6550 is constructed and arranged from the outlet of the fan of motor driving and receives air. In one embodiment, the hole 6552 formed on framing component 6550 is configured to act as exporting, for that will be received Air delivery to welded pipe line interior surface 5130a, 5132a, with from welded pipe line 1022a, 1022b remove heat.
In one embodiment, as shown in Figure 134, at the position CL on Part I 6558 and by cooling down The video camera 6556 that device electronic module 6528 controls can provide video image to remote control so that user can determine that interior Portion's chiller system 6500 has how close apart from solder joint 1026.
In one embodiment, as shown in Figure 135 and Figure 136, chiller system 6500 includes air blower 6650, described Air blower 6650 is configured to cooling gas being blown into welded pipe line 1022a, 1022b interior surface 5130a, 5132a, To remove heat from welded pipe line 1022a, 1022b.In one embodiment, air blower 6505 includes fan.In a reality Apply in scheme, structure, position and the operation of air blower 6505 can be with the fans being described in detail elsewhere in this application 2122 is similar.
In one embodiment, with reference to figure 135 and Figure 136, by operating actuating mechanism 6664, heat exchanger element 6580 are moved to its extended position from its advanced position (as shown in Figure 136), in the advanced position, heat exchanger element 6580 contact surface 6572 does not contact with pipeline 1022a, 1022b inner surface 5130a, 5132a, in the extended position In, the contact surface 6572 of heat exchanger element 6580 is configured to inner surface 5130a, 5132a with pipeline 1022a, 1022b Contact.
In one embodiment, actuator mechanism 6664 can be linear actuators.In one embodiment, activate Device mechanism 6664 may include motor 6652, driving screw 6654, guiding nut 6656, multiple first components 6664 and multiple second Component 6666.In one embodiment, first component and the quantity of second component may depend on the heat exchanger being used The quantity of element 6580.In one embodiment, each second component 6666 is constructed and arranged to connect on one end Heat exchanger element 6580 is connected to, and first component 6664 is connected on another end.In one embodiment, often Individual first component 6664 is constructed and arranged to be connected to second component 6666 on one end, and on another end It is connected to the component 6662 that can be moved by motor 6652.
In one embodiment, motor 6652 is configured (for example, mechanically connected) rotate driving screw 6654. In one embodiment, motor 6652 is configured to rotate clockwise or counterclockwise, to cause heat transfer element 6580 conduit axis for being substantially perpendicular to pipeline 1022a, 1022b are raised and lowered.In one embodiment, motor 6652 are configured to be directly connected so that driving screw 6654 rotates.In another embodiment, motor 6652 is configured For example to be connected indirectly by series of gears or gear-box so that driving screw 6654 rotates.
In one embodiment, the spiral shell that driving screw 6654 includes processing on its outer surface and extended along its length Line.In one embodiment, guiding nut 6656 is constructed and arranged to be screwed on driving screw 5514, and including being worked into it Complementary threads on inner surface.
In one embodiment, guiding nut 6656 is configured to interlock with a part for component 6662 so that prevents from leading Nut 6656 rotates together with driving screw 6654.That is, guiding nut 6656 is restrained rotates together with driving screw 6654, therefore guide screw Mother 6656 is configured to advance up and down on driving screw 6654.In one embodiment, guiding nut 6656 interlocks simultaneously And it is positioned in the opening of component 6662.In one embodiment, driving screw 5514 is configured to through interlocking guiding nut 5516 opening.
In the operation of actuator mechanism 6664 discussed further below.When driving screw 6654 is rotated by motor 6652, Guiding nut 6656 is driven along screw thread.In one embodiment, the direction of motion of guiding nut 6656 depends on driving screw 6654 direction of rotation as caused by motor 6652.Because guiding nut 6656 is mutually locked in the opening of component 6662, component 6662 are configured to advance on driving screw 6654 together with guiding nut 6656.That is, when motor 6652 rotates, component 6662 Linearly translation (right side is arrived left or left-to-right).In addition, because component 6662 is connected to first component 6658, component 6662 The mobile movement for causing first component 6658.Because second component 6660 is connected to first component 6658, first component 6658 movement causes the radial direction (up or down) of second component 6660 mobile.That is, the linear translation of component 6662 passes through The radial direction (up or down) that one component 6658 is converted into second component 6660 is mobile.
Because heat exchanger element 6580 is connected to second component 6660, the radial direction of second component 6660 (upwards or Mobile radial direction (up or down) movement for causing heat exchanger element 6580 downwards).Therefore, motor 6652 be configured to by The contact surface 6572 of heat exchanger element 6580 be displaced outwardly into metallic conduit 1022a, 1022b interior surface 5130a, 5132a is engaged.
In one embodiment, chiller system cooling pipe is (for example, after process is coated and in rolling step The time spent can be in the scope between 90 and 150 minutes before).
Because chiller system can be used for the interior surface that cooling energy is applied to metallic conduit out of pipeline, can Reduce metallic conduit cool time (for example, with allow metallic conduit natural cooling compared with, or with insulating material Top on apply cooling agent compare).This can for example promote metallic conduit after insulating material is applied to welded pipe line Cooling, the welded pipe line should preheat before welding material is applied.Therefore, welded pipe line can be put into service or faster Fast ground is otherwise further processed.Specifically, it is heated to apply insulating material and insulator in welded pipe line After application, it should not be subjected to the high stress that may occur in process is disposed.For example, in some embodiments, welded pipe Road and its insulant (insulant is only heated to the after-applied of at least 160 DEG C of temperature in welded pipe line temperature) are intended to rolling up It is wound in operation on spool.This operating winding is only cool below threshold level (example in the metallic conduit for welding and insulating Such as, less than 50 DEG C) ideally implement afterwards.The use of internal cooler can be accelerated to realize that metallic conduit is cool below threshold value water It is flat.Internally in another application of chiller system, after pipeline welding (and before insulator application).
Operating winding is only can be less than threshold temperature (for example, by internal cold in welded pipe line in multiple deployment processes But the operation of device) after ideally implement one.Other deployments process may include the S types laying process on pipe laying barge And/or J-type laying process.Before in pipeline commissioning to water (for example, sea or ocean), welded pipe line should be less than threshold temperature.
In addition, in another application, it may be desirable to examine weld part using ultrasonic detector in ultrasonic examination system. Ultrasonic examination platform is configured to ideally operate under less than threshold temperature (for example, less than 80 DEG C), and this can be by using cooling Device system obtains (after pipeline is heated due to welding operation) more quickly.Therefore, in a system, cooler can be Use before ultrasonic examination system operatio, the ultrasonic examination system operatio is after being welded and in pipeline in order to apply insulation Material is implemented before being reheated.
In one embodiment, with reference to figure 136A, there is provided ultrasonic examination platform 6801, the ultrasonic examination platform 6801 by with Put to examine the weld part between welding metal pipeline 1022a, 1022b.In one embodiment, the quilt of chiller system 6500 Configure to promote metal after pipeline 1022a, 1022b welding and before weld part is examined by ultrasonic examination platform 6801 Pipeline 1022a, 1022b cooling.
In one embodiment, temperature sensor (for example, 2017a as shown in Figure 104-109) can be used for determining to manage The temperature of road 1022a, 1022b near weld part 1026.For example, with reference to figure 107, temperature sensor 2017a is configured to fixed Position is internally on chiller system and near weld part 1026.In one embodiment, temperature sensor 2017a can determine Position is internally near the heat transfer element or fin of chiller system, to measure pipeline 1022a, 1022b (internal diameter) inner surface 5130th, 5132 temperature.In another embodiment, temperature sensor can be positioned at ultrasonic examination platform 6801.At one In embodiment, temperature sensor can be contact or non-contact temperature sensor.
In one embodiment, the temperature sensor 2017a of the temperature of sense pipeline 1022a, 1022b can with one or Multiple processors operatively communicate.In one embodiment, one or more processors are based on from temperature sensor 2017a Received signal sends operational order to cooler 6502.In one embodiment, one or more processors operation is cold But device, untill sensor 2017a and processor determine that pipeline 1022a, 1022b temperature are less than threshold temperature.
In one embodiment, one or more processors can be configured to determine pipeline 1022a, 1022b and weld Temperature near portion 1026 is less than predetermined temperature threshold.In one embodiment, temperature sensor can be configured to detect pipe The temperature of road 1022a, 1022b near weld part 1026 is less than predetermined temperature threshold.
In one embodiment, the inspection carried out by ultrasonic examination platform 6801 detects in temperature sensor 2017a The temperature of pipeline 1022a, 1022b near weld part 1026 is carried out after being less than predetermined temperature threshold.
Figure 136 B show a kind of method for pipeline deployment.Figure 136 C and Figure 136 D show S types laying pipeline deployment system The schematic diagram of system and J-type laying pipeline deployment system.Figure 136 E show the laying of S types and J-type laying unwinding barge.
In one embodiment, pipeline 1022a, 1022b (for example, about 40 feet or 80 feet long) manufactures work in pipeline Manufactured during sequence 6902.In one embodiment, will for the pipeline further handled be sent to for example S types laying refute Before ship 6942 (as shown in Figure 136 C), spool base or J-type laying barge 6944 (as shown in Figure 136 D), manufactured pipe Road is stored at pipelined storage device 6904.In one embodiment, pipelined storage device may include multiple storing goods shelfs.
In one embodiment, at spool base process 6914, manufactured pipe section is by spool base Receive, these pipe sections are coupled at spool base to form long pipeline part, and these long pipeline parts and then quilt Wind and be loaded into ship, on ship or barge.In one embodiment, spool base may include semi-automatically, or automatically Welding system, live seam application system, it is non-invasive inspection and test system, storing goods shelf, roller system, and/or for Other pipe handling equipments of the manufacture of rigid line, winding and loading before installation.
In one embodiment, pipe rod be wound on the big spool on barge (as shown in Figure 136 E) and By unwinding when barge arrives at job position.In one embodiment, the pipe rod of winding at process 6916 in ship, ship Or unwinding and pipe section and then disposed on barge at process 6918.In one embodiment, " unwinding " ship, ship Only or barge can be J-type laying barge or S types laying barge.Figure 136 E show the laying of S types and J-type laying unwinding barge.
In one embodiment, S types lay the pipe section that barge 6942 receives storage from pipelined storage device.One In individual embodiment, at process 6906, S types laying barge 6942 produces long pipeline part using its shipborne system. In one embodiment, at process 6906, S types laying barge 6942 on using robot welding system, pipeline butt system, Supporting fixture, fixture and/or other support equipments are purged to produce long pipeline part.In one embodiment, S types laying pipe Deployment process in road is used for offshore pipelines application.In one embodiment, S types laying pipeline deployment process is used for shallow water area with Between waters.In one embodiment, S types laying pipeline deployment process allows pipeline to leave ship in horizontal level.One In individual embodiment, S types laying pipeline deployment process provides high throughput rate.As shown in Figure 136 C, the S types laying quilt of barge 6942 Construct and arrange to dispose pipe section in the configuration of S-shaped pipeline.
In one embodiment, J-type lays the pipe section that barge 6944 receives storage from pipelined storage device.One In individual embodiment, at process 6908, J-type laying barge 6944 produces long pipeline part using its shipborne system. In one embodiment, at process 6908, J-type laying barge 6944 on using robot welding system, pipeline butt system, J-type lays fixture, and/or other support equipments to produce long pipeline part.In one embodiment, J-type laying pipe section Administration's process is used for offshore pipelines application.In one embodiment, J-type laying pipeline deployment process is used for deepwater work.One In individual embodiment, J-type laying pipeline deployment process allows pipeline to leave paving system in very close vertical position.This Mean pipeline to reduce many stress to pipeline to install.As shown in Figure 136 D, J-type laying barge 6944 is constructed simultaneously Arrange to dispose pipe section in the configuration of J-shaped pipeline.
To inside welder system when in pipeline, joint welder system and/or tube-cooled device system control, Position and can be embodied in various ways with their communication, as described herein.In yet another embodiment, system is in pipeline Position can be transmitted to detect by the low frequency electromagnetic signals from coil that is neighbouring, being placed parallel to pipeline external surface.This signal By installing in system in the duct, a pair of orthogonal receiving coil of adjacent conduit inner surface detects.Received signal phase It is used for the phase for estimating transmitter and receiver for the phase of signal and the amplitude ratio of two received signals launched To position.Control and information to the system (that is, internal welding machine, joint welding machine or chiller system etc.) in pipeline Transmitting can also be by the one or more processors (for example, in computer console) on the outside of pipeline with installing in the duct High frequency DSSS radio link between one or more processors in system is realized.The details of this deployment can Understand from United States Patent (USP) 6,092,406, the patent is incorporated herein in its entirety by reference.
In one embodiment, interior welds system 5004,3001 may include welding material expenditure device.In a reality Apply in scheme, outside weldings system 7500 may include welding material expenditure device.In one embodiment, welding material expenditure Device can be a part for the line feeding assembly 5020 of interior welds system 5004.
In one embodiment, welding consumer can have and shown in the 161A-165 such as the application and refer to The device of 161A-165 descriptions is similar structurally and operationally.For example, in one embodiment, interior welds system 5004 uses Spool 5272 (as shown in fig. 22) structure, configuration and operation can with as with reference to shown in figure 161A and described in spool 14480 is similar.In one embodiment, interior welds system 5004 line feeding assembly 5020 motor structure, Configuration and operation can with as shown in Figure 162, Figure 164 A and Figure 164 B and with reference to electronic described in figure 162, Figure 164 A and Figure 164 B Machine 14490 is similar.In addition, in one embodiment, the line feeding assembly 5020 of interior welds system 5004 may include by Configure to sense the weight sensor exhausted of expendable material.The structure of the weight sensor of interior welds system 5004, match somebody with somebody Put and operate can with it is as shown in Figure 161 C and similar with reference to the weight sensor 14484 described in figure 161C.In an embodiment In, it is internal in preset time section to determine that interior welds system 5004 may include other sensors (for example, being shown in 161B) The amount of welding material can be consumed used in welding system 5004.
In one embodiment, with the operatively associated one or more processors of interior welds system 5004 5140 can be configured to according to as in the application elsewhere described in line feed assembly 5020 motor speed it is true Alignment feed rate.In one embodiment, with interior welds system 5004 operatively at associated one or more Reason device 5140 can be configured to determine the amount that can consume welding material in preset time section used in interior welds system 5004, And welding material expenditure data are generated based on it.In one embodiment, the transmitter of interior welds system 5004 can incite somebody to action Welding material expenditure data are transmitted into long-range uLog processing systems for further processing fully wirelessly.In an embodiment party In case, long-range uLog processing systems can also be configured to based upon handled welding material expenditure data transmitting (fully wirelessly Internally welding system, outside weldings system and/or joint interior welds system) on interior welds system, outside weldings system The other instruction of the operation of system and/or joint interior welds system.For example, the instruction may include by increasing interior welds The speed of the motor of the line feeding assembly of system, outside weldings system and/or joint interior welds system carrys out compensation line feedback Send the sliding of the motor of assembly.In one embodiment, the one or more processors of interior welds system 5004 5140 processes that can be used shown in Figure 163 and Figure 165 and described with reference to figure 163 and Figure 165, to determine welding material expenditure number According to, handled welding material expenditure data etc..
In one embodiment, structurally and operationally entering above with reference to interior welds system 5004 for consumer is welded Row description.In one embodiment, outside weldings system 7500 and joint interior welds system 3001 may include to have similar Welding consumer structurally and operationally.I.e., in one embodiment, by interior welds system and outside weldings system Hub, electronic device, software and the picture that welding material expenditure device is sent are general to two devices.It is however, interior The shapes and sizes of portion's welding system 5004,3001 and the welding material expenditure device of outside weldings system 7500 can change. In one embodiment, the welding material expenditure device of interior welds system 5004,3001 and outside weldings system 7500 can have There are configuration of different shapes and/or different geometries.In one embodiment, welding material expenditure device can be configured To detect the coil of wire bobbin of the unauthorized used in welding system 5004,3001 internally or outside weldings system 7500.
Fielded system is tested and operation
Figure 137 A show to be used to promote fielded system test or its system operated according to one or more embodiments 13700.As shown in Figure 137, system 13700 may include one or more fielded systems 13702 (or fielded system 13702a- 13702n), one or more remote computer systems 13704 and the component of system 13700 can be communicated with one another by it one Individual or multiple networks 150.Fielded system 13702 may include one or more field devices 13712, one or more verifying attachments 13714th, one or more field computer systems 13716 or other assemblies.Remote computer system 13704 may include one Or multiple processors 13730, one or more of processors 13730 are configured to carry out one or more subsystems, such as Contour of object subsystem 13732, Action Manager subsystem 13734, operating protocol subsystem 13736, operation monitoring subsystem 13738th, operation triggering subsystem 13740, presentation subsystem 13742 or other assemblies.As described below, one or more real Apply in scheme, the operation of the corresponding assembly of remote computer system 13704 can by one of remote computer system 13704 or Multiple processors perform.It should be noted that although one or more operations are described herein as passing through remote computer system 13704 component performs, but in some embodiments, these operations can pass through the component (example of fielded system 13702 Such as, field computer system 13716) or the other assemblies of system 13700 perform.
In one embodiment, fielded system 13702 can be fielded system 5000.In one embodiment, such as Fruit computer system 5138 is local to fielded system 5000, then field computer system 13716 can be local computer System 5138, and field computer system processor 13718 can be local computer system processor 5140.If calculate Machine system 5138 positions away from fielded system 5000, then remote computer system 13704 can be remote computer system 5138, And remote computer system processor 13730 can be remote computer system processor 5140.
Figure 137 B show remote computer system 13730 according to one or more embodiments, fielded system 13702 Communication link between the other assemblies of field computer system 13716 and fielded system 13702.In an embodiment In, remote computer system 13704 (or its processor 13730) can pass through (and the field computer of field computer system 13716 One or more wired or wireless communication links between system 13716 and remote computer system 13704) and fielded system 13702 one or more other assemblies communication.For example, field computer system processor 13718 can be from fielded system 13702 One or more of other systems (or its corresponding processor 13720) acceptance inspection data, input parameter, operational observations Data or other data, the other systems such as welding system 3001 (for example, joint interior welds system 3001), welding System 5004 (for example, interior welds system 5004), chiller system 6500 (for example, internal cooler system 6500), purging With the other systems of checking system 7001, welding system 7500 (for example, outside weldings system 7500) or fielded system 13702 13724 (for example, supports or other pipe alignment systems, other checking systems etc.).Field computer system processor 13718 can Remote computer system is arrived into inspection data, input parameter, operational observations data or other data transmitting (passing through transmitter) 13704, and receive and respond from remote computer system 13704 as response, the response includes outline data (for example, weldering Connect front profile data, dynamic outline data, welding rear profile data etc.), the instruction for performing operation on object, warning (for example, if defect has instruction defect, the instruction for starting or stopping operation etc.) or other data.In a kind of service condition Under, if response includes outline data, outline data can be used to generate warning in field computer system processor 13718 (for example, if defect has instruction defect, the instruction for starting or stopping operation etc.), obtain for performing operation on object Instruction etc..Under another service condition, if response includes being used for the instruction for performing operation on object, field computer Instruction issue to the appropriate system of fielded system 13702 can be caused this system according to being launched by system processor 13718 Instruction perform operation.
In one embodiment, likewise it may be beneficial to make remote computer using one or more wireless communication links System 13704, field computer system 13716, welding system 3001, welding system 5004, chiller system 6500, purging and The one or more assemblies of checking system 7001 or welding system 7500 communicate with one another, to reduce the various of fielded system 13702 The quantity of communication cable in system, to reduce the potential cable for the other assemblies that may postpone operation or damage these systems Tangle.For example, in some embodiments by reducing welding system 3001, welding system 5004, purging and checking system 7001 or the communication cable in welding system 7500 quantity can reduce verifying attachment (for example, examine laser, examine take the photograph Camera or other verifying attachments), the potential cable that occurs in the rotary courses of the other assemblies of welding torch or these systems twines Knot.
Figure 137 C show the remote computer system 13730 according to one or more embodiments with not having field computer Communication link between the component of the fielded system 13702 of system 13716.In one embodiment, remote computer system 13704 (or its processor 13730) can be by between the various systems and remote computer system 13704 of fielded system 13702 One or more wired or wireless communication links communicated with one or more other assemblies of fielded system 13702 (for example, not Need single field computer system 13716).For example, remote computer system processor 13730 can be from fielded system One or more of 13702 system (or its corresponding electronic module) acceptance inspection data, input parameter, operational observations number According to or other data, the system such as welding system 3001 (for example, joint interior welds system 3001), welding system 5004 (for example, interior welds systems 5004), chiller system 6500 (for example, internal cooler system 6500), purging and inspection The other systems 13724 of check system 7001, welding system 7500 (for example, outside weldings system 7500) or fielded system 13702 (for example, internal cooler).As response, the corresponding system of fielded system 13702 receives one from remote computer system 13704 Individual or multiple responses, one or more of responses include outline data (for example, weld front profile data, dynamic outline data, Weld rear profile data etc.), the instruction for performing operation on object, warning (if for example, defect exist instruction defect, Start or the instruction that stops operation etc.) or other data.In one usage case, if for example, fielded system 13702 One in system receives the response for including being used to perform the instruction of operation on object, then this system can be according to the finger launched Order performs operation.
And for example, other groups of electronic module 5014,5046,5064, one or more of 5118 or welding system 5004 Part may include one or more processors, and one or more of processors are configured to by one or more wired or wireless Communication link and field computer system 13716 (or its processor 13718), remote computer system (or its processor 13730) or welding system 5004 other assemblies communication.In a situation, for example, electronic module 5014,5046,5064, One or more of 5118 can receive data from the one or more sensors or verifying attachment of welding system 5004, processing passes Sensor or inspection data, sensor or inspection data be transmitted into field computer system processor 13718 or remote computer System processor 13730, signal is generated to control one or more motor of welding system 5004 or other mechanical devices Perform one or more operations etc..
And for example, the other assemblies of electronic module 3126, one or more of 13722 or welding system 3001 may include one Individual or multiple processors, one or more of processors be configured to by one or more wired or wireless communication links with Field computer system 13716 (or its processor 13718), remote computer system (or its processor 13730) or welding system The other assemblies communication of system 3001.In a situation, for example, electronic module 3126, one or more of 13722 can be from weldering The one or more sensors or verifying attachment of welding system 5004 receive data, processing sensor or inspection data, by sensor Or inspection data is transmitted into field computer system processor 13718 or remote computer system processor 13730, generation signal One or more operations etc. are performed to control one or more motor of welding system 3001 or other mechanical devices.
And for example, the other assemblies of electronic module 6528, one or more of 13722 or chiller system 6500 may include One or more processors, one or more of processors are configured to by one or more wired or wireless communication links With field computer system 13716 (or its processor 13718), remote computer system (or its processor 13730) or cooling The other assemblies communication of device system 6500.In a situation, for example, electronic module 6528, one or more of 13722 can Data, processing sensor or inspection data are received from the one or more sensors or verifying attachment of chiller system 6500, are incited somebody to action Sensor or inspection data are transmitted into field computer system processor 13718 or remote computer system processor 13730, life Into signal to control one or more motor of chiller system 6500 or other mechanical devices to perform one or more behaviour Make etc..
And for example, electronic module 7032,7036,7040, one or more of 7064 or purging and checking system 7001 Other assemblies may include one or more processors, and one or more of processors are configured to by one or more wired Or wireless communication link and field computer system 13716 (or its processor 13718), remote computer system (or its processing Device 13730) or the communication of the other assemblies of purging and checking system 7001.In a situation, for example, electronic module 7032, 7036th, 7040, one or more of 7064 can be filled from the one or more sensors or inspection of purging and checking system 7001 Put and receive data, processing sensor or inspection data, sensor or inspection data are transmitted into field computer system processor 13718 or remote computer system processor 13730, generation signal with control purging and checking system it is one or more electronic Machine or other mechanical devices perform one or more operations etc..
And for example, the other assemblies of electronic module 3126, one or more of 13722 or welding system 3001 may include one Individual or multiple processors, one or more of processors be configured to by one or more wired or wireless communication links with Field computer system 13716 (or its processor 13718), remote computer system (or its processor 13730) or welding system The other assemblies communication of system 3001.In a situation, for example, electronic module 3126, one or more of 13722 can be from weldering The one or more sensors or verifying attachment of welding system 5004 receive data, processing sensor or inspection data, by sensor Or inspection data is transmitted into field computer system processor 13718 or remote computer system processor 13730, generation signal One or more operations etc. are performed to control one or more motor of welding system 3001 or other mechanical devices.
In one embodiment, fielded system (for example, fielded system 5000, fielded system 13702 etc.) can be with one Or multiple remote computer systems are (for example, the computer system 5138 positioned away from fielded system 5000, remote computer 13704 etc.) work together, to promote on-the-spot test or physical operations based on it.Fielded system may include one or more assemblies, One or more of components be communicatively connected to each other and/or remote computer system one or more assemblies.One In individual embodiment, based on the inspection to one or more objects, one or more field device (examples of fielded system can be caused Such as, field device 13712) perform one or more operations.For example, the verifying attachment of fielded system is (for example, verifying attachment 13714) object can be examined.The one or more processors of fielded system are (for example, the processor of field computer system 13716 13718) inspection data associated with the inspection to object can be received from verifying attachment.Based on inspection data, processor can cause The field device of fielded system is set to perform the operation for physically influenceing object.Verifying attachment may include to examine laser, examine and take the photograph Camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, eddy-current test dress Put, temperature monitoring or other verifying attachments.Inspection data may include that laser inspection data, video camera inspection data, x are penetrated X -ray inspection X data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, eddy-current test data, temperature check number According to or other inspection datas.
In one embodiment, the processor of fielded system is (for example, the processor of field computer system 13716 13718) can handle inspection data physically influences the related data of operation of object to performing to generate, and is based on operating phase Closing data causes field device to perform operation.In one embodiment, the processor of fielded system can launch inspection data (passing through transmitter) arrives remote computer system.In response to launching inspection data, processor can receive from remote computer system The related data of operation of object are physically influenceed to performing.For example, operation related data can remotely counted based on inspection data Generated at calculation machine system.After operation related data is received, processor, which can be based on operation related data, cause field device to hold Row operation.Processor can by will operation related data be transmitted into field device (for example, can be translated with field device and use come Perform operation form), using operation related data control field device performs operation, monitor and provide for execution operate Dynamic updates (for example, by monitoring object during operation is performed) or other technologies to cause field device to perform behaviour Make.
In one embodiment, inspection data can be handled to automatically determine whether object has one or more lack Fall into, whether object is ready for next operational phase or other information.For example, detect one if based on inspection data Individual or multiple defects, then the operation related data generated can be related to solve the defects of detected to execution operation.And for example, If it is determined that object is ready for next operational phase, then the operation related data generated can be with performing and next behaviour Make the stage it is associated operation it is related.
Field device (for example, field device 13712) may include welder, coating unit, alignment means, heating dress Put, cooling device, protection device, verifying attachment or other devices.Operation related data may include to weld dependent instruction, coating Dependent instruction, change dependent instruction, alignment dependent instruction or other instructions or data.Welding dependent instruction may include and weld Junction surface region (for example, junction surface region between pipeline or other objects) between first object and the second object is related Instruction, the line feed rate with for welding, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, gas stream Dynamic speed, the power level of welding arc, welding current, weldingvoltage, welding impedance, welding torch gait of march, welding torch Position of the weld tip along conduit axis, the weld tip of welding torch rotate relative to angle positioning, the welding of plane Instruction or other welding dependent instructions of the weld tip of welding torch to correlations such as the distances of the inner surface of pipeline to be welded.Coating Dependent instruction may include the instruction for coating of objects (for example, coating tubes or other objects) and pre-heating temperature, apply thickness Spend related instruction or other coating dependent instructions.Change dependent instruction may include related at least a portion for expanding object Instruction, the related instruction of at least a portion to reducing object, with least one of size of change object (for example, footpath Change size to ground, proportionally change size etc.), the related instruction of at least one of shape of modification object or other Change dependent instruction.Alignment dependent instruction may include and make at least a portion of object and at least a portion of another object right Neat related instruction or other alignment dependent instructions.
In one embodiment, based on related to the inspection to the junction surface region between the first object and the second object The inspection data of connection, the one or more processors of fielded system are (for example, the processor of field computer system 13716 13718) data related to performing welding operation on the region of junction surface can be obtained.For example, processor can send out inspection data Penetrate and (pass through transmitter) and arrive remote computer system (for example, remote computer system 13704), and as response, processor The instruction related to welded joint region can be obtained from remote computer system.Processor, which can be based on welding dependent instruction, to be caused Field device welded joint region.
In one usage case, determine that there is the first weld pass layer defect (but can lead to if based on inspection data Cross the amendment of the second weld pass), then welding dependent instruction may include the instruction for the second weld pass so that the second welding is logical Road compensates the defects of the first weld pass layer.Such as, if it is determined that the first weld pass thickness degree deficiency, then weld dependent instruction It may include to use (compared to the first weld pass thickness degree of determination for more weld intervals of the second weld pass or bonding wire Enough situations) instruction.Thus, the second weld pass layer of gained can be thicker (compared to its thickness in other situations Degree), to compensate the first weld pass layer of thickness deficiency.And for example, if it is determined that the first weld pass layer is blocked up, then welding is related Instruction may include to use (compared to the first weld pass layer of determination for less weld interval of the second weld pass or bonding wire The appropriate situation of thickness) instruction.So, the second weld pass layer of gained can it is thinner (compared to it in other situations Thickness), with compensate the first weld pass layer extra thickness.
Under another service condition, if detecting defect in the first weld pass layer, welding dependent instruction can Instruction the defects of detected by repairing or compensating need not be included.For example, the size based on defect does not meet predefined lack Fall into size threshold value (such as, it is proposed that the most I of reparation repairs defect size), can be it is not recommended that repairing defect.Predefined defect size Threshold value can be for example corresponding to the quality to weld part without size the defects of significantly negative effect.Thus, in this service condition Under, if the defects of first weld pass layer size is less than predefined defect size threshold value, welding dependent instruction can be simple Ground includes the instruction for next weld pass layer such as in the case where being not detected by defect.
In one embodiment, based on the inspection data associated with the inspection to object, one of fielded system or Multiple processors (for example, processor 13718 of field computer system 13716) can obtain the data related to coating of objects. For example, inspection data can be launched and (pass through transmitter) to remote computer system (for example, remote computer system by processor 13704) instruction related to coating of objects, and as response, processor can be obtained from remote computer system.Processor can Cause field device that one or more coats are applied into object based on coating dependent instruction.In one usage case, such as Fruit determines to complete to the weld part for welding and completing of object in specification based on inspection data, then remote computer system can The instruction issue of coating of objects will be started to the processor of fielded system.
In one embodiment, based on the inspection data associated with the inspection to object, one of fielded system or Multiple processors (for example, processor 13718 of field computer system 13716) can obtain and change size, the shape of object Or the data that other aspects are related.For example, inspection data can be launched and (pass through transmitter) by processor arrives remote computer system (for example, remote computer system 13704), and as response, processor can obtain and change thing from remote computer system The instruction that body phase is closed.Processor can cause field device to expand at least a portion of object, reduce thing based on change dependent instruction At least a portion of body, at least one of size for radially changing object, at least one of shape (example for changing object Such as, processed on the end of pipeline new inclined-plane or perform shape change) or perform to object other change.
In one embodiment, based on the inspection data associated with the inspection to object, one of fielded system or Multiple processors (for example, processor 13718 of field computer system 13716) can obtain to be alignd related number to making object According to.For example, inspection data can be launched and (pass through transmitter) to remote computer system (for example, remote computer system by processor 13704), and as response, processor can obtain from remote computer system to align related instruction system to making object.Processing Device can cause field device that at least a portion of object and at least a portion of another object is right based on alignment dependent instruction Together.In one usage case, for example, being the analysis instruction pair of pipeline and remote computer system to inspection data in object In the case of neat mistake, it may include from the alignment dependent instruction of remote computer system reception at least one in change pipeline Position solves the problems, such as alignment errors (for example, the angle mistake in gap between causing pipeline, causing the positional fault of mismatch Deng) instruction.
In one embodiment, based on the inspection to multiple objects, one or more operations can be caused at one or more Performed on individual object.So, for example, the inspection data from the inspection to multiple objects can be used for performing to object as overall Analysis.In some cases, if this analysis, which is isolated to the inspection data from single body, to be not in other respects Completely.For example, although the individual pipeline of pipeline may be in each comfortable specification, pipeline or one part (including individual pipe It is multiple in road) may be outside specification as entirety.And for example, although the individual pipeline of pipeline may be ready for next behaviour Make the stage, but pipeline or line segments may be not ready for carrying out next operational phase as overall.By using next From the inspection data of each or line segments inspection in the pipeline to pipeline, can perform to pipeline or line segments as whole The more complete analysis of body.
In one embodiment, the one or more processors of fielded system are (for example, field computer system 13716 Processor 13718) can receive and (pass through receiver) first inspection data associated with the inspection to the first object and with it is right The second inspection data that the inspection of second object is associated.Based on the first inspection data and the second inspection data, processor can cause The field device of fielded system is set to perform the operation for physically influenceing one or more objects.First inspection data and second is examined Data can each include at least one of the following：Laser inspection data, video camera inspection data, x-ray inspection data, γ Radioscopy data, ultrasonic examination data, magnetic powder test data, eddy-current test data, temperature check data or other check numbers According to.Inspection to the first object and the inspection to the second object can be held by identical verifying attachment or different verifying attachments OK.
In one embodiment, the processor of fielded system is (for example, the processor of field computer system 13716 13718) the first inspection data and the second inspection data can be handled with generate to perform physically influence object operation it is related Data, and cause field device to perform operation based on operation related data.In one embodiment, the processing of fielded system First inspection data and the second inspection data can be transmitted into remote computer system (for example, remote computer system by device 13704).In response to the first inspection data of transmitting and the second inspection data, processor can be received with holding from remote computer system Row physically influences the data of the operation correlation of object.For example, operation related data can be based on the first inspection data and the second inspection Data are tested to generate at remote computer system.After operation related data is received, the processor of fielded system can be based on behaviour Field device is caused to perform operation as related data.
In one embodiment, operating related data (operation is performed on object based on it) can be additionally or alternative Ground be based on one of the one or more operations performed on one or more objects (for example, object, another object etc.) or Multiple input parameters.For example, the field device of fielded system can perform operation before the inspection to object.Previously performed operation Input parameter, the inspection data associated with the inspection to object or other data can be launched into remote computer system. After launched data are received, remote computer system can be based on input parameter, inspection data or other data generation behaviour Make related data.For example, detecting defect if based on inspection data, then input parameter can be analyzed with reference to the defects of detected The reason for determine defect (for example, reality output mismatches the theoretical output of input parameter), and operation dependency number can be generated According to so that the operation for the reason for operating the defects of related data is available for detected by execution reparation or compensation or defect.
In one usage case, if it is determined that the first weld pass thickness degree deficiency from welding operation (be based on The associated inspection data of inspection to the first weld pass layer), then the input parameter for welding operation can be taken into account with true The reason for thickness deficiency of fixed first weld pass layer.Such as, if it is determined that weld interval or bonding wire deficiency are thickness deficiencies Reason, then the welding dependent instruction for the second weld pass can be generated with the thickness including being calibrated to compensate for the first weld pass layer The input parameter (for example, more weld intervals, more lines use) of the reason for degree deficiency or its determination.
The processing of data from fielded system
In one embodiment, computer system (for example, computer system 5138, remote computer system 13704, Field computer system 13716 etc.) can be with one or more fielded systems (for example, fielded system 5000, fielded system 13702) Work together, to promote on-the-spot test or physical operations based on it.Computer system may include one or more processors or its His component, one or more of processors or other assemblies are communicatively connected to each other and/or one or more scene systems The one or more assemblies of system.Computer system can be relative at least one local computer system in fielded system Or relative at least one remote computer system in fielded system.In one embodiment, the place of computer system The inspection data associated with the inspection to object can be received from fielded system by managing device.Processor can handle inspection data to generate The related data of operation of object are physically influenceed to performing.Operation related data can be transmitted into fielded system by processor, with Fielded system is caused to perform the operation for physically influenceing object.For example, fielded system, which can be based on operation related data, performs operation. As described herein, operation related data may include that welding dependent instruction, coating dependent instruction, change dependent instruction, alignment are related Instruction or other instructions or data.
In one embodiment, the processor of computer system can be received (by connecing from one or more fielded systems Receive device) inspection data associated with inspections to multiple objects, and it is based on that inspection data generates and execution physically influences The data of the operation correlation of at least one object in fielded system.Operation related data can be transmitted into live system by processor System, physically influence the operation of object to cause fielded system to perform.The inspection data associated with the inspection to each object It may include at least one of the following：Laser inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination Data, ultrasonic examination data, magnetic powder test data, eddy-current test data, temperature check data or other inspection datas.To more The inspection of individual object can be performed by identical verifying attachment or different verifying attachments.
In one embodiment, operating related data (operation is performed on object based on it) can be additionally or alternative One or more input parameters of the ground based on the one or more operations performed on object.For example, the scene dress of fielded system Operation can be performed before the inspection to object by putting (for example, field device 13712).The processor of computer system can be from scene System or other sources obtain the input parameter for previously performing operation, the inspection data associated with the inspection to object or its His data.The processor of computer system can be based on the data generation operations related data obtained.For example, if based on inspection Data Detection can then combine the reason for the defects of detected analysis input parameter is to determine defect (for example, actual defeated to defect Go out to mismatch the theoretical output of input parameter), and operation related data can be generated so that operation related data can be used for performing The operation of the reason for the defects of detected by repairing or compensating or defect.
In one embodiment, operating related data (operation is performed on object based on it) can be additionally or alternative Observation of the ground based on the one or more operations performed on other one or more objects.In one embodiment, calculate The processor of machine system can monitor one or more operations on one or more objects.For example, processor can by one or Multiple verifying attachment monitoring operations, one or more of verifying attachments such as examine laser, examine video camera, x-ray to take the photograph Shadow art verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, eddy-current test device, temperature monitoring One in device or other verifying attachments or any combinations.During monitoring herein, observation that processor can be obtained and operated Related data, the operation observe the observation of one or more field devices such as during operation is performed, held The observation of object, the observation of environmental condition or other observations during operation is performed during row operation.Processor can Comparative observation with determine be probably defect cause situation, and the operation related data for subsequent operation can be generated to avoid Or mitigate such defect.In one embodiment, the processor of computer system can will be it is determined that (performing behaviour with defect After work) one or more objects on one or more groups of observations of operation for performing with do not have it is defective it is one or more its Other the one or more groups of observations for the same operation that he performs on object are compared, to determine that the situation of defect may be caused (as it is herein be described in further detail elsewhere).In one embodiment, the determination of such situation can store And generated for (for example, combining the determination that such situation in other fielded systems occurs) (i) and select to be used for subsequently to grasp Make one or more operating protocols of (as described herein) to prevent or reduce defect；(ii) allow in process (for example, such as this Described in text by perform operate when actively monitoring, in dynamic check during operation etc.) in detect earlier Defect；Or (iii) provides other advantages to produce the more preferable product for the client of current and future.
For example, the analysis of the operational observations data of inspection data and these weld parts to multiple weld parts can be shown when weldering Connect voltage and be reduced more than 0.5V to be less than weldingvoltage input parameter, at the same welding torch on pipeline in 2 o'clock and 4 o'clock position Between when welding, the defects of lacking melting, significantly more likely occurs.By contrast, weldingvoltage can be in its on pipeline His opening position reduces 1.2V to the defects of input less than weldingvoltage without causing to lack melting.Based on these observations, computer The processor of system can generate and send new welding input parameter, and the new welding input parameter instruction welder is welding Increase weldingvoltage 0.7V when torch is between 2 o'clock and 4 o'clock position.And for example, if analysis display is when welding torch welding descending When, weldingvoltage reduces the defects of situation causes to lack melting (but not having when welding and going up a slope), the then new weldering generated Connect input parameter and may indicate that welder only realizes weldingvoltage increase when welding torch welds descending.For another example, if analysis display Weldingvoltage, which reduces situation, causes the defects of lacking melting of outside weldings portion (but internal welding socket part does not have), then is generated New welding input parameter may indicate that outside weldings device realizes weldingvoltage increase.
In one embodiment, the processor of computer system can obtain related to the inspection to one or more objects The inspection data of connection, and by the inspection data compared with the predefined quality profile of object.Based on the comparison, place Reason device can determine that object whether have one or more defects, object whether be ready for next operational phase or other Information.For example, detecting one or more defects if based on inspection data, then the operation related data generated can be with execution Operation is related to solve the defects of detected.And for example, if it is determined that object is ready for next operational phase, then gives birth to Into operation related data can be related to performing associated with next operational phase operation.
For example, predefined quality profile may include one or more size criterions, form criterion, conformance criteria, alignment Criterion, temperature criterion, color criterion or other criterions.In one usage case, the predefined quality profile of the pipeline of pipeline May include internal diameter of the pipeline, outer diameter tube, duct thickness, pipeline and the pipeline welding to or another pipeline for being welded to Between the height of the height, weld part in pipeline inside of size, weld part on pipeline external in junction surface region, welding The temperature of material or pipeline (for example, weld operate during), weld operate during welding material or pipeline One or more acceptable scopes of color (for example, it may indicate that the temperature of welding material or pipeline) or other criterions.In advance Define quality profile and may correspond to specific quality level (such as " gold standard " quality (for example, high quality level)), required Lowest quality level etc..
In one embodiment, the processor of computer system can provide related to the inspection to one or more objects The inspection data of connection, one or more analysis results from the analysis to inspection data or other data are for being presented to User's (for example, operating personnel, inspector, administrative staff or other users).In one embodiment, processor can receive User's input of user, the user input the defects of instruction is at least one related in object.For example, user may specify it is scarce The position that is trapped on object and be which type of defect.Based on it is specified the defects of, processor can generate operation related data, The operation related data can be used for causing fielded system to perform operation to repair or compensate the defects of related to object.
In one embodiment, it is possible to provide one or more operation is triggered to solve to cause one or more defect (examples Such as, in object, the group of object, protuberance etc.) situation.Although for example, use identical input parameter for specific operation, But the field device that operation is performed using these input parameters can perform operation differently from one another, this may cause object (logical A field device is crossed to operate thereon) there is defect, while another object (is grasped by another field device thereon Make) may not have defect.These result differences may be caused by following：One or more into the actually entering of field device Individual one or more of anticipated input, reality output of field device of being different from is different from anticipated output, field device at it One or more imperfect, one or more practical operation conditions of the object of upper operation are different from acceptable operating condition (for example, environmental condition, object do not line up or misplaced) or other situations.
In one embodiment, the processor of computer system can monitor the one or more on one or more objects Operation.During monitoring herein, processor can obtain the data related to the observation operated, and the observation of the operation such as exists Perform operation during one or more field devices observation, perform operate during object observation, performing The observation of environmental condition or other observations during operation.Processor can by observation be compared each other, with generation one or Multiple operation triggerings.After such triggering is realized, one or more fielded systems may be in response to meet corresponding tactile in triggering One or more later observations of hair cause one or more operations to be performed.Triggering may include to cause to prevent or otherwise Reduce the one or more triggerings or other triggerings of the operation of defect.
In one embodiment, based on the data related to the observation of operation, the processor of computer system can will be It is determined that first group of observation of the operation performed on the object with defect (after performing an operation) be not with having defective one Or other one or more groups of observations of the same operation performed on other multiple objects are compared.After the comparison, processor It can determine that one or more differences between first group of observation and other group observations.Based on the difference, processor can generate with The associated one or more triggerings of one or more operation (for example, operation or other operations for preventing defect).For example, If common difference be present between each in first group of observation and other group observations, likely corresponding to common difference Observed situation causes defect.Thus, if observing those situations during subsequent operation, can be achieved to be used to solve Certainly the one or more of those situations are operated to prevent defect from occurring (for example, by stopping subsequent operation until situation is no longer sent out Compensate the situation untill life, by changing the input parameter of subsequent operation, the warning of the situation is indicated by generating Deng).
In one embodiment, based on the data related to the observation of operation, the processor of computer system can will be It is determined that second group of observation of the same operation performed on another object with defect (after performing an operation) be not with (having The same operation performed on other objects of defect) other group observations be compared.After the comparison, processor can determine that One or more differences between second group of observation and other group observations.For example, processor then can will (i) first group of observation and Common difference and (ii) second group of observation and other groups between each in other group observations observe in it is each between be total to It is compared with difference, to determine first group of observation difference shared with second group of observation (for example, first group of observation and second group Observation is shared each other, be with for not having the similitude of the common difference of the observations of other groups of other defective objects).Base In for first group and second group of common difference, processor can be generated with one or more operations (for example, for preventing defect Operation or other operations) associated one or more triggerings.
In one usage case, by the way that root passage (the one or more junction surface areas being used between pipeline will be used for Domain) one or more groups of observations of welding operation be compared, the processor of computer system can determine that welding operation (in its root Produce defect in portion's passage) at least one set of observation possessed by with the welding operation of the root passage that is produced without defect its He organizes the common difference of observation.For example, if the input that common difference includes measured by one or more welds operation with being used for Input parameter between a certain deviation, then processor can generate one or more triggerings, when detecting this deviation, described one Individual or multiple triggering activation are used for the one or more operations for solving deviation.For example, the follow-up weldering for root passage can be monitored Operation, and the deviation of input parameter used in the welder if it happens and for root channel welds operated are connect, then The operation that the triggering generated can cause its associated is performed to solve deviation (for example, changing input parameter to cause to weld The actually entering in the range of the anticipated input associated with unmodified input parameter of operation, generate be supplied to operating personnel or The warning of other individuals or system, stop welding operation etc.).Under other service conditions, one or more similar classes can be generated The triggering of type for correspondingly solve coating operation, preheating operation, cooling down operation, alignment operation, protection operation, inspection Situation in operation or other operating process.
Under another service condition, during the subsequent operation on monitoring object, it can detect and correspond to and tool The situation of the common observation of defective object.As response, the operation triggering for the situation can cause and operate triggering Associated operation is performed on object.For example, the processor of computer system can change subsequent operation or in subsequent operation One or more input parameters of another operation performed afterwards.Processor can be for example after modification during subsequent operation The input parameter of continuous operation, the input parameter for changing before other operations then other operations then perform and behaviour Make other associated modification operations of triggering.The input parameter changed may include one or more welding parameters, coating parameters, Alignment parameters, change parameter or other specification.And for example, processor can stop subsequent operation (for example, stop subsequent operation until Untill other notice), during subsequent operation generate instruction situation warning (for example, generation and to fielded system send out Penetrate and perform the warning of subsequent operation, provide warning etc. to administrative staff, site operation personnel or other staff) or perform and behaviour Make other associated operations of triggering.So, for example, aforementioned operation triggering and/or actively monitoring can allow in the process more Early detect defect and prevent or reduce defect, to provide more effective and efficient operation and be the visitor of current and future Family provides more preferable product.
Operating protocol and the operation based on it
In one embodiment, can be based on for performing one or more operating protocols of one or more operations to one Individual or multiple objects inspections generate.For example, computer system is (for example, computer system 5138, remote computer system 13704th, field computer system 13716 etc.) processor can be from fielded system (for example, fielded system 5000, fielded system 13702 etc.) receive with the inspection on object (for example, performing the inspection before physically influenceing one or more operations of object Test, performing the inspection during operating, inspection after performing an operation etc.) associated inspection data.Processor can Based on inspection data and one or more input parameters for performing operation generate operating protocol (at least one behaviour with operation It is associated as type).Operating protocol can be for example including welding agreement, coating agreement, alignment agreement, change agreement or other associations View.One or more parameters of operating protocol may include one or more welding parameters, coating parameters, alignment parameters, change ginseng Number or other specification.
In one embodiment, the processor of computer system is alternatively used for performing (physically influences thing with operation Body) at least one similar subsequent operation operating protocol.Processor can based on operating protocol at least one input join The number generation data related to performing subsequent operation.Processor can launch operation related data to fielded system, to cause scene System performs subsequent operation.For example, fielded system, which can be based on operation related data, performs subsequent operation.
In one embodiment, based on inspection data, the processor of computer system is detectable related to object to be lacked Fall into.In response to defects detection, processor can generate operating protocol so that operating protocol includes having at least one input parameter not It is same as one group of input parameter of one group of input parameter for performing operation.For example, predefined operation agreement can be used in object It is upper to perform operation.The defects of detecting object if based on the inspection to object, then predefined operation agreement can be changed, with pre- When defining operation agreement is used for the one or more subsequent operation similar with that may cause the operation of detected object defect Avoid the defects of similar.The operating protocol of modification can be stored as new predefined operation agreement, replace predefined operation agreement Previous version etc..
In one usage case, predefine welding operating protocol and can be used for performing welding operation with by two pipeline weldings Together, wherein predefined welding operating protocol may include and following related input parameter：Line feed rate, line consumption, pendulum Dynamic width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, the power level of welding arc, welding current, welding electricity Pressure, position of the welding impedance, welding torch gait of march, the weld tip of welding torch along conduit axis, welding torch Weld tip rotate relative to plane angle positioning, welding torch weld tip to the inner surface of pipeline to be welded away from From or other specification.Such as, if it is determined that welding operation produces the weld pass layer of thickness deficiency, then can change predefined weldering Operating protocol is connect, to allow more weld intervals, more lines to use (for example, increase line feed rate) or to predefined Weld other changes of the input parameter of operating protocol.Thus, when the operating protocol of modification is used subsequently in two similar pipes When similar operation is performed on road, the modification to input parameter can prevent thickness deficiency problem.
In one embodiment, based on inspection data, the processor of computer system can determine that object by operating (thing Reason ground influences object) caused by the quality of one or more aspects whether meet or exceed matter indicated by predefined quality profile Amount standard.For example, the quality that processor may be in response to the aspect of object is met or exceeded indicated by predefined quality profile Quality standard generation operating protocol so that operating protocol includes one or more input parameters (be used for perform operation).It is predetermined Adopted quality profile may correspond to extra fine quality horizontal (such as " gold standard " quality (for example, high quality level)), it is required most Low level of quality etc..If the quality of the aspect of object meets or exceeds the quality mark indicated by predefined quality profile Standard, then input parameter (being used to perform the operation for producing such result) can be used for generation operating protocol (such as so that operating protocol Including some or all of input parameter).So, for example, operating protocol can be used for the operation for performing and producing such result Similar one or more subsequent operations so that subsequent operation produces similar quality.
And for example, if the quality of the aspect of object does not meet quality standard (indicated by predefined quality profile ), then processor can generate operating protocol so that operating protocol does not include one or more input parameters (to be caused for execution The operation for the object state examined).In one usage case, if selection predefined operation agreement is (including for performing The input parameter of operation) it is at least one in operating for performing, and the quality of the aspect of the object of gained does not have Lowest quality level required for meeting, then one or more input parameters of predefined operation agreement can be changed, with predetermined Adopted operating protocol is used to perform to avoid follow-up unsatisfactory result during subsequent operation.
In one embodiment, the processor of computer system can obtain related to the inspection to one or more objects The inspection data of connection, and by inspection data compared with the predefined quality profile of object, with determine the one of object or Whether the quality of many aspects meets or exceeds the quality standard indicated by predefined quality profile.For example, the comparison is based on, Processor can determine that object whether have one or more defects, object whether be ready for next operational phase or its His information.And for example, the quality in response to the aspect of object exceedes the quality standard indicated by predefined quality profile, processing Device can generate new quality profile based on inspection data, wherein new new quality mark of the quality profile instruction based on inspection data It is accurate.New quality profile can for example be stored in database for analyze as caused by one or more subsequent operations one or Many aspects.
In one embodiment, the processor of computer system can provide related to the inspection to one or more objects The inspection data of connection, one or more analysis results from the analysis to inspection data or other data are for being presented to User's (for example, operating personnel, inspector, administrative staff or other users).In one embodiment, processor can receive User's input of user, the user input the matter of one or more aspects as caused by one or more operations of indicator body Amount is horizontal (for example, low level of quality, high quality water equality).Inputted in response to user, processor can generate and indicated matter The horizontal associated new quality profile of amount, wherein new new quality standard of the quality profile instruction based on inspection data.Newly Quality profile can for example be stored in database it is one or more as caused by one or more subsequent operations for analyzing Aspect.
In one embodiment, the processor of computer system can based on for performing the defeated of one or more operations Enter the related data of parameter, the data related with the observation of operation and the object to performing operation thereon inspection (for example, Before the procedure, during or after) associated inspection data or other data generate one or more operating protocols.Example Such as, processor can analytical control data, with determine object whether with which of defect and object with defect.Processor Then can be by it is determined that having one group or more of the operation performed on one or more objects of defect (after performing an operation) Group observation with do not have it is defective one or more other objects on perform same operation other it is one or more groups of observe into Row compares, with determine to cause the situation of defect (as it is herein be described in further detail elsewhere).Based on institute State and compare, processor can generate operating protocol so that be used for one or more subsequent operations (for example, with being held in operating protocol Row and the same or similar subsequent operation of operation of observation) when, operating protocol avoids or otherwise solves the situation (can Defect can be already led to).
And for example, if it is observed that being different from being used for one for the input parameter for performing operation on one or more objects The input parameter of operation is performed on other individual or multiple objects, then these observations can be compared by processor each other, to determine Whether the difference of input parameter may cause defect.For example, the comparable observation is to determine to be used for gained the defects of Object on perform the input parameter of operation and for performing being total between the input parameter of operation on not having defective object Same difference.Based on the common difference, processor can generate operating protocol so that operating protocol avoids including that defect may be caused Input parameter.Generated operating protocol can be stored so that operating protocol can one or more subsequent operations (for example, with It is performed and observation the same or similar subsequent operation of operation) in use.For example, use feelings in one kind on welding agreement Under condition, the analysis of the operational observations data of inspection data and these weld parts to multiple weld parts can be shown when weldingvoltage drops The low 0.5V that is more than is to be less than weldingvoltage input parameter, while welding torch is between 2 o'clock and 4 o'clock position on pipeline and welded When, the defects of lacking melting, significantly more likely occurs.By contrast, weldingvoltage can be in the other positions drop on pipeline Low 1.2V less than weldingvoltage to the defects of input without causing to lack melting.Based on these observations, the processing of computer system Device can generate the welding agreement for including new welding input parameter, and it is indicated when welding torch is between 2 o'clock and 4 o'clock position Need to increase weldingvoltage 0.7V.
Other exemplary process diagram
Figure 138 shows to be used for by fielded system (for example, fielded system 13702 according to one or more embodiments In one) promote the flow chart of on-the-spot test and the method 13800 based on its physical operations.The place of method presented below Reason operation is intended that exemplary and nonrestrictive.For example, in some embodiments, methods described can be used what is do not described One or more other operations and/or realized without using one or more of operation discussed.In addition it is shown that (simultaneously And following description) methods described processing operation order be not intended to be it is restricted.In some embodiments, the side Method can be at least through one or more processing units (for example, digital processing unit, analog processor, being designed to processing information Digital circuit, the analog circuit for being designed to processing information, state machine, and/or for electronically processing information Other mechanisms) realize.Processing unit may include to hold in response to the instruction being electronically stored on electronic storage medium One or more devices of some or all of the operation of row methods described.Processing unit may include by hardware, firmware and/ Or software is configured to be designed specifically for one or more devices of one or more of the operation of execution methods described.
In one embodiment, object (13802) can be scanned.For example, the physically influence thing that can be performed on object Before the operation of body, during or after scan object, to draw inspection data.According to one or more embodiments, operation 13802 can be by performing with 13714 same or similar verifying attachment of verifying attachment.For example, verifying attachment may include to examine Laser, examine video camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test dress Put, eddy-current test device, temperature monitoring or other verifying attachments.Inspection data may include laser inspection data, video camera Inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, eddy-current test data, Temperature check data or other inspection datas.
In one embodiment, the inspection data (13804) associated with the scanning to object can be obtained.According to one Or multiple embodiments, operation 13804 can by with the same or similar field computer system of field computer system 13716 To perform.
In one embodiment, inspection data can be transmitted into remote computer system (for example, remote computer system 13720)(13806).According to one or more embodiments, operation 13806 can be by identical with field computer system 13716 Or similar field computer system performs.
In one embodiment, the related data of operation that object is physically influenceed to performing may be in response to launch inspection Data obtain (13808) from remote computer system.For example, operation related data can be drawn from inspection data.And for example, phase is operated Close other check numbers that data can be by remote computer system from inspection data, associated with the scanning to another object Drawn according to, the input parameter for performing operation on corresponding object before the scan or other data.According to one or more Individual embodiment, operation 13808 can be by holding with the same or similar field computer system of field computer system 13716 OK.
In one embodiment, based on operation related data, the field device of fielded system can be caused to perform physically Influence the operation (13810) of object.According to one or more embodiments, operation 13810 can by with field computer system 13716 same or similar field computer systems perform.
In one embodiment, with reference to figure 138, operation related data may include to weld dependent instruction, such as with it is following Related instruction：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, gas flowing speed Rate, the power level of welding arc, welding current, weldingvoltage, welding impedance, the welding of welding torch gait of march, welding torch Weld tip of the tip along the position of conduit axis, welding torch rotates relative to the angle positioning of plane, welding torch Weld tip to the inner surface of pipeline to be welded distance, or other instruction.Based on welding dependent instruction, live system can be caused The field device of system performed on the first object and the second object welding operation (for example, by two pipeline weldings together, by two Other individual objects weld together).
In one embodiment, with reference to figure 138, operation related data may include to coat dependent instruction, such as with pre-add The related instruction of hot temperature, coating layer thickness or other instructions.Based on dependent instruction is coated, the field device of fielded system can be caused One or more coats are applied to object.
In one embodiment, it may include the dependent instruction that aligns with reference to figure 138, operation related data.Based on alignment phase Instruction is closed, the field device of fielded system can be caused object is alignd (for example, being used in two pipe alignments of welding, making it He is in alignment with each other object).
In one embodiment, may include to change dependent instruction with reference to figure 138, operation related data.Based on change phase Instruction is closed, the field device of fielded system can be caused to change object, such as expands at least a portion of object, reduce object extremely A few part, at least one of size for changing object, at least one of shape for changing object or other changes.
Figure 139 is shown according to one or more embodiments for promoting on-the-spot test by computer system and being based on The flow chart of the method 13900 of its physical operations.The processing operation of method presented below is intended that exemplary and non-limit Property processed.For example, in some embodiments, methods described can be used one or more other operations for not describing and/or Realized without using one or more of operation discussed.In addition it is shown that the processing of (and describing below) methods described The order of operation is not intended to be restricted.In some embodiments, methods described can at least through one or more at Reason device is (for example, digital processing unit, analog processor, the digital circuit for being designed to processing information, be designed to processing information Analog circuit, state machine, and/or other mechanisms for electronically processing information) realize.Processing unit can Including in response to be electronically stored on electronic storage medium instruction perform methods described operation in some or Whole one or more devices.Processing unit may include to be configured to specifically design use by hardware, firmware and/or software In one or more devices of one or more of the operation for performing methods described.
In one embodiment, the inspection data associated with the scanning to object can obtain from fielded system (13902).According to one or more embodiments, operation 13902 can be by same or like with contour of object subsystem 13732 Contour of object subsystem perform.For example, inspection data may include laser inspection data, video camera inspection data, x-ray Inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, eddy-current test data, temperature check data, Or other inspection datas.
In one embodiment, one or more input ginsengs of the one or more operations performed on object can be obtained Number (13904).For example, the operation performed on object can physically be influenceed object and (examined in the scanning to object Data are based on it) before the operation that is performed on object.Input parameter can be joined for performing the input of operation on object Number (for example, welding parameter, coating parameters or other input parameters).According to one or more embodiments, operation 13904 can By being performed with the same or similar operation monitoring subsystem of operation monitoring subsystem 13738.
In one embodiment, inspection data and input parameter can be handled, physically influences object to generate and perform The related data (13906) of operation.For example, operation related data may include the operation dependency number above with reference to described in Figure 138 According to one or more of type (for example, welding dependent instruction, coating dependent instruction etc.).According to one or more embodiment party Case, operation 13906 can be by performing with the same or similar Action Manager subsystem of Action Manager subsystem 13734.
In one embodiment, operation related data can be transmitted into fielded system to cause fielded system to perform operation, Wherein operation is performed (13908) based on operation related data.For example, the operation that fielded system can be caused to perform may include the above One or more of operation (causing the field device of fielded system to perform) type with reference to described in figure 138.According to one or Multiple embodiments, operation 13908 can by with the same or similar Action Manager subsystem of Action Manager subsystem 13734 Unite to perform.
Figure 140 is shown according to one or more embodiments for promoting on-the-spot test by computer system and being based on The flow chart of the method 14000 of its physical operations.The processing operation of method presented below is intended that exemplary and non-limit Property processed.For example, in some embodiments, methods described can be used one or more other operations for not describing and/or Realized without using one or more of operation discussed.In addition it is shown that the processing of (and describing below) methods described The order of operation is not intended to be restricted.In some embodiments, methods described can at least through one or more at Reason device is (for example, digital processing unit, analog processor, the digital circuit for being designed to processing information, be designed to processing information Analog circuit, state machine, and/or other mechanisms for electronically processing information) realize.Processing unit can Including in response to be electronically stored on electronic storage medium instruction perform methods described operation in some or Whole one or more devices.Processing unit may include to be configured to specifically design use by hardware, firmware and/or software In one or more devices of one or more of the operation for performing methods described.
In one embodiment, can be related with object based on the inspection data detection associated to the scanning to object Defect (14002).For example, first group of input parameter can used (for example, welding parameter, coating parameters or other input ginsengs Number) scanning is performed after the operation that is performed on object.Inspection data can obtain from fielded system, and wherein inspection data may include Laser inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic Inspection data, eddy-current test data, temperature check data or other inspection datas.According to one or more embodiments, operation 14002 can be by performing with the same or similar contour of object subsystem of contour of object subsystem 13732.
In one embodiment, the operation class that can be generated and operate and (be performed using first group of input parameter on object) The associated operating protocol (14004) of type.For example, operating protocol can be generated so that operating protocol includes defeated different from first group Enter second group of input parameter of parameter (for example, the operation of defect may be caused for performing).For example, in a kind of service condition Under, first group of input parameter and inspection data can be analyzed, to determine which parameter may cause defect, and those ginsengs can be changed Number (it is determined that may cause defect) is used for second group of input parameter of operating protocol to generate.After generation, operation profile can It is stored in database (for example, operating protocol database or other databases) for subsequent operation.According to one or more Embodiment, operation 14004 can be by holding with the same or similar operating protocol subsystem of operating protocol subsystem 13736 OK.
In one embodiment, selectively actuatable agreement (is existed for performing and operating using first group of input parameter Performed on object) similar subsequent operation (14006).If for example, previous operation be for root passage welding operation, Then subsequent operation can also be the welding operation for root passage.And for example, if previous operation is the weldering for the passage of heat Operation is connect, then subsequent operation can also be the welding operation for the passage of heat.According to one or more embodiments, operation 14006 can be by performing with the same or similar operating protocol subsystem of operating protocol subsystem 13736.
In one embodiment, at least one parameter generation that can be based on operating protocol is related to performing subsequent operation Data (14008).According to one or more embodiments, operation 14008 can be by identical with Action Manager subsystem 13734 Or similar Action Manager subsystem performs.
In one embodiment, operation related data can be transmitted into fielded system to cause fielded system to perform follow-up behaviour Make, wherein subsequent operation is performed (14010) based on operation related data.According to one or more embodiments, operation 14010 Can be by being performed with the same or similar Action Manager subsystem of Action Manager subsystem 13734.
Figure 141 is shown according to one or more embodiments for promoting on-the-spot test by computer system and being based on The flow chart of the method 14100 of its physical operations.The processing operation of method presented below is intended that exemplary and non-limit Property processed.For example, in some embodiments, methods described can be used one or more other operations for not describing and/or Realized without using one or more of operation discussed.In addition it is shown that the processing of (and describing below) methods described The order of operation is not intended to be restricted.In some embodiments, methods described can at least through one or more at Reason device is (for example, digital processing unit, analog processor, the digital circuit for being designed to processing information, be designed to processing information Analog circuit, state machine, and/or other mechanisms for electronically processing information) realize.Processing unit can Including in response to be electronically stored on electronic storage medium instruction perform methods described operation in some or Whole one or more devices.Processing unit may include to be configured to specifically design use by hardware, firmware and/or software In one or more devices of one or more of the operation for performing methods described.
In one embodiment, can be determined based on the inspection data associated with the scanning to object one of object or The quality (14102) of many aspects.For example, can using one group of input parameter (for example, welding parameter, coating parameters or other Input parameter) scanning is performed after the operation that is performed on object.Inspection data can receive from fielded system, wherein inspection data It may include laser inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination number According to, magnetic powder test data, eddy-current test data, temperature check data or other inspection datas.According to one or more embodiment party Case, operation 14102 can be by performing with the same or similar contour of object subsystem of contour of object subsystem 13732.
In one embodiment, exceed quality standard (indicated by predefined quality profile) in response to quality, can give birth to The operating protocol (14104) associated into the action type with operating (being performed using described group of input parameter on object).Example Such as, operating protocol can be generated so that operating protocol includes one or more in described group of input parameter (being used to perform operation) Individual parameter.And for example, operating protocol can be generated so that operating protocol includes all parameters in described group of input parameter.In life Into afterwards, operation profile is storable in database (for example, operating protocol database or other databases) for follow-up behaviour Make.According to one or more embodiments, operation 14104 can by with 13736 same or similar behaviour of operating protocol subsystem Performed as protocol subsystem.
In one embodiment, selectively actuatable agreement (is existed for performing and operating using first group of input parameter Performed on object) similar subsequent operation (14106).According to one or more embodiments, operation 14106 can by with operation Protocol subsystem 13736 same or similar operating protocol subsystem performs.
In one embodiment, at least one parameter generation that can be based on operating protocol is related to performing subsequent operation Data (14108).According to one or more embodiments, operation 14108 can be by identical with Action Manager subsystem 13734 Or similar Action Manager subsystem performs.
In one embodiment, operation related data can be transmitted into fielded system to cause fielded system to perform follow-up behaviour Make, wherein subsequent operation is performed (14110) based on operation related data.According to one or more embodiments, operation 14110 Can be by being performed with the same or similar Action Manager subsystem of Action Manager subsystem 13734.
Figure 142 is shown according to one or more embodiments for promoting on-the-spot test by computer system and being based on The flow chart of the method 14200 of its physical operations.The processing operation of method presented below is intended that exemplary and non-limit Property processed.For example, in some embodiments, methods described can be used one or more other operations for not describing and/or Realized without using one or more of operation discussed.In addition it is shown that the processing of (and describing below) methods described The order of operation is not intended to be restricted.In some embodiments, methods described can at least through one or more at Reason device is (for example, digital processing unit, analog processor, the digital circuit for being designed to processing information, be designed to processing information Analog circuit, state machine, and/or other mechanisms for electronically processing information) realize.Processing unit can Including in response to be electronically stored on electronic storage medium instruction perform methods described operation in some or Whole one or more devices.Processing unit may include to be configured to specifically design use by hardware, firmware and/or software In one or more devices of one or more of the operation for performing methods described.
In one embodiment, the one or more operations (14202) performed on one or more objects can be monitored. According to one or more embodiments, operation 14202 can be by supervising with the same or similar operation of operation monitoring subsystem 13738 Subsystem is surveyed to perform.
In one embodiment, the data related to the observation of operation can be based on monitoring and obtain (14204).For example, see Examining related data may include and the observation of one or more field devices, the process in execution operation during operation is performed The observation of middle object, the data of the observation of environmental condition or other observation correlations during operation is performed.According to one or Multiple embodiments, operation 14204 can by with operation monitoring subsystem 13738 it is same or similar operation monitoring subsystem come Perform.
In one embodiment, one group or more of operation (it is determined that being performed on the defective one or more objects of tool) Group observation can be carried out with other one or more groups of observations of operation (being performed not having other defective one or more to operate) Compare (14206).According to one or more embodiments, operation 14206 can by identical with operating protocol subsystem 13736 or Similar operating protocol subsystem performs.
In one embodiment, described group of observation (corresponding to defective object) (corresponds to not with other group observations Defective object) the common differences of one or more can be based on described relatively determining (14208).Implemented according to one or more Scheme, operation 14208 can be by performing with the same or similar operating protocol subsystem of operating protocol subsystem 13736.
In one embodiment, one or more operation triggerings can be based on common difference and realize (14210).For example, After realizing operation triggering based on one in common difference, when the situation corresponding to common difference occurs in subsequent operation When, operation triggering can cause associated operation to be performed.According to one or more embodiments, operation 14210 can by with Operating protocol subsystem 13740 same or similar operating protocol subsystem performs.
In one embodiment, general cloud record system (also serve as herein " uLog " or " uLog systems " or " uCloud ") it is that one kind seamlessly gathers welding data to provide quality control, welding data record, task and project Management, security and examine control and management, in real time welding movement monitoring and data report and visual software, hardware, The system of equipment and communication network.Wired system and device and/or wireless system and device and/or bluetooth can be used in uLog systems System and device and/or system and device based on cloud.ULog systems can be by software engineering, mobile device and desktop computer Technology, telecommunication technology and other technologies are used in product, equipment, system, process and method, so as to realize high-quality welding, inspection Test, control, managing and safety results.ULog systems can on the coast, it is marine, based on ship, based on platform, based on structure Or used in other structural environments.In embodiments, uLog can handle Bluetooth communication, and data can by bluetooth or Any other wireless means is transferred to uLog for being handled.
In embodiments, uLog has the instrument for seamlessly gathering welding data and/or welding data daily record.ULog systems System can in embodiments many at it and change using welding data and other pipelines construct with related data with produce with It is one or more of lower：Analysis result, account on the spot, control data, quality control data, automatically generate supervision report, Daily summary, data filing, welding record, materials'use data, quality control record and project management record.
In embodiments, uLog can be used for safeguarding and/or generation process evaluation records (" PQR ") and relative number According to.ULog functions can also be used to record, develop, maintenance and management welding sequence specification (" WPS ").
ULog can support user check, record, following the trail of, measure and analysis You Guan one or more welding and/or welding work Dynamic and/or pipeline construction and/or coating activity and/or the daily record data of inspection activity and/or management activity.By using uLog And its analytic function, user can realize improved welding quality and evaluate welding process result.In its many and change reality Apply in scheme, uLog can have in real time or based on historical data come the function of processing data.This allow user in real time and/or Maked decision based on historical data.In embodiments, uLog can provide the user relevant ongoing welding, coating, examine, Line treatment, project management, pipeline constructs and/or the real time data of any aspect of tectonic activity, and realizes real-time quality Control welding and/or welding activity and/or other activities of relevant pipeline construction.In another embodiment, uLog may be used also Relevant construction management, project management, book keeping operation, stock and store keeping be provided, and the financial affairs control of finance and both materials with The function of audit.ULog may also provide the function of adjusting and support about human resource management and time record and salary.
Unrestrictedly, the various embodiments of the disclosure can for example be embodied as computer system, method, the clothes based on cloud Business or computer program product.Therefore, various embodiments can take complete hardware embodiment, complete software embodiment (for example, the one or more computer applications to realize on the mobile device, such as " App " (or " App ") and/or will be in table The application being implanted on laptop computer) or the embodiment of integration software and hardware aspect form.In addition, embodiment can The form for the computer program product being stored on computer-readable recording medium is taken, computer-readable instruction is (for example, soft Part) it is included in the storage medium.Various embodiments can take the form of the computer software of web realizations.It is available to appoint What suitable computer-readable recording medium, including for example, hard disk, Zip disk, DVD, light storage device, solid-state storage dress Put, and/or magnetic memory apparatus.
Below with reference to schematic diagram, block diagram, image and the flow of method, equipment (for example, system) and computer program product Figure is illustrated to describe various embodiments.It should be understood that each frame and block diagram and flow chart illustration of block diagram and flow chart illustration The combination of center can be realized by the computer of execution computer program instructions respectively.These computer program instructions can be loaded With manufacture machine on to all-purpose computer, special-purpose computer or other programmable data processing equipments so that computer or other The instruction performed in programmable data processing equipment creates the hand for being used for realizing the function of being specified in one or more flow chart box Section.
These computer program instructions can be also stored in computer-readable memory, the computer program instructions can Computer or other programmable data processing equipments are guided to realize function in a specific way so as to be deposited in computer-readable memory The instruction of storage produces the manufacture that can be arranged to realize the function of being specified in one or more flow chart box.It will can also calculate Machine programmed instruction is loaded into computer or other programmable data processing equipments, to cause series of operation steps in computer Or performed on other programmable equipments to produce computer implemented process so that held on computer or other programmable equipments Capable instruction provides the step of being used to realize the function of specifying in one or more flow chart box.
Therefore, the frame of block diagram and flow chart illustration support for perform specify function Mechanism Combination, for perform refer to The combination of the step of fixed function and the programmed instruction for performing the function of specifying.It should also be understood that block diagram and flow chart illustration The combination of each frame and block diagram and flow chart illustration center can be by function that execution is specified or step based on specialized hardware Computer system or specialized hardware and perform the combination of other hardware of suitable computer instruction and realize.Can also be by special-purpose software Realized with operation special-purpose software and/or the equipment of application.Whole system can be can be from (including the movement of various computer platforms Device) come what is accessed.
Figure 143 includes the image of the pipeline based on land.The system for any pipeline that uLog can be used in any structural environment Make.Structural environment can be land, sea, land and it is marine both, underwater, seabed, in factory, on ship, refuting On ship, on platform, in structure, in space or in any other structural environment.For example, uLog can be used for pipeline welding Control.
Figure 144 shows the welding bench 14410 according to the embodiment of the disclosure.ULog can be combined with welding bench 14410 to be come Use.ULog can handle the data from welding bench 14410.Welding bench may include welding robot or welding system 14412, welding Worker 14414 or automation or robot welding system.In embodiments, welding robot or welding system 14412 are tracks Formula welding robot.Described in the U.S. Patent number 3,974,356 that August in 1976 authorizes Nelson et al. on 10th welding robot or The example of welding system 14412, entire contents are incorporated herein in its entirety by reference.Welding bench 14410 can be by computer System 14416 controls, to control welding process and also obtain the data on welding process.It is real in computer system 14416 Existing uLog is controllable to include the welding bench 14410 of welding robot 14412, and can also handle the workpiece from such as pipe 14418 and/or about the work being applied on workpiece (such as pipeline) 14418 or the data of welding.
Figure 145 shows multiple pipeline welding platforms 14410 (pipeline welding extension of the embodiment according to the disclosure 14420).ULog can extend in pipeline welding to be used on 14420.ULog can handle one in pipeline welding extension 14420 The data of individual or multiple welding benches 14410.In embodiments, uLog can be handled from multiple or many welding benches 14410 Data.There is no any restrictions to the position of welding bench 14410.Pipeline 14418 can be grown very much, and one or more platforms can be located at Any position and it is unrestricted.In addition, uLog supports that processing comes from multiple projects and/or activity and/or task and/or personnel simultaneously Data.ULog user expert can spanned item mesh use and also used in project.ULog allow user simultaneously or sequentially, Work in the data from one or more projects in real time or based on history.
Figure 146 is that have multiple welding benches 14410 and multiple controls and log collection according to the embodiment of the disclosure The schematic diagram for the system that platform (computer system) 14416 communicates.In embodiments, can be associated with welding bench 14410 Welding data is collected at log collection platform 14416.Control and log collection platform 14416 can handle one or more welding and/or The data of welding bench 14410.Data Collection and/or processing can begin at pipeline construction, welding bench equipment, operating personnel, welding Worker or other data input meanses.In non-limiting example, device handler, embeded processor, computer, sensing Device, process control equipment, wired or wireless analog- and digital- device and hand held data processor can be used for gather, transmit and/ Or processing welding bench and/or welding system data.In embodiments, one or more skilled workers can control the He of welding bench 14410 Control and log collection platform 14416.The quantity of pair log collection platform 14416 that can be used together with uLog does not limit.Daily record Collection table 14416 is used for welding system 14422 together with welding bench 14410.
Figure 147 is that have multiple welding benches 14410 and multiple controls and day according to another embodiment of the disclosure The schematic diagram for the system that will collection table 14416 communicates.In embodiments, can be from each welding bench 14410 or welding system 14422 collect welding data.In another embodiment, weldering can be collected from multiple welding benches or welding system 14410 Connect data.The quantity of welding bench 14410 and/or welding system 14422 is not limited.
Figure 148 is by wireless connection (for example, WiFi connections) 14426 welding benches according to the embodiment of the disclosure 14410 schematic diagrames to be communicated with wireless network 14424.For example, welding bench 14410 can possess wireless communication ability, such as bluetooth, WiFi, cellular communication, satellite phone or other wireless means.As non-limiting example, welding bench 14410 can have and can gather With one or more of soldering computer, server or the processing unit 14416 of processing welding system data.Such as figure Shown in 148, welding bench 14410 includes two welding robots or welding system 14412.In embodiments, welding system 14412 Including rail mounted welding system.One in welding robot 14412 is (CW) welding robot clockwise or system, and another Welding robot 14412 is (CCW) welding robot counterclockwise or system.
Figure 149 be according to the embodiment of the disclosure by the multiple settings 14430 of global network (internet) with The schematic diagram that Cloud Server 14432 communicates.ULog can be configured based on local, area, project or global scope.ULog reality Now without geographical limitation.One or many settings 14430 can network with uLog.In embodiments, user, staff, Administrative staff, engineer, department, company, expert, worker, client and multiple other can respectively be networked to uLog.Each operation Point 14430 includes welder 14414 (as shown in Figure 144), the guide operation such as skilled worker 14434 and welding engineer 14436 Welding bench 14410.Each setting 14430 is configured to by private communication line or communication channel 14440 or passes through internet 14442 communicate with Cloud Server 14432.Cloud Server 14432 can be accessed by system manager 14438 and engineer 14439. The storage device 14433 to be communicated with Cloud Server can be provided for storage welding data.
Figure 150 is by more than 14458 individual welding bench 14410 of communication channel or order wire according to the embodiment of the disclosure With the intermediate computations device of supervisory engineering staff (guiding skilled worker 14452, inspector 14454, engineer 14456 etc.) operation The schematic diagram of 14450 communications.For example, each welding bench 14410 can be logical with one or more of intermediate computations device 14450 Letter.Similarly, each intermediate computations device 14450 is configured to communicate with one or more of welding bench 14410.Centre meter Calculate device 14450 and then be configured to communicate with Cloud Server 14432 by internet 14442.The part of uLog programs by with To put to be run on Cloud Server 14432, uLog other parts are configured to run on intermediate computations device 14450, and And other part is configured to realize in welding bench computer/server 14416.ULog each part or component and its He is partly or assembly synergistic is operated to provide the seamless management of total system.In embodiments, uLog optionally has poor Alienation global network ability and communication network ability.In another embodiment, have the ability to be integrated completely；And In another embodiment, it can be the indifference opposite sex to have the ability.
Figure 151 is to pass through wireless (for example, WiFi) communication channel 14426 to channel radio according to the embodiment of the disclosure More than 14424 individual welding bench 14412 of communication network and (engineer, quality and technology terminal operation) intermediary computer systems 14450 The schematic diagram of communication.Intermediary computer systems can be used to realize data input, processing, transmission, input, output and other work( Any kind of computing device of energy, including tablet personal computer, phone, smart phone, PDA and/or other wireless devices.Centre meter Calculation machine runs uLog programs, and can by engineer, quality control, user, supervision skilled worker and other operate.In embodiment In, the uLog run at intermediate computer 14450 coordinates the welding bench computer 14416 at each welding bench 14410 to carry For data, processing data and transmission data or information.
Figure 152 be according to the embodiment of the disclosure by enter cordless communication network 14424 it is wireless (for example, WiFi) the schematic diagram that more than 14426 individual welding bench 14410 of communication channel communicates with intermediary computer systems 14450.Figure 152 is shown Extended network configures.Intermediary computer systems 14450 have wireless capability, WiFi or honeycomb (3G, 4G etc.), so as to allow It with welding bench 14410 in any one radio communication.Intermediate computer 14450 can be connected in wireless network 14424 Any kind of portable radio of any position, such as smart phone, tablet personal computer or PDA.In embodiments, uLog Grid network can be used in program or system, so that by mesh wireless (for example, WiFi) network 14424 come processing data.For example, The welding bench server 14416 of welding bench 14410 can be communicated by mesh wireless network 14424 with uLog devices 14450, and From anywhere in can connecting in grid network 14424.In embodiments, can be networked in extended network configuration using grid.
Figure 153 is the multiple welding benches 14410 and multiple intermediary computer systems 14450 according to the embodiment of the disclosure (engineer 14456, inspector 14454, guiding the operation such as skilled worker 14452) (itself and then communicated with Cloud Server 14432) communication Schematic diagram.Figure 153 shows the data flow diagram of overall network configuration.In embodiments, overall network, which configures, to be Global network configures.Overall network configuration can be managed personnel, engineer, inspector, skilled worker, guide skilled worker, welding engineering Teacher, welder and welding bench and other uses.In embodiments, uLog overall networks configuration optionally has the whole world Property network capabilities and the data flow of extended network ability alienation.In another embodiment, have the ability to be integrated completely And indifference is different in nature.For example, similar with the configuration shown in Figure 150, each welding bench 14410 can with intermediate computations device 14450 One or more communications.Each intermediate computations device 14450 is configured to logical with one or more of welding bench 14410 Letter.Intermediate computations device 14450 and then it is configured to communicate with Cloud Server 14432 by internet 14442.ULog programs Part is configured to run on Cloud Server 14432, and uLog other parts are configured on intermediate computations device 14450 Operation, and other part is configured to realize in welding bench computer/server 14416.ULog programs or system Each part or component are operated to provide the seamless management of total system with other parts or assembly synergistic.In embodiments, ULog optionally has differentiation global network ability and communication network ability.In another embodiment, Suo Youneng Power is integrated completely；And it can be the indifference opposite sex in yet another embodiment, to have the ability.
Figure 154 is shown according to the embodiment of the disclosure at welding bench 14410, in intermediary computer systems 14450 Place or the conventional data based on cloud realized at Cloud Server 14432 by computer system record the " main of the application of (uLog) The exemplary graphical user (" GUI ") of screen " 14460.In embodiments, uLog is provided for data retrieval, data Analysis, data analysis method, data mining, the various features of data record and report.GUI 14460 includes multiple icons 14461 To 14468.Each icon when activating (such as being touched by mouse-click or by finger) opens application.For example, icon 14461 is associated with application management, and the application management is configured to be managed human users for setting uLog management Property feature.Icon 14462 is associated with the welding parameter for being arranged to input welding parameter.Icon 14463 and function " day Will " is associated.Icon 14464 is associated with function " report ".Icon 14465 is associated with function " operation setting ".Icon 14466 is associated with function " analytic approach ".Icon 14468 (that is, saves the data in cloud with data are uploaded and are stored on cloud On server 14432 or storage device 14433) it is associated.Therefore, as can be appreciated, uLog general records function may include but It is not limited to handle data and information about following content：Management, welding parameter, daily record, record, report, operation set, examined Test, quality control, coating, line treatment, user and/or management diagnosis, analytic approach and for processing locality and/or based on cloud The data that are handled of means.
The scope of the present disclosure covers the ways and means for realizing that disclosed pipeline welding and construction are supported, and covers use In the electronics for producing and using any software, application, computer-executable code, programming, logic sequence or other forms or certainly Dynamicization means are to realize and/or any manufacture, product, means and method using methods herein.Such product, manufacture Included, but not limited to, e.g. with means, provided on the mounting medium of such as disk or provide or depositing in physical memory There is provided in storage rod or provided as software application product or provide as the application that numeral download provides or carried by other devices The software application product of confession.The application having to explicitly cover can by using, realize, installation or otherwise activate to make With, realize and/or implement any software product of method disclosed herein or the installation of equivalent product, do not install, compiled Translate and non-compiled version.In addition to its conventional and convention meaning, citation " computer readable program code means " is intended to broadly Be understood to cover may be utilized it is disclosed herein making, using and selling, implementing, realizing, participating in, producing, run or operate The computer readable program code of any species and type, executable code, the software of method be that service, web services, cloud take Business or the process based on cloud, Embedded Application, deposit on the mounting medium of such as disk or in physical memory or in flash memory In reservoir or in memory stick or as software application product or download the application provided as numeral or compiled on programmable hardware Software application product journey or that other devices provide.The application should broadly understand and be not limited to provide or make in this regard With, realize and/or implement computer readable program code product disclosed herein, any delivering of means and/or method fills Put or any product form.In embodiments, this paper all methods can be used as can be used for realize it is disclosed herein it is any, Some or all results, the software product of calculating and/or numerical method, software application, computer readable program code means or Any other manufacture or device are generated and provided to user.
In embodiments, user can locally or in cloud set operation.In the example based on cloud, user can be used And/or the operation relevant information from cloud is inherited by the device of user and/or machine (information) retrieval or to be pushed to the device of user And/or machine (for example, computer 14416 associated with welding robot 14412).Operation is set to swash on cloud or by cloud Removable mounting puts 14416 to inherit operation relevant information from cloud to be pushed to device and/or machine 14416.In another embodiment party In case, uLog provides one point data completeness maintaining.Machine is to cloud (M2C) and cloud to machine (C2M) data storage and search It is the function that uCloud is provided.
In embodiments, centralized location can be used, in the centralized location, can be automatically inputted by uLog, Processing and the details for safeguarding or retrieving operation client.Distributed method can be also used for data management and processing by uLog.uLog The operation for waiting to be deployed in the operation of the proper authorization management of the user privilege level with distribution can be created and connect specifically to join Number file.The user that this operation relevant information can be allocated inherits and is pushed to the computer associated with welding robot 14412 14416 (clouds to machine；“C2M”).To the change that operation relevant information is made from the computer associated with welding robot 14412 14416 collect, and synchronous (synchronization) returns (machine to cloud；" M2C ") cloud (that is, Cloud Server 14432).Cloud Server 14432 offer wherein uLog handle the single-point of some or all data.
ULog can be handled, recorded, analyzing and using a kind of, a variety of or whole data in following type equipment： Welding robot, angle pipe equipment, pipe handling equipment, end Preparation equipment, fixture, place mat and/or disintegrating apparatus, double connection equipment And/or system, weighing-appliance and/or system, transmission equipment and/or system, pipe laying (laybarge) equipment and construction/management system System.ULog can also be Enterprise Resources Planning (ERP) system or be worked together with ERP system.
ULog can be used and/or handle from any of following kind of welding equipment or a variety of data.It is such Welding equipment can be such as but not limited to：Manual welding equipment, automatic welding device, outside weldings machine, internal welding pick Device, single welding torch welding machine, double-torch welding machine, more welding torch welding machines, high production capacity welding system, checking system, internal inspection system, outside Checking system.
ULog can be used and/or handle any of following kind of angle pipe equipment or a variety of data：Bend pipe machine, Wedge-shaped mandrel, hydraulic pressure wedge shape mandrel, connector mandrel, hydraulic pressure connector mandrel, pneumatic mandrel, pneumatic wedge-shaped mandrel.ULog can be used And/or processing is from any of following kind of pipe handling equipment or a variety of data：Equipment (CRC-Evans companies, Houston, Dezhou), vehicle, construct vehicle and suitable for producing setting for the data for being used for using or handle It is standby.ULog can be used and/or handle from any of following kind of equipment or a variety of data：Bend external member and punching Mould, Angle Measuring Equipment and device, compressor, support, suspension bracket and/support member, Deperming Facility, tire, wheel and crawler belt Wheel.
ULog can be used and/or handle from any of following kind of equipment or a variety of data：For increasing The end of platform on pipeline inclined-plane prepares platform, the alignment tool for pipe alignment and outside weldings, for applying outside weldings The capping filling stage of capping, the interior welds platform for applying interior welds, the confession with diesel-driven generator and welding rectifier Electric trailer or container, the pipeline slideway for transmitting pipeline between platform and support member, internal pneumatic line-up jig and pipeline butt machine Device, sub- arc welding machine and processing equipment.
ULog also can be used and/or handle from any of following kind of equipment or a variety of data：Pipe laying is set Standby, line treatment, double connection, joint coating equipment, coating equipment, shore facilities, offshore set-up, deep water equipment, shallow water equipment, Roller unit, conveyer, pipeline transmission equipment, support frame, support unit, roller die block, longitudinal conveyor roller die block, pipeline hang liter Machine, conduit support, roll shape conduit support (PSA and PSF), pipeline transmit bracket, PTC-V pipelines transmit bracket, stern pipe branch Support member, adjustment height conduit support, SPSA roll shape stern pipes support member, TPSA rail conduit support, cross conveyor, stepping Beam type conveyer and TV-C-W cross conveyors.
ULog can be used and/or handle from any of following kind of process and method or a variety of data：Weldering Connect, pipeline welding, pipeline welding, coating, joint coating, scene joint coating, inspections, quality assurance, it is non-invasive test, it is hot at Reason, management, marine management, management ashore, the service of management, welding support, spool base management and microalloying.
In embodiments, uLog can be used for counting from cloud and from mobile device deployment daily work.Can be from mobile platform And/or PQR and/or WPS and/or the establishment reported daily are carried out on cloud or by other means.On cloud and mobile device The collected data of analysis provide feedback to improve quality and failure prediction to control system.In embodiments, uLog is provided The pipeline conjugation labelling of integration, it is synchronous with data logging.ULog also can be used the single-point capture of data logging, provide machine setting Information and handle software correction.
ULog can also carry out the automatic of machine state and report an error, automatically mark the time to job position on charge book Stamp and execution synchronously capture the operation relevant parameter change annotation from all users for giving project.In addition, uLog The related unification of the project from single-point to client can be also generated to report.
Figure 155 show current versus time at one welding bench of display according to the embodiment of the disclosure based on cloud The exemplary GUI of " live daily record " screen of the application of conventional data record (uLog).In embodiments, uLog is performed from institute There are pipeline welding processing, coating correlation machine to carry out the centralized data capture of data, and perform and such machine and activity The centralized data capture of related each type data.Welding, coating and the current live movement summary examined can be generated. Various parameters are reported in table, the parameter includes：Case Number, timestamp, area identification, welder or welding system incline Gradient, the gait of march of welder, the lead volt for putting on bonding wire or voltage, the lead ampere (A) for putting on bonding wire or Speed of electric current, wire speed or bonding wire etc..For example, it can include guiding bonding wire speed with table and/or graphical format report The various parameters and other specification of the speed (gait of march) of (that is, the speed of bonding wire) and welder.In addition, put on weldering The voltage of line also can be displayed in table and/or be shown as the curve map control time.
Optionally, uLog can support the electronic signature to PQR/WPS documents.Optionally, uLog can processing system parameter version This control and rollback.In embodiments, uLog also has the work(being used for from cloud and/or mobile device deployment daily work statistics Energy.For non-limiting example, uLog can perform data management, and can provide the user (example in relevant preset time section Such as, per hour, in one day, in one week etc.) report of the quantity of welding completed, and can report in preset time section (for example, Per hour, in one day ...) used in consumptive material (for example, welding material) amount or other measurement.ULog can also produce operation and Error reporting.
In embodiments, Email and/or SMS (text message) or other notices can be sent to appropriate by uLog Regulator.ULog can be additionally used in finance function, book keeping operation audit, time record and other management roles.For example, uLog can be with Timely mode provides invoice for client.In embodiments, quantity that can be based on welding or use and/or waste based on consumptive material To generate invoice.ULog provides assessment system, and supports the efficient invoice of pipeline welding project to issue and keep accounts.
ULog can also be used to automatically re-supply the material and/or equipment on project and/or other resources or stock.This The many of uLog disclosed in text and the functions of changing can reduce job interruption in construction process, downtime, waste and Other negative conditions occur.
Figure 156 shows to include welding event type, time, region, welding row according to the display of the embodiment of the disclosure Enter speed (gait of march of welding system), the welding data parameter of lead gait of march (bonding wire speed) based on the general of cloud The exemplary GUI of " acquisition daily record " screen of the application of data record (uLog).Figure 156 shows each seed ginseng reported on table Number, the parameter include：Welding mark or type number, Case Number, timestamp, area identification, welder or welding system The gradient of system, the gait of march of welder, the lead volt for putting on bonding wire or voltage, the lead ampere for putting on bonding wire Or electric current and wire speed (speed of bonding wire) (A).In embodiments, uLog can be on charge book to job position Automatically mark timestamp.In other embodiments, timestamp can be marked to data logging and time zone, such as Figure 156 can be reflected Shown in the table painted.Can be synchronous from GPS and/or based on the data syn-chronization timestamp for being presented and/or being pushed to uLog so that daily record Reflect their captured time zones.
Figure 157 shows to include weld interval, welding bench identifier number, welding arc electricity according to the display of the embodiment of the disclosure The conventional data based on cloud of the various welding parameters of pressure etc. records the exemplary of the Top Line Report screen of the application of (uLog) GUI.In embodiments, uLog can create and/or generate the PQR and/or WPS being fully completed from mobile platform and on cloud And/or Top Line Report and/or daily report.PQR, WPS, summary and daily report can be produced with manual type or automatically given birth to Into.ULog can according to plan, provisionally or simultaneously create a kind of, a variety of or whole in the reports of these types.ULog is provided Handle general and consistent data benefit.The data of identical collection can be used in identical or different position and/or output dress Put place's generation report.
The rule of report can be established on uLog, and the rule of the report can be configurable.In embodiment In, can on cloud synchronously give project critical data.ULog supports the establishment of project evaluation loose-leaf binder, and the project evaluation is lived Page folder will it is approved with electronic signature evaluation process at the end of be sent to user and/or the client of user and/or its He is recipient.ULog reduces time and the expense for the document for creating these reports and approval.
Figure 158 shows to be recorded (uLog) according to the various conventional datas based on cloud of display of the embodiment of the disclosure The exemplary GUI of " saving the data in daily record " screen of application.ULog provides the data storage service of unlimited essence.Pipeline It is global to construct industry, and its project can be geographically scattered.In addition, pipeline construction may in adverse circumstances and Carried out under weather.ULog allows to store and protects the data from anywhere in user and/or equipment are where possible.It can also incite somebody to action Data syn-chronization is otherwise handled.For example, can by data from operation, daily record, welding bench, welding parameter, report and Job position is saved in cloud.In embodiments, can also save location data in addition to technology and/or management data.
Figure 159 shows to be used to select performed analysis type (for example, becoming according to the display of the embodiment of the disclosure Gesture, moving average) " analytic approach " screens of application of the record of the conventional data based on cloud (uLog) of two icons show Example property GUI.In embodiments, uLog analytic approach can handle and provide what data trend, moving average and/or user needed Any kind of data processing.In embodiments, uLog can have pipeline data cloud record, report and analysis system.For example, Collected data can be implemented with analytic approach to provide feedback to control system, with improve weld and/or construction equipment, activity and The quality of operation and failure prediction.In embodiments, data can be collected by cloud and/or one or more mobile devices. In embodiments, uLog supports synchronously to capture the operation relevant parameter change note from all users for giving project Release.In another embodiment, uLog can monitor, analyze and report current live activity, and provide welding, coating and inspection The live summary data and Top Line Report for the activity of testing.ULog systems executable system parameter Version Control and rollback.ULog systems The single-point capture of data logging, machine setup information and software correction can also be realized.In yet another embodiment, the pipeline of integration Conjugation labelling can be realized and synchronous with data logging.
Figure 160 shows to be used to select pending function (for example, obtaining welding according to the display of the embodiment of the disclosure Parameter (WP), welding parameter (WP) is set, checks welding parameter WP...) type two various mechanisms it is logical based on cloud With the exemplary GUI of " welding parameter " screen of the application of data record (uLog).In embodiments, notes of the uLog based on cloud The executable following activity of record and/or during any one：Welding parameter is obtained, welding parameter is set, checks and handles welding Parameter annotation, check and handle welding parameter transmission and rollback welding parameter.In embodiments, uLog can be included following In any one, it is multiple or whole：Pipeline mile remuneration function, pipeline mile function, uLog functions, M2C functions and C2M work( Energy.
If before most of bonding wire consumption, welder changes very much spool soon, then welder or welding skilled worker can Bonding wire can be wasted.In addition, if spool is finished line in welding process, welding process may interrupt, so as to cause to stop work Time and defect repair.A method for solving these problems in the present embodiment is, dependent on line feed electromotor velocity with Determine wire speed, and it is thus determined that the length of the bonding wire consumed in certain time.However, the method may be existed due to line Line feeds sliding on electronic wheel or incorrect starting weight and brings error into.Therefore, line is determined based on electromotor velocity Length may not be accurate.There are enough lines to use in addition, incorrect starting weight may cause user to believe in spool In performing welding (if for example, initial or starting weight is overestimated), and actually the amount of remaining line is not enough in spool Complete welding.In order to handle this deficiency, while motor pulls bonding wire, use device measures the weight of coil of wire bobbin in real time Amount.By measuring the weight of spool, whether user or welder can remaining sufficient in spool is determined before starting welding Enough lines are completed to weld.Therefore, the weight of line can be determined in institute's having time, so be substantially eliminated because spool is slided It is uncertain caused by shifting or unknown starting weight.In addition, can be by weight compared with lead feed rate, to determine that line is It is no to be fed under default speed.
Figure 161 A schematically describe the spool 14480 for being configured to carry bonding wire of the embodiment according to the disclosure Example.Figure 161 B schematically describe the weight for being configured to measure spool 14480 of the embodiment according to the disclosure Wheel hub transducer 14482 lateral view.Figure 161 C descriptions are shown in spool 14480 according to the embodiment of the disclosure The wheel of the positioning of the element of transducer or strain transducer/deformeter 14484 of weight strain is measured when on wheel hub 14482 Another lateral view of hub transducer.As shown in Figure 161 B, when spool is arranged on wheel hub 14482, the weight of spool Amount by the applying power on the axle 14482A of wheel hub 14482, this so apply strain on lateral wheel hub 14482B.In lateral wheel hub Strain transducer 14484 is provided on 14482B, to sense the strain that the weight of spool is applied.Available for answering for measuring strain The example for becoming sensor is piezoelectric element.Strain transducer 14484 is converted to adaptability to changes measured voltage.Therefore, pass through Measure voltage, it may be determined that the weight of spool 14482.In embodiments, temperature sensor (not shown) may be provided in wheel hub In and be located to capture the temperature of wheel hub, so that for wide temperature range, correction is implemented in pair of strain sensors measurement.
Figure 162, which schematically describes to be pulled according to the wherein motor unit piece installing 14490 of the embodiment of the disclosure, to be installed To the bonding wire 14486 in the spool 14480 of wheel hub 14482 for line 14482 is fed into welder (not shown) Arrangement.Bonding wire 14486 is pulled by motor unit piece installing 14490.In embodiments, motor unit piece installing (is used to determine lead Speed) rotating speed can be measured by sensor 14492.In embodiments, motor unit piece installing is used with enough rotating speeds Motor (revolutions per minute or RPM that are measured by sensor 14492) realizes expectation feed rate of the line to welder. In another embodiment, the rotation of motor unit piece installing can feed (lead according to the expectation bonding wire measured by sensor 14492 Speed) speed changes.Motor unit piece installing 14490 is configured to supply or be fed to welder 14500 by bonding wire 14486 With welding workpiece 144101 (for example, pipeline etc.).The speed of welder 14500 is measured by velocity sensor 14502.Speed Sensor 14502 is also configured to the various parameters or welding data of measurement welding.
Figure 164 A and Figure 164 B describe laterally to be cutd open according to the amplification of the motor unit piece installing 14490 of the embodiment of the disclosure View.As illustrated, motor unit piece installing includes motor 14491 and feeding wheel 14493.The engagement feed wheel of motor 14491 14493 so that the rotation of feeding wheel 14493.Motor unit piece installing 14490 also includes mip rolls 14495, the mip rolls 14495 with The contact of feeding wheel 14493.Tension spring 14497 is provided to bias mip rolls 14495 towards feeding wheel 14493.Lead 14486 are inserted between feeding wheel 14493 and mip rolls 14495.Therefore, the hump lead 14486 of mip rolls 14495, so that line 14486 contact with feeding wheel 14493.Therefore, feeding wheel 14493 and mip rolls 14495 as shown in the arrow in Figure 164 B Rotation is converted into the linear movement of line 14486 in theory, as shown by arrows.In embodiments, on feeding wheel 14493 The gear teeth are provided, line 14486 is tangled will pass through friction and forces line 14486 to move.However, it is possible to it is not complete line 14486 occur The full situation for being fed wheel 14493 and tangling.In this case, line 14486 may slide, because while the rotation of feeding wheel 14493 Turn, but this rotation for feeding wheel 14493 is not converted to the exact linear movement of line 14486.For example, when on feeding wheel 14493 Wheel odontotripsis (so that the enough frictions for tangling line 14486 are not provided) when or when mip rolls 14495 are worn (so as to not online Apply enough pressure or power on 14486 so as to which line 14486 is adjacent into the push of feeding wheel 14493) when, or work as tension spring During 14497 its preload (so as to cause to apply enough pressure or power on mip rolls 14495 not online 14486) of forfeiture, or work as When the nut 14499 of fixed feed wheel 14493 releases (so as to cause feeding wheel not tangle line 14486) or during its any combinations, It is possible that this thing happens.As shown in Figure 164 A, motor unit piece installing 14490 includes speed probe 14492, and the rotating speed passes Sensor 14492 is configured and arranged to measure the rotating speed of motor 14491.Output end 14498 is provided for entering data into Include motor 14491 into motor unit piece installing 14490 and from the output data of motor unit piece installing 14490, the data Speed.Data from output end 14498 are sent to the computer 14416 associated with welding bench 14410.
Figure 165 is that the welding system interconnected according to the various assemblies of the trace system of the embodiment of the disclosure configures Figure.As shown in Figure 165, the rotating speed of motor unit piece installing 14490 is measured by speed probe (RPM sensor) 14492.This Outside, the weight of bonding wire spool 14480 is measured by the weight sensor 14484 in wheel hub transducer 14482.Welder 14500 speed is measured by velocity sensor 14502.Passed by speed probe 14492, weight sensor 14483 and speed All parameters or data measured by sensor 14502 are input into the computer 14416 at welding bench 14410.Implementing In scheme, computer 14416 can be managed by intermediate computer 14450.Intermediate computer 14450 can be wireless device, such as Tablet personal computer, mobile device, smart phone, laptop computer etc..Therefore, intermediate computer 14450 may have access to computer 14416 The data at place, the data include the number from RPM sensor 14492, weight sensor 14484 and velocity sensor 14502 According to.Intermediate computer 14450 also communicates (for example, wirelessly) with Cloud Server 14432, can in the Cloud Server 14432 Storage and/or further data of the processing from computer 14416.In the embodiment of the disclosure, without using intermediate computations Machine.In this case, computer 14416 is connected directly to (for example, wirelessly) Cloud Server 14432.
As stated in above paragraph, in some embodiments, due to potential sliding, the speed of motor unit piece installing The measurement of degree (for example, speed of feeding wheel 14493) may be not enough to that welding robot is provided separately or system is used or disappeared The correct amount of the bonding wire of consumption.In fact, even if the rotation of feeding wheel 14493 is accurately measured, the spin theory of the wheel On be converted into moving, and be therefore converted to some length.However, due to sliding, line does not move, and the therefore rotation based on wheel Turn or rotating speed determined by length do not correspond to actual line length.Therefore, the weight of also measurable bonding wire spool.In embodiment party In case, the weight of new and untapped coil of wire bobbin is about 15kg (15000 grams).In embodiments, the weight of coil of wire bobbin With the precision more than 15000 grams about 100 grams, i.e., about 0.7% precision measures amount.Therefore, weight, which provides, determines spool In remaining bonding wire amount relatively good measuring method.In embodiments, periodically capture or measure spool Weight, and when each spool rotates stopping, timestamp is attached to be recorded and transmitted to uLog.Such as buzzer or The indicator of light flash etc. can indicate it is to refill the time to fill another spool to welder.In addition, in an embodiment party In case, welding robot can operate without welding in the case.Indicator may indicate that the weight threshold that can not complete complete solder Value.
In embodiments, RF modules are also provided to read spool sequence number, the manufacture weight of spool, spool class Any details fed on the RF labels installed on type, project name and spool.This data can by uLog with it is any attached The necessary details added is transmitted on cloud.If reusing old spool, system is by sequence number and the spool that has used Database is compared, and last time available weight is extracted from cloud, and then it is just started compared with new weight readings Work.Buzzer or indicator lamp are available in system, to indicate that the details on RF labels has been read simultaneously to operating personnel And transmitted by CAN.Marked using RF systems by the quantity for eliminating the spool that tracking has used, its sequence number and further Know using any artificial recording work required for the workbench where these spools.If it deliver errant component/diameter Bonding wire, then system this situation can be identified from RF tag attributes, so as to operating personnel prompt this deviation.If system is complete It is artificial, then this may be difficult to discover in the extreme.
In embodiments, between the weight W1 measured at accountable time T1 and the weight W2 measured later at time T2 Poor DW.Weight difference DW (wherein DW=W1-W2) corresponds to the weight of the line consumed in welding process.Can be by this weight difference DW Compared with theoretical weight TW.The rotating speed R of the motor or linear speed S of line can be used (linear speed S depends on rotating speed R) To obtain theoretical weight TW.Below equation (1) can be used to calculate theoretical weight TW.
TW=(T2-T1) × S × (linear diameter) 2 × (density of wire material) × π/4 (1)
If it is assumed that not sliding, theoretical weight TW should be equal to measured weight DW.On the other hand, if Slid during between time T1 and time T2, then theoretical weight TW will be greater than measured weight DW, in this feelings Under condition, the ratio R between theoretical weight TW and measured weight DW is more than 1 (R=TW/DW ＞ 1), and/or theoretical weight Poor Δ between TW and measured DW is more than zero (Δ=TW-DW ＞ 0).Therefore, if in some period or some measurement After number, it is noted that the difference between measured weight and the weight of theory/calculating still suffers from, then can adjust or compensate electronic The speed of machine assembly 14490, to make the weight of calculating/theory be substantially equal to measured weight.Therefore, by measured by Weight and theoretical weight (being determined according to line feed rate) compared with, to determine line whether under default feed rate Feeding.In one embodiment, this determination can be realized or by using at Cloud Server 14432 in welder side ULog systems realize.
Figure 163 is that description is determined according to the embodiment of the disclosure by measured weight and based on line feed rate The flow chart for the process that theoretical weight is compared.As can be from the understanding of above paragraph, the process starts from S10 and is in first Time (T1) place measures the first weight W1 of coil of wire bobbin.The process is additionally included at S12, when passing some from time T1 Between after (T2 ＞ T1), at the second time T2 measure spool the second weight W2.The process is additionally included at S14, meter Calculate the first weight W1 measured and the difference between the second weight measured at time T2.The process is included at S16, is based on Line feed rate calculates theoretical weight.At S18, the theoretical weight based on line feed rate is entered with the weight difference calculated Row compares, and if theoretical weight is more than or less than calculated weight difference at S18, then drag wire is adjusted at S20 The speed of motor unit piece installing.After the speed for adjusting motor unit piece installing, after another incremental time, the mistake is repeated Journey.If theoretical weight is identical with the weight difference calculated, also after another incremental time, repeat the process without Adjust the speed of motor unit piece installing.This process is repeated at multiple incremental times, so as to monitor and/or correcting motor assembling Any potential sliding of part 14490.
This process can by the computer 14416 associated with welding bench 14410 uLog systems locally realize, or by ULog systems at Cloud Server 14432 are realized, or the uLog systems by the intermediate computer 14450 described in above paragraph Unite to realize.
In embodiments, it may be desirable to the use of line of the monitoring at different welding benches 14410, to assess welding system Whole efficiency.For example, this will allow the amount of spool required for predictably being indicated in large project based on previous knowledge. For example, the use of spool can be uploaded to uLog systems to be stored and be handled by Cloud Server 14432.For example, welding bench It each can be used previously described network configuration that the use data of spool are uploaded into uLog systems to cloud service in 14410 Device, and the history based on coil of wire bobbin amount uses and used machine learning algorithm (MLA), and coil of wire bobbin can be predicted in uLog systems Average future usage (or amount of bonding wire).For example, based on the use pattern in some welding parameters, uLog systems can determine that not The threshold value residing for complete solder can be completed.Therefore, indicator (for example, buzzer, flashing lamp etc.) can be used to behaviour in uLog systems The line made in alert persons' spool has exhausted, and can not be complete based on the Threshold warning determined using machine learning algorithm Into complete solder.For example, operation uLog Cloud Server 14432 can be configured into multiple welding bench computers 14416 One or more provide feedbacks, with based on using the Threshold that machine learning algorithm determines to welder warning can not complete Complete solder.
In another embodiment, when the theory weight determined based on bonding wire feed rate (being measured by sensor 14492) Had differences (W2-W1) between amount and measured weight, when wherein W2 and W1 are measured by weight sensor 14484, and it is uncomfortable The speed of whole motor unit piece installing 14490, but the speed (or gait of march) of adjustable welder 14500 is to match from institute The speed V that the weight W2-W1 measured is obtained.
As can be from the understanding of above paragraph, there is provided have a kind of welding system for including multiple welding benches 14410.Each welding Platform 14410 includes welding bench computer 14416 and the welding system 14412 to be communicated with welding bench computer 14416.Each welding Platform 14410 includes one or more sensors 14492,14502, and one or more of sensors 14492,14502 are configured To measure the welding data for including wire speed data (being measured by velocity sensor 14492), as example Figure 162 is described. The system also includes multiple wireless devices 14450, the multiple wireless device 14450 and one in welding bench computer or Multiple communications include the welding data of measured wire speed data to receive.The system also includes and wireless device The Cloud Server 14432 of 14450 communications, the Cloud Server 14432 are configured to handle the welding for including wire speed data Data, and it is configured to determine the amount that can consume welding material in preset time section used in multiple welding benches 14410.Cloud The amount for consuming bonding wire that server 14432 is configured to have used is sent to one or more of wireless device.
In embodiments, welding data also includes the gait of march data of welding system.In embodiments, without traditional thread binding Put the 14450 gait of march data for being configured to also receive welding system.In embodiments, Cloud Server 14432 also by with Put to handle gait of march data.
As can be from the understanding of above paragraph, a kind of welding system with welding bench be also provided with, the welding bench includes Welding bench computer and the welding system to be communicated with welding bench computer.Welding system includes welding material supply 14480, welding Device 14500 and the welding supply motor that the welding material 14486 welded in supply material 14480 is moved to welder Assembly 14490.Welding system also includes weighing device 14482 and sensor 14492, the weighing device 14482 and welding Platform computer 14416 is operatively connected, and is configured to measure the weight of welding material supply 14480 and by welding material The weight of supply 14480 is sent to welding bench computer 14416, the sensor 14492 and welding in the form of weight data Supply motor assembly 14490 and welding bench computer 14416 are operatively connected, so as to which welding supply motor is assembled The speed of part 14490 is sent to welding bench computer 14416 in the form of speed data.The operability of welding bench computer 14416 Ground is connected to welding supply motor assembly 14490, and is configured to based upon weight data control motor unit piece installing 14490 speed.
As can be from the understanding of above paragraph, there is provided have a kind of welding system for including multiple welding benches 14410, each welding Platform 14410 includes welding bench computer 14416 and the welding system 14500 to be communicated with welding bench computer 14416, each welding Platform 14410 includes one or more sensors 14492, and one or more of sensors 14492, which are configured to measurement, to be included drawing The welding data of linear speed degrees of data.Welding system also includes multiple wireless devices 14450, the multiple wireless device 14450 with The communication of one or more of welding bench computer 14416 includes the welding data of measured wire speed data to receive. The processing of welding system 14500 that each welding bench computer 14416 is configured to communicate with includes wire speed data Welding data.Welding bench computer 14416 is also configured to determine used in welding system 14500 to disappear in preset time section The amount of welding material is consumed, and consumption data is generated based on it.
In embodiments, each welding bench 14410 also includes being used to make the motor that lead moves under wire speed 14490, wherein speed of the wire speed data based on motor 14490 determines, each welding bench 14410, which also includes sensing, to disappear The weight sensor 14484 that the weight of consumption material exhausts.Weight sensor 14484 provides output to welding bench computer 14416 Signal.Welding bench computer 14416 determines consumption data using output signal.In embodiments, welding bench computer 14416 control the speed of motor 14490 using consumption data.In embodiments, the system also includes Cloud Server 14432, for receiving consumption data together with wire speed data to make consumption data related to wire speed data.
Figure 166 is shown can be general with broad category of test and inspection equipment, means, process and the system that method is used together State.In Figure 166 general example, pipeline 16610 can by girth weld will be more under the requirement of proprietary office 16670 Individual pipeline section is joined together to build.This construction can be carried out by proprietary office 16670, third party or its other party.Constructing During journey, can implement it is non-invasive test and inspection with ensure pipeline not in quality-controlling parameters the failure in its specified services. In order to support this target, for example, can (such as ultrasonic tesint or ray be taken the photograph by one or more means of testing, process or method Shadow art is tested) examine and test one or more weld parts (such as girth weld).
Such as Site Welding worker 16650 test device (such as imaging device 16620) can be placed on it is neighbouring on pipeline Each girth weld.Test device (it can be imaging device) collects the data of the internal structure about girth weld For analysis.Required for this data can be inspector or other staff analyze desired or any computer disposal Any kind of data.If, can be by one for example, using supersonic ultrasonic testing method or radiography method of testing or both Individual or multiple signals are transferred to pipeline and/or weld part (such as girth weld), and can pass through one or more computers And/or one or more people collect, handle and analyzed the data and information in response to such signal.
In embodiments, the response to signal can be received, handled, digitized, compressed, transmitted and transmitted (16625) to single device or receiver, (or described device and receiver with generation signal and/or can receive the survey of response Trial assembly, which is put, to be separated；And described device and receiver can be remotely located or are positioned at remote facility 16630).Herein, from Test cell receives data and is that device, facility or computer single or can be separated with test cell are referred to as " remotely Entity ".Remote entity, which is broadly covered, to be received, use, perception, processing or conversion come self-test unit any data appoint What device, facility or personnel or other.The range wide of this term can be from storage arrangement (such as memory stick) to distribution Control system, the processor based on cloud, cell phone, smart phone, computer, digital processing unit, receiver, ability, enterprise The control system or remote facility or remote central treatment facility or other devices of scope, personnel or position.In embodiment In, remote entity can be remote facility, and the remote facility can be calculating, processing and monitoring center.Remote entity is (such as Remote facility) can be networking, Wireless Networking, it is based on cloud, based on mixed cloud or at physical facility or and people Member, company, ability, purposes, entity or other are associated.In embodiments, remote entity can by any desired personnel, Client, company, tissue, inspector, third party, operating personnel, worker or other all and/or controls.
In embodiments, computer can be used to handle test and/or check number in remote entity (such as remote facility) According to (such as compressed data), with the size for any defect for determining to be present in weld part and/or pipeline, shape, position and take To.Test data and/or inspection data or analysis result transmission (16635) can be arrived and examine expert 16640, the inspection expert 16640 can check data or confirmation analysis result, or the whole for otherwise examining the data of expert 16640 using being supplied to An or part.Herein, " test data " and " non-invasive test data " is synonymously used.For example, can be by result or inspection Field worker 16650 is arrived in the result transmission (16645) for testing expert's confirmation.This supports to repair defect or manages weld part and pipeline Defect repair process.Optionally, the result that can be will confirm that is sent to quality assurance examination person 16660 and proprietary office 16670.
Technology, process, means and method used herein may extend into and test and examine for pipeline.It is public in this institute Equipment, process and the device opened have the purposes scope that extension exceeds well over welding.
Figure 167 is shown can be with any of broad category of method of testing and being used together with the equipment of many types System embodiment.As shown in Figure 167, in embodiments, one or more girth welds can be examined.Can examine by The girth weld 167110 that pipeline 167100 is fixed together, pipeline can be put into service afterwards.One Field Force 167500 or multiple Field Force 167500 can advance along the pipeline with one or more of girth weld 167110. They can be stopped at each girth weld and be shot using imaging device 167200 in girth weld 167110 The image of one or more respective inner structures.The scope of the quantity of girth weld 167500 to be tested can be from 1 to non- Often big numeral (such as 5,000,000).
Inspection data and image can be generated, handle, record, detect, digitize, compress and transmit on the spot or be transferred to The facility (central facilities 167300 being such as remotely located) of long range positioning.At the central facilities 167300 of long range positioning, meter Calculation machine 167310 can handle inspection data and image (it can be digital picture or other data images or data group), to determine Size, shape, orientation and the position for any defect being present in tested weld part.Computer can also be by using calculating Machine can perform logic and perform computer-executable code to identify which defect is notable enough and/or sufficiently large and complete to pipeline Property have significantly affect.If recognizing defect by computer disposal, it is special that one or more defects can be sent to inspection Family 167400, the presence of described the defects of examining expert 167400 to confirm computer identification and conspicuousness.
Alternately, inspector can be directly viewable inspection data and be drawn a conclusion according to the training and experience of inspector. Optionally, the conclusion of inspector can be confirmed by computer disposal.
Confirm that result (either computer generation or mankind generation) and then can be by computer meanses or with electricity The mode of words is sent to field worker 167500 so that can repair weld part.Assay can be also sent to quality assurance inspection The person of testing 167600, the company 167700 for possessing pipeline or other interested or predetermined parties.
In embodiments, pipeline 167100 can pass through girth weld 167110 under the requirement of proprietary office 167700 Multiple pipeline section 167120A, 167120B are joined together to build.In order to ensure the pipeline not failure in service, builder or Other people are expected that by non-invasive means and examine girth weld.These means may include magnetic powder test, Dye penetrant inspection, surpass Sound test and X-ray art.Ultrasonic tesint and x-ray photography are data-intensive imaging methods.
The one or more well-trained skilled workers 167400 of the analysis need of work of assessment test and/or inspection data, 167520 and professional imaging device 167200.Workable imaging device can have emitter stage 167210, the and of receiver 167220 Modulus (A/D) converter 167230.One or more field workers 167520 can be by supporting truck 167530 or other vehicles By imaging device 167200 along pipeline transportation to weld part.
Imaging device can be any useful type, such as ultrasonic type or radiography type.
In section junction, field worker can be placed on imaging device on pipeline or adjacent rings weld part near pipeline 167110.Field worker can activate imaging device.Signal (167215) can be sent to pipeline section and/or annular welds by emitter part In socket part.The signal can be ultrasonic/sonic wave pulse in the case of ultrasonic tesint, or in the case of x-ray photography It can be radiation, x-ray.
In the case of ultrasonic tesint, ultrasonic pulse can be from the border reflection that the density of girth weld 167110 changes. Give most strong reflection in border between metal and air.The pulse of reflection can be detected by receiver.Receiver is measurable anti- Penetrate the intensity of pulse (167222) and the electronic signal proportional to the intensity of reflected impulse can be produced.In embodiments, Emitter stage and receiver can have multiple element.Optionally, optionally emitter stage element is activated so that ultrasonic pulse targets Ad-hoc location.
In the case of x-ray photography, the intensity of x-ray is decayed by the material in pipeline section and girth weld.Receive The intensity of the measurable radiation through material (167224) of device.
In embodiments, imaging device may be mounted to the bracket of motor driving, and the bracket of the motor driving can Moved under constant rate of speed along girth weld.A/D converter can digitize the signal (167226) from receiver, and And compressible digitalized data.The imaging data of compression and bracket locations (167235) can be sent in remote entity (such as Remote facility 167300) place computer 167310.The transmission can by cable, the transporting of physical medium, wirelessly, network, Cloud, wireless radio transmission or other progress.
In Figure 167 non-limiting example, at remote facility 167300, computer 167310 can analyze data (167235).Analysis can be performed in one or more steps.For example, computing engines 167320 may indicate that annular solder Abnormal signal (167222,167224) in portion 167110 be present.Abnormal signal (167325) can be sent to AI engines 167330.AI engines can be the computer for running computer-executable code, the logic of relations and/or artificial intelligence programming.AI Engine can determine that size, shape, orientation and the position of (167335) the defects of causing abnormal signal (167325).AI engines can make Computer executable program code is performed with rule-based logic to determine which defect is notable for the integrality of pipeline And must be repaired, which is inapparent.Computer 167310 can will describe the data of zero or more defect (167335) it is sent to and examines skilled worker 167400, quality assurance examination person 167600, proprietary office 167700 and Field Force 167500 or other.
In embodiments, skilled worker is examined to be sent to quality assurance examination person, proprietary office in data (167335), show Field personnel or selection review (167215) described data (167335) before other.Examine skilled worker can also by the identification of defect from Significantly change to be non-significant or change into significantly from non-significant, or otherwise change or annotate by computer or with it Any result caused by his mode.Can will be associated with notable defect the defects of data (167335) be sent to Field Force 167500.One or more field workers 167520 can be transmitted the data to.One or more field workers can for The position of notable defect is marked on welder 167510 or other weld parts and/or pipeline (167525) for repairing by repairing And size.Alternately, the data can be transmitted directly to repair welder 167510 or other.
Figure 168 shows ultrasonic tesint embodiment.As shown in Figure 168, in embodiments, it can be examined by ultrasonic tesint One or more girth welds.The girth weld 168110 that pipeline 168100 is fixed together can be examined, can be incited somebody to action afterwards Pipeline input service.One Field Force 168500 or multiple Field Force 168500 can be along with girth welds 168110 One or more of pipeline advance.They can stop at each girth weld and use ultrasonic test equipment 168200 shoot the image of the internal structure of weld part.These images can be digitized, compressed and are transferred to remote facility (central facilities 168300 being such as remotely located).At the central facilities of long range positioning, computer 168310 can handle inspection Data (such as ultrasound data, view data or image), with determine be present in tested weld part any defect it is big Small, shape, orientation and position.The scope of the quantity for the girth weld 168110 examined can be from 168 to very big numeral (such as 5,000,000).
Computer can also be can perform logic by using computer and perform computer-executable code which defect identified It is notable enough and/or sufficiently large and on pipeline integrality have significantly affect.If recognizing defect by computer disposal, One or more defects can be sent to and examine expert 168400, the inspection expert 168400 can be ultrasonic tesint expert, The presence for the defects of computer identification can be confirmed and conspicuousness.
Alternately, inspector can be directly viewable inspection data and be drawn a conclusion according to the training and experience of inspector. Optionally, the conclusion of inspector can be confirmed by computer disposal.
Confirm that result (either computer generation or mankind generation) and then can be by computer meanses or with electricity The mode of words is sent to Field Force 168500 so that can repair weld part.Assay can be also sent to quality assurance inspection The person of testing 168600, the company 168700 for possessing pipeline or other interested or predetermined parties.
In Figure 168 embodiment, pipeline 168100 passes through girth weld under the requirement of proprietary office 168700 Multiple pipeline section 168120A, 168120B are joined together to build by 168110.In order to ensure the pipeline not failure in service, phase Hope and examine girth weld by non-invasive means.These means may include magnetic powder test, Dye penetrant inspection, ultrasonic tesint and X-ray art.Ultrasonic tesint is data-intensive imaging method.It needs one or more well-trained skilled workers 168400th, 168520 and professional imaging device 168200.
Imaging device can have emitter stage 168210, receiver 168220 and A/D converter 168230.It is one or more Field worker 168520 can be by supporting truck 168530 or other vehicles along pipeline transportation imaging device 168200.Live work Imaging device can be placed on adjacent rings weld part 168110 on pipeline by people, at girth weld to be tested.Live work People can activate imaging device.Ultrasonic pulse (168215) can be sent in pipeline section and girth weld by emitter part.Pulse It can be sent under 1Hz to 20,000Hz speed.The frequency of ultrasonic/sonic wave can change to 23MHz from 0.5MHz.Ultrasonic pulse The border reflection of density change that can be from girth weld 168110 or in pipeline.Give most on border between metal and air Strong reflection.The pulse of reflection can be detected by receiver.The intensity of receiver measurement reflected impulse (168222) and generation The electronic signal proportional to the intensity.Emitter stage and receiver can have multiple element.Optionally activate emitter stage Element is so that ultrasonic pulse targets ad-hoc location.
Imaging device is installed to the bracket of motor driving, the bracket of motor driving can under constant rate of speed along Girth weld moves.A/D converter can digitize the signal (168226) from receiver, and compressible digitlization number According to.The imaging data of compression and bracket locations (168235) can be sent to remote entity (such as optionally in remote facility Computer 168310 at 168300).The transmission can by cable, the transporting of physical medium, wirelessly, network, cloud, radio Transmission or other progress.
In Figure 168 embodiment, at remote facility 168300, computer 168310 can analyze data (168235).It can be analyzed in multiple steps.Computing engines 168320 may indicate that in girth weld 168110 In the presence of the signal (168222) of exception.Abnormal signal (168325) is sent to AI engines 168330.AI engines, which can determine that, to be caused Size, shape, orientation and the position of the defects of abnormal signal (168325) (168335).AI engines can determine which defect for The integrality of pipeline is significant and must be repaired.Computer 168310 will describe the data of zero or more defect (168335) it is sent to and examines skilled worker 168400, quality assurance examination person 168600, proprietary office 168700, Field Force 168500 or other.
Optionally, examine skilled worker directly to receive data and implement the analysis in addition to AI.Optionally, in this respect Under, examine skilled worker AI to can be used to check or confirm to examine the result of skilled worker.
Optionally, skilled worker is examined quality assurance examination person, proprietary office and/or scene to be sent in data (168335) Personnel or selection review (168405) described data (168335) before other.Examine skilled worker can also be by the identification of defect from aobvious Work is changed into non-significant or changed into significantly from non-significant.
Can will be associated with notable defect the defects of data (168335) be sent to Field Force 168500.Can be by the number According to being transferred to one or more field workers 168520.One or more field workers can be for by repairing welder Position and the size of notable defect are marked on 168510 pipelines then repaired (168525).Alternately, can be by the data It is transmitted directly to repair welder 168510.
Figure 169 shows radiography test implementation scheme.As shown in Figure 169, in embodiments, it can be taken the photograph by ray Shadow art test verification one or more girth weld.The girth weld that pipeline 169100 is fixed together can be examined 169110, pipeline can be put into service afterwards.One Field Force 169500 or multiple Field Force 169500 can along with The pipeline of one or more of girth weld 169110 is advanced.They can stop simultaneously at each girth weld 169110 And carry out the image of gathered data and/or the internal structure of each girth weld 169110 of shooting using x-ray device 169200.
Inspection data and/or image can be digitized, compressed and be transferred to the remote facility (center being such as remotely located Facility 169300).At the central facilities of long range positioning, computer 169310 can handle inspection data (such as ultrasound data, figure As data or image), to determine size, shape, orientation and the position of any defect being present in tested weld part.Institute The scope of the quantity of the girth weld 169110 of inspection can be from 1 to very big numeral (such as 5,000,000).
Computer can also be can perform logic by using computer and perform computer-executable code which defect identified It is notable enough and/or sufficiently large and on pipeline integrality have significantly affect.If recognizing defect by computer disposal, One or more defects can be sent to and examine expert 169400, the inspection expert 169400 can be radiography test Expert, it can confirm the presence for the defects of computer identifies and conspicuousness.
Alternately, inspector can be directly viewable inspection data and be drawn a conclusion according to the experience of inspector.Optionally, The conclusion of inspector can be confirmed by computer disposal.
Confirm that result (either computer generation or mankind generation) and then can be by computer meanses or with electricity The mode of words is sent to field worker 169500 so that can repair weld part.Assay can be also sent to quality assurance inspection The person of testing 169600, the company 169700 for possessing pipeline or other interested or predetermined parties.
In embodiments, as shown in Figure 169, pipeline 169100 can pass through annular under the requirement of proprietary office 169700 Multiple pipeline section 169120A, 169120B are joined together to build by weld part 169110.In order to ensure pipeline is not in service Failure, it is expected that by non-invasive means and examines girth weld.These means may include magnetic powder test, Dye penetrant inspection, surpass Sound test and x-ray photography.Ultrasonic tesint and x-ray photography are data-intensive imaging methods.They need one Or multiple well-trained skilled workers 169400,169520 and professional imaging device 169200.Imaging device can be by emitter stage 169210th, receiver 169220 and A/D converter 169230 form.One or more field workers 169520 can pass through support Truck 169530 is along pipeline transportation imaging device 169200.In each section junction, field worker can put imaging device Put adjacent rings weld part 169110 on pipeline or near pipeline.Field worker can activate imaging device.Emitter part can Radiation, x-ray (169215) is sent in pipeline section and girth weld.The intensity of x-ray can be by pipeline section and girth weld Material decay.The intensity of the measurable radiation through material (169224) of receiver.
Imaging device may be mounted to the bracket of motor driving, and the bracket of the motor driving can be in constant rate of speed lower edge Girth weld movement.A/D converter can digitize the signal 169226 from receiver, and compressible digitlization number According to.The computer that the imaging data of compression and bracket locations (169235) can be sent at remote facility 169300 169310.The transmission can be carried out by cable, the transport of physical medium or wireless radio transmission.
In the example shown in Figure 169, at remote facility 169300, computer 169310 can analyze data (169235).Analysis can be performed in multiple steps.Computing engines 169320 may indicate that in girth weld 169110 In the presence of the signal (169224) of exception.Abnormal signal (169325) can be sent to AI engines 169330.AI engines, which can determine that, leads Size, shape, orientation and the position of the defects of causing abnormal signal (169325) (169335).Which defect pair AI engines can determine that It is significant in the integrality of pipeline and must be repaired.Optionally, these steps can by examine skilled worker be based on test and/or Inspection data is implemented in the case where being supported with or without AT.
In Figure 169 embodiment, computer 169310 can will describe the data (169335) of zero or more defect Be sent to examine skilled worker 169400, quality assurance examination person 169600, proprietary office 169700 and Field Force 169500, Or other.Before inspection skilled worker can be sent to quality assurance examination person, proprietary office and/or Field Force in data (169335) Select review (169405) described data (169335).Examine skilled worker can also by the identification of defect from significantly changing to be non-significant or Changed into significantly from non-significant.
Can will be associated with notable defect the defects of data (169335) be sent to Field Force 169500.
One or more field workers 169520 can be transmitted the data to.One or more field workers can for Position and the size of notable defect are marked on the pipeline (169525) then repaired by repairing welder 169510.It is alternative Ground, the data can be transmitted directly to repair welder 169510.
In one embodiment, computer system may include first device, and the first device has processing pipeline structure The processor of data is made, pipeline construction data are sent to the memory based on cloud, and pipeline construction number by wherein first device Handled according to by the processor based on cloud.
In one embodiment, pipeline construction data include welding data, line treatment data, coating data, inspection Data or other data.
In one embodiment, the equipment of first device including the welding bench, equipment of pipeline welding extended operation, automatic System, checking system or other devices are used in soldering appliance, vision welding.
In one embodiment, the first data can be sent to second device from first device, wherein the first packet Include the data of relevant pipeline construction.First data can be handled by the network equipment based on cloud.
In one embodiment, the first data (being sent to second device from first device) may include welding data, pipe Road processing data, coating data, inspection data, management data or other data.
In one embodiment, may include for welding the computer program product supported：Computer-readable program generation Code device, it provides welding data to computer storage；Computer-readable program code means, it provides to memory and come from The data of data group including pipeline data；And computer-readable program code means, it handles welding data and pipeline number Record output is provided according to this.
In one embodiment, may include for welding the computer program product supported by welding support program generation The program executables of the rule-based logic of code processing welding data, pass through check problem code process welding data The program executables of rule-based logic, weld for passing through management program code or Quality Control Procedure code process The program executables or other program executables of the rule-based logic of data.
In one embodiment, welding system may include multiple welding benches, and each welding bench calculates including welding bench Machine and the welding system to be communicated with welding bench computer, wherein each welding bench includes one or more sensors, and it is described One or more sensors, which are configured to measurement, includes the welding data of wire speed data.Welding may include with system：It is multiple Wireless device, it communicates one or more of with welding bench computer includes the welderings of measured wire speed data to receive Connect data；And Cloud Server, itself and wireless device.Cloud Server is configured to handle the weldering for including wire speed data Data are connect, and are configured to determine the amount that can consume welding material in preset time section used in multiple welding benches.Cloud takes Business device is configured to the used amount for consuming welding material being sent to one or more of wireless device.
In one embodiment, welding system may include rail mounted welding machine.For example, rail mounted welding machine may include up time Pin (CW) and counterclockwise (CCW) welding system.
In one embodiment, measured welding data may also include the gait of march data of welding system.One In individual embodiment, multiple wireless devices are configured to also receive the gait of march data of welding system.In an embodiment In, Cloud Server is also configured to handle gait of march data.
In one embodiment, if the electric current in welding system is higher, welding bench computer instruction welding system Slow down the speed of welding system or the position of the welding torch in control welding system.
In one embodiment, welding system may include welding bench.Welding bench may include welding bench computer and with The welding system of welding bench computer communication.Welding system may include welding material supply, welder and move welding material Move the welding supply motor assembly of welder device.In one embodiment, welding may also include with system：Weigh dress Put, it is connected with welding bench computer operation, and is configured to measure the weight of welding material supply and will weld material The weight of material supply is sent to welding bench computer in the form of weight data；And sensor, it is with welding supply motor Connect to assembly and welding bench computer operation, so that the speed by supply motor assembly is welded is with speed data Form is sent to welding bench computer.Welding bench computer operation it is connected to and welds supply motor assembly, and by Configuration carrys out the speed based on weight data control motor unit piece installing.
In one embodiment, welder may include rail mounted welding robot.In one embodiment, material is welded Material supply includes being configured to the spool for carrying bonding wire.In one embodiment, weighing device includes wheel hub transducer, its Middle wheel hub transducer is configured to carry spool.In one embodiment, weighing device includes being arranged on wheel hub transducer Wheel hub on strain transducer.In one embodiment, strain transducer is configured and arranged to sense by spool The strain that weight applies.In one embodiment, motor unit piece installing includes motor and is operatively connectable to motor Feeding wheel.In one embodiment, motor unit piece installing includes mip rolls, the mip rolls be configured to push bonding wire with Bonding wire is set to be contacted with feeding wheel so that feeding the rotation of wheel causes the movement of line.In one embodiment, feeding wheel is configured Carry out rotatably path of contact so that line moves.
In one embodiment, welding bench computer is configured to the welding material that measurement is measured at the very first time Weight difference between the weight of the welding material supply measured at the weight of supply and the second time after the first time, The weight difference corresponds to the measured weight of the welding material consumed between the very first time and the second time.At one In embodiment, the rotary speed that welding bench computer is configured to based upon welding supply motor assembly calculates what is consumed The theoretical weight of welding material.In one embodiment, welding bench computer is configured to calculate the measured of welding material Weight and the welding material consumed theoretical weight between difference or than or both.In one embodiment, welding bench Computer is configured to the measured weight by welding material compared with the theoretical weight of the welding material consumed, and And occur if there is difference, then welding bench computer instruction sliding and control the speed of motor unit piece installing electronic to adjust The rotary speed of machine assembly.In one embodiment, welding bench computer is configured to repeat at multiple incremental times Comparison between the measured weight of welding material and the theoretical weight of the welding material consumed.
In one embodiment, welding system may include the Cloud Server to be communicated with welding bench computer, its medium cloud Server is configured to handle the speed of the welding supply motor assembly received from welding bench computer and welding material supplies The weight answered, to store the historical data used on welding material.
In one embodiment, Cloud Server is also configured to processing from the multiple welding associated with multiple welding benches The speed for the welding supply motor assembly that platform computer receives and the weight of welding material supply, to store on multiple The historical data that the welding material at each place in welding bench uses.In one embodiment, Cloud Server is configured to base In historical data and use the average future usage of machine learning algorithm prediction welding material.In one embodiment, cloud Server is configured to based upon the threshold value that use pattern and historical data determine to complete the welding material required for complete solder. In one embodiment, Cloud Server is configured to provide feedback to one or more of multiple welding bench computers, with base Complete solder can not be completed in being warned using the Threshold that machine learning algorithm determines to welder.
In one embodiment, welding bench computer is configured to control the speed of welder, with adjustment welding dress The speed put matches the speed that the measured weight supplied according to welding material obtains.
In one embodiment, Weight-measuring device can be used in the first weight of the welding material supply at the very first time Measurement.Second weight of welding material supply can be used to be measured at the second time of Weight-measuring device after the first time. Computer can be used to calculate for the difference of measured weight between first weight and the second weight, wherein measured weight is poor right The welding material used measured by Ying Yu.The theoretical weight of the welding material used uses computer to be based on that material will be welded The speed that material is fed to the motor unit piece installing of welder calculates.The theoretical weight of the welding material used can pass through calculating Machine is compared with the measured weight of the welding material used.The speed of motor unit piece installing can be adjusted by computer It is whole, so as to the sliding of correcting motor assembly.
In one embodiment, repeat the measurement of the first weight, the measurement of the second weight, corresponding to it is measured The calculating of the weight difference of the welding material used, the welding material used theoretical weight calculating, in multiple incremental times The comparison of the theoretical weight of the welding material used at place and the measured weight of welding material used and when hair The speed of motor unit piece installing is adjusted during the sliding of raw motor unit piece installing.
In one embodiment, welding system may include multiple welding benches, wherein each welding bench includes welding bench Computer and the welding system to be communicated with welding bench computer, each welding bench include one or more sensors, and described One or more sensors, which are configured to measurement, includes the welding data of wire speed data.Welding may also include multiple with system One or more of wireless device, the multiple wireless device and welding bench computer communicate to be drawn with receiving including measured The welding data of linear speed degrees of data.The welding system processing that each welding bench computer is configured to communicate with includes lead The welding data of speed data, and be configured to determine in preset time section can used in welding system for welding bench computer Consume the amount of welding material and consumption data is generated based on it.
In one embodiment, welding may include to be used to make lead move down in wire speed with each welding bench of system The speed of dynamic motor, wherein wire speed data based on motor determines that each welding bench can also construction store including sensing The weight sensor that the weight of material exhausts, the weight sensor provide output signal, and welding bench to welding bench computer Computer determines consumption data using output signal.In one embodiment, welding bench computer is controlled using consumption data The speed of motor processed.
In one embodiment, welding system may include Cloud Server, for receiving consumption data together with lead Speed data makes the consumption data related to wire speed data.
In one embodiment, the system for test pipeline may include test device, and the test device is suitable to life Into at least one of non-invasive test data about weld part.Non-invasive test data can be sent to by test device to be suitable to Receive the second device of non-invasive test data.Test device may be adapted to be grasped away from the device for analyzing non-invasive test data Make.
In one embodiment, test device is suitable to non-invasive test data of the transmission for radio communication.At one In embodiment, test device is suitable to for non-invasive test data to be transferred to the record for being permanently connected to test device Medium.In one embodiment, test device is suitable to non-invasive test data being transferred to external digital tape deck.
In one embodiment, the system for non-invasive test pipeline may include：Imaging device, it has suitable for generation Close the non-invasive test data of a part for welded pipe line；And remote processing device, it is suitable to receive and handle relevant welding The inspection data of the part of pipeline.
In one embodiment, remote processing device is suitable to analysis conduit data.In one embodiment, long-range place Manage device and be suitable to analysis welding data.In one embodiment, remote processing device is adapted for carrying out computer-executable code To identify notable weld part defect according to non-invasive test data.
In one embodiment, remote processing device is adapted for carrying out the computer-executable code of algorithm with according to noninvasive Property test data identify notable weld part defect.In one embodiment, remote processing device is adapted for carrying out artificial intelligence Computer-executable code is with according to the notable weld part defect of non-invasive test data identification.In one embodiment, remotely The computer-executable code that processing unit is adapted for carrying out rule-based logic is notable to be identified according to non-invasive test data Weld part defect.
In one embodiment, non-invasive test data may include one or more of data below：Cause noninvasive Position, size, orientation, shape and the conspicuousness of abnormal any defect in property test data.In one embodiment, nothing Invasive test data can be analyzed in the case where no mankind calculate or analyze intervention.In one embodiment, it is non-invasive Test data can be analyzed partially by computer and analyzed partially by human work.
In one embodiment, the method for non-invasive test pipeline may include：Imaging device is provided；Generate non-invasive survey Try data；It is provided for device of the non-invasive test data for analysis；And provide non-invasive test data with Analyzed in the part of detecting away from pipeline and the opening position of the equipment of the part of detecting of adjacent conduit.
In one embodiment, methods described, which may also include, provides non-invasive test data in remote pipeline The opening position of part of detecting and support vehicle is analyzed.In one embodiment, methods described may also include offer with Divided in the part of detecting away from part of detecting and neighbouring adjacent conduit or the opening position of any computer of test position Analysis.
In one embodiment, methods described may additionally include away substantially from collect data position position everywhere Manage digital NDT data.In one embodiment, methods described, which may also include, is transmitted NDT data by wireless data transmission To the position away substantially from the position for collecting data.In one embodiment, methods described may also include is situated between by physics NDT data are sent to the position away substantially from the position for collecting data by the transport of matter.In one embodiment, the side Method may also include by data transfer cable by NDT data be sent to away substantially from collect data position position.One In individual embodiment, methods described, which may also include, is sent to NDT data away substantially from collection data by the combination of method Position position.
In one embodiment, methods described may also include in the knot of the analysis of substantially long-range opening position progress Fruit is sent to the position for collecting data.In one embodiment, methods described may also include in substantially long-range position The result for the analysis for locating to carry out is sent to the expert in another substantially long-range opening position.
In one embodiment, methods described may also include analysis digital automation ultrasonic test data.In a reality Apply in scheme, methods described may also include by wireless data transmission by automatic ultrasonic test data be sent to away substantially from Collect the position of the position of data；And handle digital automation ultrasound in the opening position away substantially from the position for collecting data Test data.In one embodiment, methods described, which may also include, is tested automatic ultrasonic by the transport of physical medium Data are sent to the position away substantially from the position for collecting data.
In one embodiment, methods described may also include automatic ultrasonic test data by data transfer cable It is sent to the position away substantially from the position for collecting data.In one embodiment, methods described may also include the side of passing through Automatic ultrasonic test data is sent to the position away substantially from the position for collecting data by the combination of method.In an embodiment party In case, methods described may also include using computerized algorithm to identify that notable weld part lacks according to automatic ultrasonic test data Fall into.
In one embodiment, methods described may additionally include away substantially from collect data position position everywhere Manage digital radiographic art data.In one embodiment, methods described may also include numeral by wireless data transmission Radiography data are sent to the position away substantially from the position for collecting data.In one embodiment, methods described It may also include and digital radiographic art data are sent to away substantially from the position for collecting data by the transport of physical medium Position.In one embodiment, methods described may also include digital radiographic art data by data transfer cable It is sent to the position away substantially from the position for collecting data.
In one embodiment, methods described, which may also include, is passed digital radiographic art data by the combination of method It is sent to the position away substantially from the position for collecting data.In one embodiment, methods described may also include using calculating Machine algorithm to identify notable weld part defect according to digital radiographic art data.
In one embodiment, the system for pipeline construction may include the system for recording welding data in real time, Wherein welding data is provided for being analyzed by the device of computerization and/or by subject matter expert.In an implementation In scheme, welding data includes welding data, line treatment data, coating data, inspection data, management data or other numbers According to.In one embodiment, the system may also include for all available welding data set are relevant every to having All data in individual associated welds portion or the individual data suitable for being analyzed by the device and/or subject matter expert of computerization System in group.
In one embodiment, the system may also include machine readable code, and the machine readable code performs base In the programmed logic of rule, to identify on the correlation between the different pieces of information of weld part and identify lacking in this weld part Fall into.In one embodiment, the system may also include machine readable code, and the machine readable code performs rule-based Programmed logic, with identify on different weld parts identical data and the defects of these weld parts existence or non-existence it Between correlation.
In one embodiment, the system for two sections of pipeline to be alignd and welded together may include to use Apply the welding mechanism of welding in the face seam to two sections.Welding mechanism may include to carry out the welding torch of joint motions, be used for The laser sensor of the profile of reading face seam and the position for controlling welding torch from laser sensor receive information signal And/or the electronic controller of orientation.The system may also include relative for regulating and controlling at least one longitudinal axis in section In the registration mechanism of another orientation.Welding mechanism may also include：Bracket, it is used to making the position of welding mechanism in the duct It is fixed；And welding portion, it can be relative to support section in pipeline internal rotation.Welding torch and laser sensor can be by welding portions It is pivotably supported so that welding torch follows laser sensor along face seam during welding.
In one embodiment, welding mechanism may also include the video camera for optically sensing face seam.At one In embodiment, welding torch head on welding torch articulated type movement may include it is following in one：Toward and away from face seam Radial translation movement, the translational movement on the longitudinal axis direction of section, relative to welding mechanism around parallel to pipeline section longitudinal direction The pivot movement of the axis of axis and the pivot movement relative to soldering tip around the axis perpendicular to pipeline section longitudinal axis.
In one embodiment, registration mechanism regulates and controls at least one area by the external contact with least one section The orientation of section.In one embodiment, electronic controller is oriented to registration mechanism from laser sensor reception signal, with based on The relative position of predetermined alignment parameter adjustment pipeline section.
In one embodiment, welding mechanism is in the inside of the face seam of two sections and relative to the inside Rotation so that welding torch follows laser sensor, and laser sensor provides continuous surface joint profile data to electronic controller, The electronic controller and then the positioning for being continuously oriented to welding torch.
In one embodiment, video camera follows welding torch along solder joint path, and video camera shows to operating desk Show that device sends signal with the image for the part for allowing operating personnel to examine weld part.
In one embodiment, the method that two sections of pipeline align and welded together may include：By One pipeline section is placed in alignment means；Interior welds machine with laser and welding torch is inserted into the first pipeline section； Second pipeline section is generally alignd with the first pipeline section and interior welds machine；Clamp the exterior section of the first pipeline section and the second pipeline section To adjust the axial location of interior welds machine, so that the face seam generally with the first pipeline section and the second pipeline section is aligned；It is based on Signal from internal welding machine, the alignment relative of the first pipeline section and the second pipeline section is adjusted by alignment means；Start root weld In the cycle, in the root weld cycle, laser scans face seam, welding torch follows laser, and uses and come from laser Output control carry out joint motions welding torch position, wherein control welding torch produced relative to the position and orientation of face seam Quality is welded；Face joint profile is determined from laser；Discharge alignment means and by interior welds machine from opening tube section ends Remove；And next order pipeline section is repositioned in outside registration mechanism to prepare to weld next seam.
In one embodiment, methods described may also include：Rotating mechanism is provided, laser and welding torch are in the rotation Rotated in mechanism to perform the preliminary sweep of opposite seam by laser sensor；And from rotary laser generate signal with Welding is oriented to the alignment of the first pipeline and second pipe by alignment means before starting.
In one embodiment, the inner heat exchanger (IHEX) for pipeline welding may include：Drive system, its quilt Configuration by IHEX be moved at least one pipe section near the solder joint position with another pipe section Position in；Cooling segment, it is internal that it includes being configured to optionally cooling down the one or more of at least one pipe section The cooling structure of surface portion；And controller, it communicates with cooling structure and is configured to when IHEX is at least one pipe Cooling segment is activated during the opening position in road part.
In one embodiment, IHEX may also include connecting elements, and the connecting elements is configured to fix IHEX To internal connection fixture.In one embodiment, drive system may include at least one roller, and at least one roller is by passing through The motor activation of controller control, and be configured to make IHEX at least one pipe section in forward and reverse direction Upper movement.In one embodiment, drive system may include cable and capstan system, and wherein capstan winch is arranged to be anchored at The opening position of the outside of at least one pipe section, and cable is in capstan winch and the branch including controller and the IHEX of cooling segment Extend between support structure.
In one embodiment, controller also communicates with remote control, will pass through remote control promotion The selective activation of cooling segment.In one embodiment, cooling segment includes：At least one nozzle, it is configured to court Cooling agent is sprayed to the inside wall surface portion of at least one pipe section；And coolant supply, it is configured to at least One nozzle delivers cooling agent.
In one embodiment, IHEX may also include framework, and the framework includes first with coolant supply Partly, the center section with cooling segment and the Part III with controller.In one embodiment, cooling agent Source of supply may include cooling medium pump, and the cooling medium pump positions away from cooling segment so that when cooling segment is arranged at least one Cooling medium pump is located at outside at least one pipe section when in individual pipe section, and cooling medium pump is led by least one fluid Pipe is connected at least one nozzle.In one embodiment, at least one nozzle includes the multiple sprays being arranged in multiple rows Mouth, and the row is around the periphery of the central supporting component of cooling segment arrangement.
In one embodiment, cooling segment includes multiple fin members, and the multiple fin members are from cooling segment Central supporting component extend radially outwardly and around the central supporting component periphery interval.In an embodiment In, at least one fin members include extending through at least one passage of fin members, and cooling segment is also included at least One fan, at least one fan can be controlled and neighbouring with least one fin members and align by controller, with Just it is oriented at least one passage of the air flow by least one fin members.
In one embodiment, at least one fin members include the hollow housing with entrance and exit, and cold But part also includes circulating coolant flow circuits, so that cooling agent is selective flowed through at least one fin members Empty capsid.
In one embodiment, IHEX may include one or more temperature sensors, and one or more of temperature pass Sensor is arranged on one or more positions along IHEX and communicated with controller.One or more temperature sensor measurements are extremely Lack the temperature of the one or more positions in a pipe section and provide measured temperature information to controller, and And controller is configured to based upon the activation and operation that measured temperature information optionally controls cooling segment.
Techniques disclosed herein solve how by using it is reliable and technically perfect apparatus and method to test, Examine and ensure the important technological problems of the quality of thousands of individual weld parts in pipeline system.In embodiments, for managing The system of line test can have the non-invasive test data for being suitable at least a portion or whole weld part about weld part of generation The test device of (" NDT ").Test device non-invasive test data can be sent to suitable for receive non-invasive test data the Two devices.Test device may be adapted to be operated away from the device for analyzing non-invasive test data.System for test pipeline There can be the test device for being suitable to transmission for the non-invasive test data of radio communication.System for test pipeline can have Suitable for non-invasive test data to be transferred to the test device for the recording medium for being permanently connected to test device.For The system of test pipeline can have the test device for being suitable to that non-invasive test data is transferred to external digital tape deck.For The system of non-invasive test pipeline can have：Imaging device, it is suitable to the non-invasive survey of a part of the generation about welded pipe line Try data；Remote processing device, it is suitable to receive and handle the inspection data of the part about welded pipe line.For noninvasive Property test pipeline system can have suitable for analysis conduit data remote processing device.System for non-invasive test pipeline There can be the remote processing device for being suitable to analysis welding data.Can have by the system of non-invasive test pipeline based on being adapted for carrying out Calculation machine executable code is with the remote processing device according to the notable weld part defect of non-invasive test data identification.For non-invasive The system of test pipeline can have the computer-executable code for being adapted for carrying out algorithm aobvious to be identified according to non-invasive test data Write the remote processing device of weld part defect.Can have by the system of non-invasive test pipeline and be adapted for carrying out based on artificial intelligence Calculation machine executable code is with the remote processing device according to the notable weld part defect of non-invasive test data identification.For non-invasive The system of test pipeline can have the computer-executable code for being adapted for carrying out rule-based logic with according to non-invasive test The remote processing device of the one or more significantly weld part defects of data identification.The weld part defect identified can have different Type, such as blocking, Constitution, material character, fragility, density, thickness, air bubble, gas bubbles and other.With There can be the non-invasive test data of such as one or more of data below in the system of non-invasive test pipeline：Cause to sweep Position, size, orientation, shape and the conspicuousness of abnormal any defect in retouching.System for non-invasive test pipeline can With non-invasive test data, the non-invasive test data can be by system automatically and in no mankind calculating or the mankind Analyzed in the case of analysis intervention.In embodiments, the method for non-invasive test pipeline can have steps of：There is provided into As equipment；Generate non-invasive test data；It is provided for device of the non-invasive test data for analysis；And provide Non-invasive test data in the part of detecting away from pipeline and the opening position of equipment of the part of detecting of adjacent conduit for entering Row analysis.Method for non-invasive test pipeline, which can have, provides non-invasive test data in the test away from pipeline The step of opening position of part and support vehicle is analyzed.Method for non-invasive test pipeline can have offer non-invasive Test data is in the part of detecting away from part of detecting and adjacent conduit or the position of any computer of test position The step of place is analyzed.The method of non-invasive test pipeline can have in the opening position away substantially from the position for collecting data The step of handling digital NDT data.The method of non-invasive test pipeline, which can have, is transmitted NDT data by wireless data transmission To away substantially from collect data position position the step of.The method of non-invasive test pipeline, which can have, passes through physical medium Transport by NDT data be sent to away substantially from collect data position position the step of.The side of non-invasive test pipeline Method can have the step of NDT data are sent into the position away substantially from the position for collecting data by data transfer cable. The method of non-invasive test pipeline, which can have, is sent to NDT data away substantially from the position for collecting data by the combination of method The step of position put.The method of non-invasive test pipeline can have steps of：By in substantially long-range opening position progress Analysis result be sent to collect data position.The method of non-invasive test pipeline can have in substantially long-range position The result for the analysis that the place of putting is carried out is sent to the expert of another substantially long-range opening position the step of.Non-invasive pipeline is surveyed The method of examination can have the step of analysis digital automation ultrasonic test data (also referred to as digital " AUT " data).Non-invasive pipe The method of line test can have handles digital automation ultrasonic tesint number in the opening position away substantially from the position for collecting data According to the step of.The method of non-invasive test pipeline can have by wireless data transmission away substantially from the position for collecting data Opening position processing digital automation ultrasonic test data the step of.The method of non-invasive test pipeline can have by without line number The step of automatic ultrasonic test data is sent to the position away substantially from the position for collecting data according to transmission.Non-invasive pipe The method of line test, which can have, is sent to automatic ultrasonic test data away substantially from collection by the transport of physical medium The step of position of the position of data.The method of non-invasive test pipeline, which can have, passes through data transfer cable by automatic ultrasonic Test data is sent to the step of position away substantially from the position for collecting data.The method of non-invasive test pipeline can have The step of automatic ultrasonic test data is sent to by the position away substantially from the position for collecting data by the combination of method. The method of non-invasive test pipeline can have using computerized algorithm to identify significantly welding according to automatic ultrasonic test data The step of portion's defect.The method of non-invasive test pipeline can have to be handled in the opening position away substantially from the position for collecting data The step of digital radiographic art data.The method of non-invasive test pipeline, which can have, passes through wireless data transmission by digital radial Photography data are sent to the step of position away substantially from the position for collecting data.The method of non-invasive test pipeline can have Have position digital radiographic art data being sent to by the transport of physical medium away substantially from the position for collecting data The step of.The method of non-invasive test pipeline can have is sent to base by data transfer cable by digital radiographic art data The step of position of position away from collection data in sheet.The method of non-invasive test pipeline can have will by the combination of method Digital radiographic art data are sent to the step of position away substantially from the position for collecting data.Non-invasive test pipeline Method can have using computerized algorithm the step of to identify notable weld part defect according to digital radiographic art data.In reality Apply in scheme, general cloud record system (" uLog ") disclosed herein can have computer system, the computer system bag The first device of the processor with processing pipeline construction data is included, pipeline can be constructed data and be sent to base by the first device In the memory of cloud.Pipeline construction data can be by being handled based on the processor of cloud.ULog can handle any one or more pipelines Data are constructed, such as, but not limited to：Welding data, line treatment data, coating data and inspection data.ULog can be handled and come from The data of any one or more in following device and/or equipment：It is welding bench, pipeline welding extended operation, soldering appliance, automatic Soldering appliance, manual soldering appliance, vision welding system, single welding torch automatic welder or welding robot, double-torch automatic welder Or welding robot, outside welding machine or welding robot, internal welding machine or welding robot, checking system, smart phone, cell phone, Personal digital assistant (PDA), laptop computer, tablet personal computer, computer, digital device, wireless device and by welder, The equipment that skilled worker, worker, inspector, coating applying person and/or administrative staff use.ULog can be used what is performed on computers The method of data management, the described method comprises the following steps：The first data from first device are sent to second device, institute State the data that the first data are relevant pipeline constructions；And the first data are handled by the network equipment based on cloud.Can be by first Device transmit and/or by second device handle and/or by the data of uLog network processes can be it is any of following or It is a variety of：Welding data, line treatment data, coating data, welding data, inspection data, thermal exposure data and management data Or other pipeline relative configurations and/or management data.In embodiments, can be wrapped by the method for the uLog data managements carried out The other method and step that the first data and/or data are handled by network equipment is included, the network equipment can be wired network Network device or radio network device.In another embodiment, may include to lead to by the method for the uLog data managements carried out The other method and step that network equipment handles the first data and/or data is crossed, the network equipment is radio network device, electricity T unit or WiFi devices.In yet another embodiment, may include to pass through network by the method for the uLog data managements carried out Device handles the other method and step of the first data, and the network equipment is the network equipment based on cloud.In embodiments, ULog can be for welding the computer program product supported, the computer program product has：Computer-readable program Code device, it provides welding data to computer storage；Computer-readable program code means, it comes to memory offer From the data of the data group including pipeline data；And computer-readable program code means, it handles welding data and pipeline Data record output and/or the output as caused by configuration processor logic and/or analytic approach to provide.In embodiments, it is used for Welding the computer program product supported can also have by welding the rule-based of support program code process welding data The program executables of logic.In another embodiment, can also have for welding the computer program product supported Pass through the program executables of the rule-based logic of check problem code process welding data.In another embodiment In, the computer program product for welding support, which can also have, passes through management program code or Quality Control Procedure code process The program executables of the rule-based logic of welding data.System for pipeline construction, which can have, to be used to record in real time The system of welding data.Welding data is provided for being analyzed by the device of computerization and/or by subject matter expert. Welding data can be used in system for pipeline construction, and the welding data has welding torch, line treatment data, coating number According to one or more of, inspection data and management data.For pipeline construction system can also have be used for by it is all can Welding data set to about each associated welds portion all data or suitable for the device by computerization with/ Or the system in the individual data group analyzed of subject matter expert.System for pipeline construction can also have machine readable generation Code, the machine readable code perform rule-based program logic, to identify on the phase between the different pieces of information of weld part Closing property and identify the defects of this weld part.System for pipeline construction can also have machine readable code, the machine Readable code performs rule-based program logic, to identify on the correlation between the identical data of different weld parts.
In embodiments, general cloud record system (" uLog ") disclosed herein can have computer system, described Computer system includes the first device of the processor with processing pipeline construction data, and the first device can construct pipeline Data are sent to the memory based on cloud.Pipeline construction data can be by being handled based on the processor of cloud.ULog can handle any Kind or a variety of pipelines construction data, such as, but not limited to：Welding data, line treatment data, coating data and inspection data. ULog can handle the data of any one or more in following device and/or equipment：Welding bench, pipeline welding extension behaviour System, single welding torch automatic welder or bonding machine are used in work, soldering appliance, automatic welding instrument, manual soldering appliance, vision welding Device, double-torch automatic welder or welding robot, outside welding machine or welding robot, internal welding machine or welding robot, checking system, intelligence Can phone, cell phone, personal digital assistant (PDA), laptop computer, tablet personal computer, computer, digital device, without traditional thread binding The equipment put and used by welder, skilled worker, worker, inspector, coating applying person and/or administrative staff.
The method of the data management performed on computers can be used in uLog, the described method comprises the following steps：It will come from First data of first device are sent to second device, and first data are the data of relevant pipeline construction；And pass through base The first data are handled in the network equipment of cloud.It can be transmitted by first device and/or by second device processing and/or the net by uLog The data of network processing can be any of following or a variety of：Welding data, line treatment data, coating data, welding number According to, inspection data, thermal exposure data and management data or other pipeline relative configurations and/or management data.In embodiment In, the net by that can be wired network devices or radio network device is may include by the method for the uLog data managements carried out Network device handles the other method and step of the first data and/or data.In another embodiment, carried out by uLog The method of data management may include the number of network equipment processing first by being radio network device, telecommunication installation or WiFi devices According to and/or data other method and step.In yet another embodiment, can be wrapped by the method for the uLog data managements carried out Include the other method and step that the first data are handled by the network equipment for being the network equipment based on cloud.In embodiments, ULog can be for welding the computer program product supported, the computer program product has：Computer-readable program Code device, it provides welding data to computer storage；Computer-readable program code means, it comes to memory offer From the data of the data group including pipeline data；And computer-readable program code means, it handles welding data and pipeline Data record output and/or the output as caused by configuration processor logic and/or analytic approach to provide.
In embodiments, can also have for welding the computer program product supported by welding support program code Handle the program executables of the rule-based logic of welding data.In another embodiment, supported for welding Computer program product can also have can by the program of the rule-based logic of check problem code process welding data Perform code.In yet another embodiment, the computer program product supported for welding, which can also have, passes through management program generation The program executables of the rule-based logic of code or Quality Control Procedure code process welding data.Present patent application exists Solve the problems, such as to be discussed above in its some aspects and embodiment, and considerably enhance welding technique, line treatment, Coating, pipeline construction, construction, management and inspection technology.
Although present patent application is described in detail for purposes of illustration, however, it is understood that this details is merely for saying Bright purpose, and present patent application is not limited to disclosed embodiment, on the contrary, present patent application be intended to cover it is appended Modification and equivalent arrangements in the spirit and scope of claims.Furthermore, it is to be understood that present patent application is it is contemplated that possible model In enclosing, one or more features of any embodiment can be combined with one or more features of any other embodiment.

Claims (383)

1. a kind of fielded system for being used to weld two pipelines, it includes：
First pipeline engaging structure, it is configured to the interior surface for engaging the first pipeline, so that first pipeline engagement knot Structure can be fixed relative to first pipeline；
Second pipe engaging structure, it is configured to the interior surface for engaging second pipe, so that second pipe engagement knot Structure can be fixed relative to the second pipe；
Detector is examined, it is positioned between the first pipeline engaging structure and the second pipe engaging structure, the inspection Detector is tested to be configured to send inspection radiation beam,
Motor, it is operatively associated with the inspection detector, to be led along the junction surface region between the pipeline To the inspection radiation beam,
One or more processors, it is operatively associated with the inspection detector, to determine the institute between the pipeline State the profile in junction surface region；And
Welding torch, its be configured to based upon the profile in the junction surface region between the pipeline the pipeline it Between produce welding.
2. fielded system according to claim 1, wherein the first pipeline engaging structure includes the first fixture, and institute Stating second pipe engaging structure includes the second fixture.
3. fielded system according to claim 1 or 2, wherein the first pipeline engaging structure includes first seal, And the second pipe engaging structure includes second seal.
4. fielded system according to claim 3, it also includes inert gas source and inert gas supply line, the inertia The inert gas source is sent to the region between the first seal and the second seal by gas supply line, wherein Described in the gas from the inert gas source is directed between the first seal and the second seal In region, to reduce the oxidation welded in operating process.
5. fielded system according to claim 4, it also includes oxygen sensor, and the oxygen sensor is configured to examine The amount of oxygen surveyed between the first seal and the second seal, the oxygen sensor are operatively connectable to described One or more processors, institute of one or more of processors between the first seal and the second seal Amount of oxygen is stated to allow to carry out the welding operation afterwards less than threshold level.
6. fielded system according to claim 2, it also includes inert gas source and gas supply line, the gas supply Line is configured to the area being directed to inert gas from the inert gas source between first fixture and second fixture Domain, and be oriented to towards the region near the weld tip of the welding torch, to reduce the weldering during welding operates Connect the oxygen near tip.
7. fielded system according to claim 1, wherein the first pipeline engaging structure includes fixture, and described Two pipeline engaging structures include seal.
8. fielded system according to claim 1, wherein one or more of processors are handed over the inspection detector Mutually to scan the junction surface region between the pipeline, described between the pipeline is determined before welding operates The profile in junction surface region and based on it is described scanning generation welding front profile data.
9. fielded system according to claim 8, wherein the first pipeline engaging structure includes the first fixture, and institute Stating second pipe engaging structure includes the second fixture, wherein one or more of processors with it is described inspection detector interact with After first fixture and second fixture engage with first pipeline and the second pipe respectively described in scanning Junction surface region.
10. fielded system according to claim 8 or claim 9, wherein the outside of first pipeline and/or the second pipe Surface is engaged, to adjust the relatively fixed of the pipeline in the event welded front profile data and determine to need to adjust Position.
11. according to the fielded system described in claim 8,9 or 10, wherein first pipeline and/or the second pipe Interior surface is engaged, to adjust the relative of the pipeline in the event welded front profile data and determine to need to adjust Positioning.
12. according to the fielded system described in claim 8,9,10 or 11, wherein one or more of processors and described the One pipeline engaging structure and the second pipe engaging structure are operatively connected, wherein one or more of processors by with Put to be based on the first pipeline engaging structure and/or the second pipe engaging structure described in the welding front profile data manipulation, To change the junction surface region between the pipeline before the welding operation.
13. fielded system according to claim 12, wherein one or more of processors pass through based on the welding First pipeline engaging structure described in front profile data-driven and/or the second pipe engaging structure are to change first pipeline And/or the circularity of the second pipe come it is described welding operation before change the junction surface region between the pipeline.
14. fielded system according to claim 12, wherein one or more of processors pass through based on the welding Front profile data manipulation motor is so that the first pipeline engaging structure engages knot around its axis relative to the second pipe Structure is rotated to make the second pipe rotation to change the junction surface between the pipeline before the welding operation Region.
15. according to the fielded system described in claim 8-14, wherein before one or more of processors are based on the welding Outline data exploitation welding agreement.
16. fielded system according to claim 15, wherein the welding agreement includes speed of welding and welding torch position Put agreement.
17. fielded system according to any one of the preceding claims, wherein one or more of processors with it is described Examine detector interaction to scan the junction surface region between the pipeline, so as to weld operate during described Described in the junction surface region determined at the region before deposit weld material above between the pipeline at junction surface Profile, and dynamic outline data are generated based on the scanning, one or more of processors are configured to based upon described dynamic State outline data generates welding signal to control the welding torch.
18. fielded system according to any one of the preceding claims, wherein one or more of processors are welding Position and the speed of the welding torch are controlled during operation based on the dynamic outline data.
19. fielded system according to any one of the preceding claims, wherein the welding torch is operatively connectable to Welding torch motor, wherein the welding torch motor operation be connected to one or more of processors with it is described welding grasp The angle of the welding torch is controlled during work.
20. fielded system according to any one of the preceding claims, wherein the welding torch is mounted for carrying out Angled movement is so that the welding torch can be oriented to positive welding direction.
21. fielded system according to any one of the preceding claims, wherein the welding torch is mounted for carrying out It is mobile so that it be wound on welding torch tip place, it is neighbouring or at the region of weld tip generation weldpool slightly forwardly Axis carries out joint motions.
22. fielded system according to any one of the preceding claims, wherein the welding torch is mounted for carrying out It is mobile so that the weld tip is configured to the face of weld movement toward and away from the pipeline.
23. fielded system according to any one of the preceding claims, wherein one or more of processors indicate institute State one or more welding torch motor makes the weld tip be moved further away from the engagement after each weld pass Portion region is to accommodate the welding material of accumulation.
24. fielded system according to any one of the preceding claims, wherein the motor makes the welding torch edge The junction surface region circumferentially to rotate, the fielded system also includes one or more welding torch motor, it is one or Multiple welding torch motor are configured to be respectively relative in the first pipeline engaging structure and the second pipe engaging structure First pipeline and the second pipe make the welding torch relative to the first pipeline engaging structure after fixing and The second pipe engaging structure movement, one or more of welding torch motor are configured to make the welding torch described Longitudinally, toward and away from the inner surface of the pipeline and relative to the weld part it is angularly displaced from pipeline.
25. fielded system according to any one of the preceding claims, it also includes being used to carrying and moving described first The support of pipeline and the second pipe, wherein the support is operatively connectable to one or more of processors, and Wherein one or more of processors are based on support described in the welding front profile data manipulation to realize first pipeline With the relative movement between the second pipe, so as to it is described welding operation before change the junction surface area between the pipeline Domain.
26. fielded system according to any one of the preceding claims, wherein the welding torch is configured to internally It is positioned in first pipeline and/or the second pipe to provide interior welds operation.
27. fielded system according to claim 26, wherein the welding torch of the positioned internal is installed to rotatable wheel Hub, the rotatable wheel hub are driven by the motor and are configured to make the welding torch revolve around the longitudinal axis of the pipeline Turn to weld the junction surface region between the pipeline.
28. fielded system according to any one of the preceding claims, wherein the welding torch is configured to be positioned at Operated outside first pipeline and/or the second pipe with providing outside weldings.
29. fielded system according to claim 28, wherein the welding torch of the outside positioning is installed to described first The outer surface of one in pipeline and the second pipe.
30. fielded system according to claim 28, wherein the first pipeline engaging structure includes first seal simultaneously And the second pipe engaging structure includes second seal, and the fielded system also includes purging system, the purging System is configured to provide purge gass between the first seal and the second seal during operation is welded Body, to reduce oxygen between the first seal and the second seal.
31. fielded system according to claim 15, wherein the welding agreement includes being controlled in the pipeline quilt Make the one or more welding parameters welded and be adapted to the pipeline during welding.
32. fielded system according to any one of the preceding claims, wherein the first pipeline engaging structure also includes First fixture and first seal, and the second pipe engaging structure also includes the second fixture and second seal.
33. fielded system according to any one of the preceding claims, wherein one or more of processors with it is described Detector interaction is examined to scan the junction surface region between the pipeline, to determine the pipe after the welding operation The profile in the junction surface region between road and based on it is described scanning generation welding rear profile data.
34. fielded system according to claim 33, wherein one or more of processors be configured to based upon it is described Welding rear profile data cause to perform another welding operation on the junction surface region between the pipeline.
35. the fielded system according to claim 33 or 34, wherein the welding rear profile data examine detection described Device is positioned in first pipeline and/or the second pipe, does not make the first pipeline engaging structure or second pipe What road engaging structure departed from the interior surface of first pipeline or the interior surface of the second pipe respectively In the case of obtain.
36. fielded system according to any one of the preceding claims, it also includes examining video camera, described to examine shooting Machine is configured to be positioned between the first pipeline engaging structure and the second pipe engaging structure, one or more of Processor be configured to welding operate before, afterwards or during from it is described inspection video camera receive video camera inspection data.
37. fielded system according to any one of the preceding claims, it also includes examining video camera, described to examine shooting Machine scans welded junction surface region after the welding operation, the inspection video camera be based on it is described scan to one or Multiple processors send signal, and one or more of processors determine the spy in welded junction surface region based on the signal Property.
38. fielded system according to any one of the preceding claims, wherein the inspection detector includes：Emitter stage, It is used to send the inspection radiation beam；And receiver, it is used for from reflected radiation acceptance inspection signal.
39. fielded system according to any one of the preceding claims, it is electronic that it also includes one or more welding torch Machine, wherein one or more of welding torch motor and the welding torch are configured to be positioned at first pipeline And/or in the inside of the second pipe, wherein one or more of processors control one or more of welding torch Motor controls the position of the welding torch and orientation.
40. fielded system according to any one of the preceding claims, wherein being oriented to the electricity of the inspection radiation beam The welding torch is also driven at least 360 degree by motivation relative to conduit axis, is led to complete to rotate continuous root weld Road.
41. fielded system according to any one of the preceding claims, wherein the welding torch includes weld tip, its Described in one or more processors be configured to control one or more of welding torch motor to adjust the welding Tip out of described pipeline to the radial distance in the junction surface region, one or more of processors controls it is one or Multiple motor after root weld pass to make the weld tip be moved radially away from the junction surface region, to hold Receive the welding material that is deposited in the root weld pass and out of described pipeline in the root weld pass Thermal weld passage is provided on top.
42. fielded system according to any one of the preceding claims, wherein the motor is in root weld pass During drive the welding torch in the first rotational direction, and during thermal weld passage with the first party The welding torch is driven up to opposite second party.
43. fielded system according to any one of the preceding claims, wherein the welding torch is mounted for being wound on At the weld tip of the welding torch or the pivotal point adjacent with the weld tip moves so that in the welding point Weldpool caused by end generally overlaps with the pivotal point.
44. fielded system according to claim 43, wherein the pivotal point examines radiation beam in the engagement with described The circumference arc between the point of impingement on portion region keeps less constant during operation is welded.
45. fielded system according to claim 43, wherein the pivotal point is positioned in front of the weld tip.
46. fielded system according to any one of the preceding claims, wherein being oriented to the electricity of the inspection detector Motivation also makes the welding torch circumferentially be rotated around Plane of rotation to produce the welding along the junction surface region, and The fielded system also includes welding torch motor, and the welding torch motor makes the welding torch around the rotation in the motor Turn to make the welding torch generally angularly carry out joint motions in the Plane of rotation during Plane Rotation, wherein described The angle of welding torch is orientated based on the position of the welding torch to control.
47. fielded system according to any one of the preceding claims, wherein making the welding torch around the junction surface The motor that region is circumferentially moved also makes the inspection detector with the welding torch simultaneously around the junction surface area Domain is moved, and the welding torch is followed after the inspection detector.
48. fielded system according to any one of the preceding claims, wherein one or more of processors pass through by Signal is transferred to the hard-wired order wire of one or more of processors from the inspection detector and described examine is detected Device is operatively associated, and the hard-wired order wire has：(i) moveable part, its it is described inspection detector along The junction surface region is oriented to the inspection Shu Shiyu and examines detector to move together；And (ii) fixed part, it is described Keep fixing in the moving process of moveable part, and the fielded system also includes slip ring, and the slip ring provides described logical The interface between the moveable part of line and the fixed part is believed, so that the signal can be from the moveable part Pass to the fixed part.
49. a kind of fielded system for being used to weld two pipelines, it includes：
First pipeline engaging structure, it is configured to the interior surface for engaging the first pipeline, so that first pipeline engagement knot Structure can be fixed relative to first pipeline；
Second pipe engaging structure, it is configured to the interior surface for engaging second pipe, so that second pipe engagement knot Structure can be fixed relative to the second pipe；
Detector is examined, it is axially positioned between the first pipeline engaging structure and the second pipe engaging structure, institute State and examine detector to be configured to examine the junction surface region between the pipeline and outline data is generated based on it
One or more orientation motor, it is operatively associated with the inspection detector, with along between the pipeline The junction surface region be oriented to the inspection radiation beam,
One or more processors, it is operatively associated with the inspection detector, and is configured to from the inspection Detector receives the outline data to determine one or more characteristics in the junction surface region between the pipeline；And
Welding torch assembly, it includes welding torch and at least one welding torch motor, the welding torch and described At least one welding torch motor is activated by one or more of processors, with based on described between the pipeline One or more of characteristics in junction surface region produce welding between the pipeline.
50. fielded system according to claim 49, wherein the first pipeline engaging structure includes the first fixture, and The second pipe engaging structure includes the second fixture.
51. the fielded system according to claim 49 or 50, wherein the first pipeline engaging structure includes the first sealing Part, and the second pipe engaging structure includes second seal.
52. fielded system according to claim 51, it also includes inert gas source and inert gas supply line, described lazy The inert gas source is sent to the region between the first seal and the second seal by property gas supply line, its In the gas from the inert gas source be directed to institute between the first seal and the second seal State in region, to reduce the oxidation welded in operating process.
53. fielded system according to claim 52, it also includes oxygen sensor, and the oxygen sensor is configured to The amount of oxygen between the first seal and the second seal is detected, the oxygen sensor is operatively connectable to institute One or more processors are stated, one or more of processors are between the first seal and the second seal The amount of oxygen allows to carry out the welding operation afterwards less than threshold level.
54. fielded system according to claim 50, it also includes inert gas source and gas supply line, and the gas supplies Line is answered to be configured to inert gas being directed between first fixture and second fixture from the inert gas source Region, and be oriented to towards the region near the weld tip of the welding torch, it is described during welding operates to reduce Oxygen near weld tip.
55. fielded system according to claim 49, wherein the first pipeline engaging structure includes fixture, and it is described Second pipe engaging structure includes seal.
56. fielded system according to claim 49, wherein one or more of processors and the inspection detector Interaction is to scan the whole junction surface region between the pipeline, to apply welding material with by described two pipelines The outline data is generated before welding together so that the outline data forms welding front profile data..
57. fielded system according to claim 56, wherein the first pipeline engaging structure includes the first fixture, and The second pipe engaging structure includes the second fixture.Wherein one or more of processors interact with the inspection detector With the scanning institute after first fixture and second fixture engage with first pipeline and the second pipe respectively Junction surface region is stated to obtain the welding front profile data.
58. the fielded system according to claim 56 or 57, wherein first pipeline and/or the second pipe is outer Portion surface is movably engaged by outer rotatable component, to be advantageous to determine to need to adjust in the welding front profile data Event in adjust the relative positioning of the pipeline.
59. according to the fielded system described in claim 56,57 or 58, wherein first pipeline and/or the second pipe Interior surface be engaged and regulate and control, to adjust the pipe in the event that determines to need to adjust in the welding front profile data The relative positioning in road.
60. according to the fielded system described in claim 56,57,58 or 59, wherein one or more of processors with it is described Connect so that the first pipeline engaging structure is nibbled relative to the second pipe to one or more orientation motor operation Structure rotation is closed, to make first pipeline be rotated relative to the second pipe so as in the weldering based on the outline data Connect the junction surface region changed before operation between the pipeline.
61. fielded system according to claim 60, wherein one or more of processors pass through based on the welding First pipeline engaging structure described in front profile data-driven and/or the second pipe engaging structure are to change first pipeline And/or the circularity of the second pipe come it is described welding operation before change the junction surface region between the pipeline.
62. fielded system according to claim 60, wherein one or more of processors pass through based on the welding Front profile data manipulation motor is so that the first pipeline engaging structure engages knot around its axis relative to the second pipe Structure is rotated to make first pipeline come around its axis relative to second pipe rotation before the welding operation more Change the junction surface region between the pipeline.
63. according to the fielded system any one of claim 56-62, wherein one or more of processors are based on institute State welding front profile data mining welding agreement.
64. fielded system according to claim 63, wherein the welding agreement includes speed of welding and welding torch position Put agreement.
65. according to the fielded system any one of claim 49-64, wherein one or more of processors with it is described Examine detector interaction to scan the junction surface region between the pipeline, so as to weld operate during described Junction surface generates the outline data at the region before deposit weld material above, and dynamic based on the scanning generation State outline data, one or more of processors are configured to based upon the dynamic outline data generation welding signal to control The welding torch and/or at least one welding torch motor.
66. according to the fielded system any one of claim 49-65, wherein one or more of processors control institute At least one welding torch motor is stated, so as to dynamic based on being generated by the inspection detector during operation is welded State outline data controls position and/or the speed of the welding torch.
67. according to the fielded system any one of claim 49-66, wherein at least one welding torch motor One or more of processors are operatively connectable to, to control the welding torch during the welding operation Angle.
68. according to the fielded system any one of claim 49-67, wherein the welding torch with it is described at least one Welding torch motor connects so that the welding torch is mounted for carrying out angled movement so that the welding torch Positive welding direction can be oriented to.
69. according to the fielded system any one of claim 49-68, wherein the welding torch is mounted for passing through At least one welding torch motor moves so that it be wound on welding torch tip place, adjacent to or described The axis that weld tip produces at the region of weldpool slightly forwardly carries out joint motions.
70. according to the fielded system any one of claim 49-69, wherein at least one welding torch motor It is connected with the welding torch so that the welding torch can move so that the weld tip of the welding torch can court Moved to the face of weld away from the pipeline.
71. according to the fielded system any one of claim 49-70, wherein one or more of processors indicate institute State at least one welding torch motor makes the welding torch weld tip be moved further away from institute after each weld pass Junction surface region is stated to accommodate the welding material of accumulation.
72. according to the fielded system any one of claim 49-71, wherein one or more of orientation motor make The welding torch circumferentially rotates along the junction surface region, wherein at least one welding torch motor is configured to The first pipeline engaging structure and the second pipe engaging structure are respectively relative to first pipeline and second pipe Road makes the welding torch be moved relative to the first pipeline engaging structure and the second pipe engaging structure after fixing, At least one welding torch motor be configured to make the welding torch in the pipeline longitudinally, toward and away from described The inner surface of pipeline and it is angularly displaced from relative to the weld part.
73. according to the fielded system any one of preceding claims 49-72, described in it also includes being used for carrying and move The support of first pipeline and the second pipe, wherein the support is operatively connectable to one or more of processors, And wherein one or more of processors be based on the outline data operate the support with realize first pipeline with Relative movement between the second pipe, so as to one or more before the welding operation based on the junction surface region The junction surface region that individual characteristic is changed between the pipeline, wherein for changing the junction surface area before the welding operation The outline data in domain includes welding front profile data.
74. according to the fielded system any one of claim 49-73, wherein the welding torch is configured to internally It is positioned in first pipeline and/or the second pipe to provide interior welds operation.
75. the fielded system according to claim 74, wherein the welding torch of the positioned internal is installed to rotatable wheel Hub, the rotatable wheel hub are driven by one or more of orientation motor and are configured to make the welding torch around institute The longitudinal axis for stating pipeline is rotated to weld the junction surface region between the pipeline.
76. according to the fielded system any one of claim 49-75, wherein the welding torch is configured to be positioned at To provide outside weldings operation outside first pipeline and the/second pipe.
77. the fielded system according to claim 76, wherein the welding torch of the outside positioning is installed to described first The outer surface of one in pipeline and the second pipe.
78. the fielded system according to claim 76, wherein the first pipeline engaging structure includes first seal simultaneously And the second pipe engaging structure includes second seal, and the fielded system also includes purging system, the purging System is configured to provide purge gass between the first seal and the second seal during operation is welded Body, to reduce oxygen between the first seal and the second seal.
79. according to the fielded system any one of claim 58-64, wherein the tune of the relative positioning of the pipeline It is whole in the case of the interior surface for not making the first pipeline engaging structure depart from first pipeline and not make institute State in the case that second pipe engaging structure departs from the interior surface of the second pipe and realize.
80. according to the fielded system any one of claim 49-79, wherein the first pipeline engaging structure also includes First fixture and first seal, and the second pipe engaging structure also includes the second fixture and second seal.
81. according to the fielded system any one of claim 49-80, wherein one or more of processors with it is described Detector interaction is examined to scan the junction surface region between the pipeline, to determine the pipe after the welding operation The profile in the junction surface region between road and based on it is described scanning generation welding rear profile data.
82. the fielded system according to claim 81, wherein one or more of processors be configured to based upon it is described Welding rear profile data cause to perform another welding operation on the junction surface region between the pipeline.
83. the fielded system according to claim 81 or 82, wherein the welding rear profile data examine detection described Device is positioned in first pipeline and/or the second pipe, does not make the first pipeline engaging structure or second pipe What road engaging structure departed from the interior surface of first pipeline or the interior surface of the second pipe respectively In the case of obtain.
84. according to the fielded system any one of claim 49-83, it also includes examining video camera, and the inspection is taken the photograph Camera is configured to be positioned between the first pipeline engaging structure and the second pipe engaging structure, one or more Individual processor be configured to welding operate before, afterwards or during from it is described inspection video camera receive video camera check number According to.
85. according to the fielded system any one of claim 49-84, it also includes examining video camera, and the inspection is taken the photograph Camera scans welded junction surface region after the welding operation, and the inspection video camera is based on described scan to one Or multiple processors send signal, one or more of processors determine welded junction surface region based on the signal Characteristic.
86. according to the fielded system any one of claim 49-85, wherein the inspection detector includes：Emitter stage, It is used to send the inspection radiation beam；And receiver, it is used for from reflected radiation acceptance inspection signal.
87. according to the fielded system any one of claim 49-86, wherein being oriented to described the one of the inspection radiation beam Individual or multiple orientation motor are circumferentially oriented to the welding torch between the pipeline also along the junction surface region Produce the welding.
88. according to the fielded system any one of claim 49-87, wherein one or more of orientation motor will The welding torch moves at least 360 degree relative to conduit axis, to complete to rotate continuous root weld pass.
89. according to the fielded system any one of claim 49-88, wherein the welding torch includes weld tip, Wherein one or more of processors are configured to control at least one welding torch motor to adjust the welding Tip out of described pipeline to the radial distance in the junction surface region, one or more of processors controls it is one or Multiple motor after root weld pass to make the weld tip be moved radially away from the junction surface region, to hold Receive the welding material that is deposited in the root weld pass and out of described pipeline in the root weld pass Thermal weld passage is provided on top
90. according to the fielded system any one of claim 49-89, wherein one or more of orientation motor exist The welding torch is set to move in the first rotational direction during root weld pass, and in the process of thermal weld passage In in second party opposite to the first direction drive up the welding torch.
91. according to the fielded system any one of claim 49-90, wherein the inspection detector includes sending inspection The laser of radiation beam, wherein the welding torch be mounted for being wound at the weld tip of the welding torch or with it is described The adjacent pivotal point of weld tip moves so that weldpool caused by the weld tip with the pivotal point generally Overlap, and the circumference arc between wherein described weldpool and the point of impingement for examining radiation beam on the junction surface region exists Keep less constant during welding operation.
92. according to the fielded system any one of claim 49-91, wherein one or more of orientation motor are also The welding torch is set circumferentially to be rotated around Plane of rotation to produce the welding, and wherein institute along the junction surface region State at least one welding torch motor makes the welding torch be revolved around the Plane of rotation in one or more of orientation motor The welding torch is set generally angularly to carry out joint motions in the Plane of rotation when turning.
93. according to the fielded system any one of claim 49-92, wherein the welding torch assembly includes first Welding torch assembly, and the fielded system also includes the second welding torch assembly, wherein in the process of welding operation In, the first welding torch assembly and the second welding torch assembly while the deposit weld material between the pipeline Material, wherein the first welding torch assembly and the second welding torch assembly pass through one or more of orientation electricity Motivation is circumferentially mobile in the same rotational direction to deposit the welding material simultaneously, wherein in the process of the welding operation In, the first welding torch assembly is at least resisted gravity during a part for its movement and moved in an upward direction Simultaneously deposit weld material, and the second welding torch assembly at least its movement part during with emphatically Power moves deposit weld material simultaneously in a downward direction.
94. the fielded system according to claim 93, it also includes the 3rd welding torch assembly, the 3rd welding weldering Torch assembly and the first welding torch assembly and the second welding torch assembly sink between the pipeline simultaneously Product welding material, wherein the 3rd welding torch assembly by one or more of orientation motor with described first On welding torch assembly and the second welding torch assembly identical direction of rotation described in circumferentially mobile deposition simultaneously Welding material, wherein during the welding operation, the 3rd welding torch assembly resists gravity in upward direction Upper movement deposit weld material simultaneously, and move down also with gravity while deposit weld material.
95. according to the fielded system any one of claim 49-94, wherein one or more of processors pass through by Signal is transferred to the hard-wired order wire of one or more of processors from the inspection detector and described examine is detected Device is operatively associated, and the hard-wired order wire has：(i) moveable part, it is examined in the inspection detector The junction surface region between the pipeline and moved together with examining detector when generating outline data based on it；And (ii) fixed part, it keeps fixing in the moving process of the moveable part, and the fielded system also includes sliding Ring, the slip ring provides the interface between the moveable part of the order wire and the fixed part, so that the letter Number it can pass to the fixed part from the moveable part.
96. the fielded system according to claim 95, wherein described examine detector to be arranged on the outside of wheel hub, The wheel hub has opposite end and the radial opening between the end, and wherein described moveable part prolongs Extend through the inside of the wheel hub, be connected by the radial opening and with the inspection detector.
97. according to the fielded system any one of claim 49-96, it also includes inert gas source, the indifferent gas Inert gas is transported through air pressure line between the first pipeline engaging structure and the second pipe engaging structure by body source Position.
98. the fielded system according to claim 97, wherein the air pressure line has what is be connected with the inert gas source Fixed part and the moveable part in rotatable wheel hub is extended to, the moveable part is connected to by rotary unions The fixed part.
99. according to the fielded system any one of claim 49-98, it also includes compressed air cylinder, wherein described One or two in one pipeline engaging structure and the second pipe engaging structure can be from the internal table with the pipeline Emaciated face from first position be moved to the second place engaged with the interior surface of the pipeline, wherein from the compression The compressed air of air tank be sent to one in the first pipeline engaging structure and the second pipe engaging structure or Two, to realize its movement from the first position to the second place.
100. the fielded system according to claim 99, wherein the compressed air cylinder receives passing through from external source The compressed air of the compressed air cylinder is arrived in compressed air line offer through a pair of rotary unions.
101. the fielded system according to claim 84, wherein one or more of processors are configured to based upon coming from The signal of the video camera determines to have used unsuitable welding temperature during the welding operation.
102. fielded system according to claim 1, wherein one or more of processors have by one or more The first pipeline engaging structure, the second pipe engaging structure are connected to line or wireless communication, described examine inspection Survey device, the motor or the welding torch.
103. fielded system according to claim 1, wherein one or more of processors pass through one or more nothings Line connection communication it is connected to the first pipeline engaging structure, the second pipe engaging structure, the inspection detector, institute State motor or the welding torch, and wherein one or more of wireless connections include Wi-Fi connection, bluetooth connection, Near-field communication (NFC) connects or cellular connection.
104. fielded system according to claim 1, wherein one or more of processor communications be connected to it is long-range Computer system, and be configured to the profile in the junction surface region between the pipeline being transmitted into described long-range Computer system, wherein one or more of processors are configured to receive the junction surface from the remote computer system The revision of the profile in the confirmation of the profile in region or the junction surface region, and wherein described welding torch The engagement of the confirmation of the profile based on the junction surface region or the revision between the pipeline The welding is produced at portion region.
105. fielded system according to claim 1, wherein one or more of processors and the inspection detector Interaction is to scan the junction surface region between the pipeline, described between the pipeline is determined before welding operates The profile in junction surface region and based on it is described scanning generation welding front profile data, wherein one or more of processing Device is communicably connected to remote computer system and is configured to the welding front profile data being transmitted into the long-range meter Calculation machine system, and wherein one or more of processors are configured in response to launching the welding front profile data from institute State remote computer system and receive the confirmation of the welding front profile data or the revision of the welding front profile data, and And the confirmation or the revision of the wherein described welding based on the welding front profile data produced originally.
106. the fielded system according to claim 105, wherein one or more of processors are configured to based upon institute The confirmation or the revision for stating welding front profile data operate the first pipeline engaging structure and/or described second Pipeline engaging structure, to change the junction surface region between the pipeline before the welding operation.
107. the fielded system according to claim 105, wherein one or more of processors are configured to based upon institute State the confirmation or the revision exploitation welding agreement of welding front profile data.
108. fielded system according to claim 1, wherein one or more of processors and the inspection detector Interaction is to scan the junction surface region between the pipeline, described in determining after the welding operation between the pipeline The profile in junction surface region and based on it is described scanning generation welding rear profile data, wherein one or more of processing Device is communicably connected to remote computer system and is configured to the welding rear profile data being transmitted into the long-range meter Calculation machine system, and wherein one or more of processors are configured in response to launching the welding rear profile data from institute State remote computer system and receive the confirmation of the welding rear profile data or the revision of the welding rear profile data, and And the confirmation or the revision of the wherein described welding based on the welding front profile data produced originally.
109. the fielded system according to claim 108, wherein one or more of processors are configured to based upon institute The confirmation or the revision for stating welding rear profile data cause on the junction surface region between the pipeline Perform another welding operation.
110. fielded system according to claim 1, wherein one or more of processor communications be connected to it is long-range Computer system and be configured to the remote computer system transmitting and the inspection phase to the region between the pipeline The inspection data of association, the inspection data include laser inspection data, video camera inspection data, x-ray inspection data, super Sound inspection data, magnetic powder test data, eddy-current test data or temperature check data.
111. the fielded system according to claim 110, wherein the inspection data includes inspection data before welding, and Wherein one or more of processors are configured to：
Inspection data is transmitted into the remote computer system from described remote before before welding operates in response to by the welding Journey computer system receives response,
The welding between wherein described pipeline is based on the response.
112. the fielded system according to claim 111, wherein inspection data includes laser before welding before the welding Inspection data.
113. the fielded system according to claim 111, wherein inspection data includes video camera before welding before the welding X-ray inspection data before inspection data or welding.
114. the fielded system according to claim 111, wherein the response bag is included based on inspection data before the welding The welding agreement drawn, and
Wherein described welding torch is based on the welding agreement and the welding is produced between the pipeline.
115. the fielded system according to claim 114, wherein the welding agreement include to following related one or Multiple parameters：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, The power level of welding arc, welding current, weldingvoltage, welding impedance, welding torch gait of march, the welding torch it is described Position of the weld tip along the conduit axis, the weld tip of the welding torch rotate relative to the angle of plane Distance of the weld tip of degree positioning or the welding torch to the inner surface of the pipeline to be welded.
116. the fielded system according to claim 110, wherein the inspection data includes inspection data before welding, and Wherein one or more of processors are configured to：
Inspection data is transmitted into the remote computer system from described remote before before welding operates in response to by the welding Journey computer system receives response, and the response includes the finger that needs change the junction surface region before the welding operation Show；And
Need to indicate to operate the first pipeline engaging structure and/or the second pipe engaging structure based on described, with institute State the junction surface region changed before welding operation between the pipeline.
117. the fielded system according to claim 110, wherein the inspection data includes dynamic check data, and its Described in one or more processors be configured to：
Weld operate during in response to the dynamic check data are transmitted into the remote computer system from described Remote computer system receives response,
The welding between wherein described pipeline is based on the response.
118. the fielded system according to claim 117, obtained wherein the response bag includes based on the dynamic check data The one or more dynamics to welding agreement gone out update, and
Wherein described welding torch is updated in the pipeline based on the welding agreement and to the dynamic of the welding agreement Between produce the welding.
119. the fielded system according to claim 118, wherein one or more of processors are configured to described Position and the speed of the welding torch are controlled during welding operation based on the dynamic renewal to the welding agreement.
120. the fielded system according to claim 117, wherein the dynamic check data are examined including dynamic laser Data.
121. the fielded system according to claim 117, wherein the dynamic check data are examined including dynamic camera Data.
122. the fielded system according to claim 110, wherein the inspection data includes inspection data after welding, and Wherein one or more of processors are configured to：
After the welding operation in response to inspection data after the welding is transmitted into the remote computer system from described remote Journey computer system receives response；And
The welding torch is caused to perform follow-up welding operation between the pipeline based on the response.
123. the fielded system according to claim 110, wherein one or more of processors be configured to by for Perform welding operation and be transmitted into the remote computer system to produce one or more welding parameters of the welding.
124. the fielded system according to claim 123, wherein one or more of processors are configured to：
In response to the inspection data and the welding parameter are transmitted into the remote computer system from the remote computation Machine system receives response；And
The welding torch is caused to perform welding operation between the pipeline based on the response.
125. the fielded system according to claim 123, wherein the welding parameter includes and following related parameter：Line Feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, the power electricity of welding arc Flat, welding current, weldingvoltage, welding impedance, welding torch gait of march, the weld tip of the welding torch along The position of the conduit axis, the weld tip of the welding torch rotate relative to angle positioning or the institute of plane The weld tip of welding torch is stated to the distance of the inner surface of the pipeline to be welded.
126. the fielded system according to claim 110, wherein one or more of processors are configured to：
Response is received from the remote computer system in response to the inspection data is transmitted into the remote computer system, The other data that wherein described response is received from the inspection data and by the remote computer system draw, it is described in addition Data it is related to the following：(i) observations of the one or more operations performed on other pipelines, (ii) to it is described other The one or more input parameters for the operation that the inspection of pipeline or (iii) are used for observed by performing；And
The welding torch is caused to perform welding operation between the pipeline based on the response.
127. fielded system according to claim 1, wherein one or more of processor communications be connected to it is long-range Computer system and it is configured to：
Launch the laser check number associated with the inspection to the region between the pipeline to the remote computer system According to and with the associated video camera inspection data of the inspection to the region between the pipeline；
In response to by the laser inspection data and the video camera inspection data be transmitted into the remote computer system from The remote computer system receives response；And
The welding torch is caused to perform welding operation between the pipeline based on the response.
128. fielded system according to claim 1, wherein one or more of processor communications be connected to it is long-range Computer system and it is configured to：
Launch the laser check number associated with the inspection to the region between the pipeline to the remote computer system According to, the video camera inspection data associated with the inspection to the region between the pipeline and with to the pipe The associated x-ray inspection data of the inspection in the region between road；
In response to the laser inspection data, the video camera inspection data and the x-ray inspection data are transmitted into institute State remote computer system and receive response from the remote computer system：And
The welding torch is caused to perform welding operation between the pipeline based on the response.
129. a kind of be used to promote the remote of pipeline welding to be used to perform pipeline welding behaviour between the first pipeline and second pipe The soldering system of the fielded system of work, the remote scene system include：Detector is examined, it is configured to send inspection Radiation beam is to scan the profile in the junction surface region between first pipeline and the second pipe；And welding torch, its quilt Configuration carrys out the profile based on the junction surface region between first pipeline and the second pipe, described first Welding is produced between pipeline and the second pipe, wherein the soldering system includes：
Receiver, it is configured to receive basis by the inspection detector progress to the pipe from the remote welding system The outline data that the scanning in the junction surface region between road determines；
One or more processors, it is configured to the one of the outline data of the scanning to the junction surface region Individual or multiple characteristics compared with one or more characteristics of the predefined outline data in predetermined junction surface region, and It is configured to based upon the control operation data that the comparison determines the remote scene system；And
Transmitter, it is configured to the control operation data being transmitted into the remote scene system, the control operation number Welded according to one or more is performed on the junction surface region for being configured to cause the welding torch between the pipeline Operation.
130. the soldering system according to claim 129, wherein the outline data includes operating according in welding The welding front profile data that the scanning to the junction surface region between the pipeline determines before, wherein one Or multiple predefined profile characteristics are associated with one or more acceptable predefined welding front profiles, and wherein institute State control operation data and indicate whether the fielded system starts the welding operation.
131. the soldering system according to claim 129, wherein one or more of processors are configured to：
Based on the comparison determine one or more of characteristics of the outline data with it is one or more of predefined One or more matching profile characteristics between profile characteristic；And
Agreements are welded based on one or more of matching profile characteristic selection one or more,
Wherein described control operation data are generated with including one or more of selected welding agreements, and described one Individual or multiple welding operations are performed by the welding torch based on one or more of selected welding agreements.
132. the soldering system according to claim 131, wherein one or more of processors are configured to：
The data related to the following are received from one or more fielded systems：(i) performed on other pipelines one or One or more of the operation that the inspection or (iii) of the observation of multiple operations, (ii) to other pipelines are used for observed by performing Individual input parameter；
Based on the related data generation and one group of predefined profile parameters received from one or more of fielded systems Associated welding agreement；And
Based on including one or more of of associated described group of the predefined profile of the welding agreement with being generated The welding agreement generated being included in profile parameters selection in the control operation data,
Wherein described control operation data are generated with including selected welding agreement, and one or more of welding behaviour Make to perform based on selected welding agreement by the welding torch.
133. the soldering system according to claim 129, wherein the outline data includes operating according in welding During the dynamic outline data that determine of the scanning to the junction surface region between the pipeline, and wherein institute Stating control operation data includes updating the dynamic of one or more welding parameters for the welding operation.
134. the soldering system according to claim 133, wherein the transmitting of the control operation data causes The fielded system is during the welding operation based on the dynamic renewal to one or more of welding parameters Welding signal is generated to control the welding torch.
135. the soldering system according to claim 129, wherein the outline data includes operating according in welding The welding rear profile data that the scanning to the junction surface region between the pipeline determines afterwards, wherein one Or multiple predefined profile characteristics are associated with one or more acceptable predefined welding rear profiles, and wherein institute Whether the result for stating the control operation data instruction welding operation is acceptable.
136. the soldering system according to claim 135, wherein the transmitting of the control operation data causes The welding torch performs another welding operation on the junction surface region between the pipeline.
137. according to according to the welding system any one of claim 1-48, it also includes frame assemblage, driving electricity Motivation and multiple rollers, the roller are configured to engage the interior surface of one or more of the pipeline, the driving Motor is configured to drive the roller to make the frame assemblage, the first pipeline engaging structure, second pipe Road engaging structure and it is described examine detector along at least one in the pipeline inside it in move.
138. the welding system according to claim 137, it also includes the electronic electromechanics carried by the frame assemblage Source, the motor power are configured to power for the drive motor.
139. the welding system according to claim 138, it also includes the welding torch power supply carried by the frame assemblage, The welding torch power supply is configured to power for the welding torch.
140. the welding system according to claim 138, wherein the motor power includes battery.
141. welding system according to claim 139, wherein the welding torch power supply includes battery.
142. welding system according to claim 137, it also includes the sensor for sensing the end of the pipeline.
A kind of 143. welding systems for being used to weld two pipelines, it includes：
Framework, it is configured to be placed in the pipeline；
Multiple rollers, it is configured to be pivotably supported the framework；
Drive motor, it drives the roller so that the framework moves in the pipeline；
Brakes, its desired locations that framework is fixed in the pipeline do not move；
Detector is examined, it is carried by the framework, described to examine detector to be configured to detect the engagement between the pipeline The characteristic in portion region；
Welding torch, it is carried by the framework；
One or more battery unit, it is carried by the framework, and one or more of battery units are configured to be described Drive motor, the inspection detector and welding torch power supply；And
One or more processors, it is with the drive motor, the inspection detector and the welding torch operatively Connection.
144. welding system according to claim 143, wherein the brakes includes：First pipeline jig, its quilt Configure to clamp first in described two pipelines；And second pipe fixture, it is configured to clamp described two pipelines In second.
145. welding system according to claim 143, wherein described examine detector to include sending inspection radiation beam Examine detector.
146. welding system according to claim 143, wherein one or more of battery units include multiple independences Battery unit, for the welding torch the battery unit independently of for the drive motor and it is described examine examine Survey the battery unit of device.
147. welding system according to claim 146, wherein the battery unit for the drive motor is only Stand on the battery unit for the inspection detector.
A kind of 148. methods for a pair of isolated pipes to be welded to one another, each pipeline include the gold surrounded by insulating material Inside metal conduit, wherein the end sections of the pipeline to be welded include exposure, methods described inside the metallic conduit：
By the metallic conduit end part aligning of the exposure to be welded；
The metallic conduit end of the exposure is welded to one another；
Heat the exposed end part of the welded pipe line；
Insulator is applied to the exposed end part heated of the welded pipe line so that the insulator is adhered to described Outer surface inside metallic conduit, so that the previously exposed end sections insulation of the pipeline；And
Cooling energy is applied to the interior surface of the metallic conduit out of described pipeline.
149. method according to claim 148, wherein the cooling energy is applied by fluid, the fluid is described Discharged in the inside of pipeline so that the fluid directly contacts the interior surface of the pipeline.
150. method according to claim 148, wherein the cooling energy is removable in heat exchanger by being arranged on Dynamic fluid applies, wherein the contact surface of the heat exchanger is configured to be positioned to the internal table with the welded pipe line Face contacts, to remove heat from the welded pipe line.
151. method according to claim 149 or 150, wherein the fluid includes liquid.
152. method according to claim 149 or 150, wherein the fluid includes gas.
A kind of 153. systems for a pair of isolated pipes to be welded to one another, each pipeline include the gold surrounded by insulating material Inside metal conduit, wherein the end sections of the pipeline to be welded include exposure, the system inside the metallic conduit：
Welding torch, it is configured to the metallic conduit end of the exposure being welded to one another；
Heater, it is configured to the exposed end part for heating the welded pipe line；
Insulator is supplied, and it is configured to the exposed end portion heated that insulating material is applied to the welded pipe line Point so that the insulator is adhered to the outer surface inside the metallic conduit, so that the pipeline was described previously sudden and violent The end sections insulation of dew；
Chiller system, it is configured to be positioned in the pipeline, after the insulating material is applied, the cooler System will cool down energy and be applied to the interior surface of the metallic conduit to promote the cooling of the metallic conduit.
154. system according to claim 153, wherein insulator supply includes：Container, it is configured to receive The insulating material；And delivery nozzle, it is configured to provide the insulating material described in the welded pipe line On exposed end part.
155. system according to claim 153 or 154, wherein the chiller system include being configured to carry it is removable The dynamic heat exchanger by its fluid, wherein the contact surface of the heat exchanger is configured to be positioned to and the welded pipe The interior surface contact in road, to remove heat from the welded pipe line.
156. system according to claim 155, wherein the chiller system includes motor, the motor by with Put the contact surface being displaced outwardly into and engaged with the interior surface of the metallic conduit.
157. system according to any one of claim 153-156, wherein the chiller system includes air blower, institute State air blower to be configured to cooling gas being blown into the interior surface of the welded pipe line, with from the welded pipe line Remove heat.
158. system according to any one of claim 153-157, wherein the chiller system includes fluid tip, The fluid tip is configured to cooling liquid being applied in the interior surface of the welded pipe line, with from the welding Pipeline removes heat.
159. system according to any one of claim 153-158, it also includes ultrasonic examination platform, the ultrasonic examination Platform is configured to examine the weld part between the welding metal pipeline, and wherein described chiller system is configured to Promote after the pipeline is soldered and before the inspection to the weld part carried out by the ultrasonic examination platform The cooling of the metallic conduit.
160. system according to claim 159, it also includes temperature sensor, and wherein passes through the ultrasonic examination The inspection that platform is carried out detects temperature of the pipeline near the weld part less than predetermined in the temperature sensor Carried out after threshold value.
161. method according to claim 148, it also includes execution pipeline deployment process, wherein applying the cooling energy Amount reduces the stand-by period applied between the insulator and the execution pipeline deployment process.
162. method according to claim 161, wherein pipeline deployment process is rolling step.
163. method according to claim 161, wherein pipeline deployment process is S types laying process.
164. method according to claim 161, wherein pipeline deployment process is pipeline decentralization process.
A kind of 165. methods for welded pipe line, methods described include：
By the end part aligning of described two pipelines to be welded, the pipeline is included in the metallic conduit by insulating material encirclement Portion, at the part adjacent with the end of the pipeline to be welded of the pipeline it is exposed inside the metallic conduit 's；
The alignment end of the pipeline is welded to one another to form solder joint out of described pipeline；
Welding data is generated during the welding of the alignment end, the welding data corresponds to and the welding Associated welding parameter；
The solder joint is examined to draw internal welding socket part inspection data using inspection laser out of described welded pipe line；
The solder joint is examined to draw radiation examinations data using radiation source is examined；
The welding data, the internal welding socket part inspection data and the radiation examinations data are transmitted into remote computation Machine system is to draw other welding data；And
The other welding data drawn is received, the other welding data is from the data launched and by the long-range system The other inspection data received from the inspection to other pipelines of uniting is drawn.
166. method according to claim 165, wherein the pipeline has the external diameter less than 24 ".
167. method according to claim 165 or 166, it also includes：
Other welding is performed between the pipeline based on the other welding data.
168. method according to claim 167, wherein performing the other welding is included based on the other weldering Connect data and other welding is performed on the outside of the pipeline.
169. method according to claim 167, wherein performing the other welding is included based on the other weldering Connect data and other welding is performed out of described pipeline.
170. method according to any one of claim 165-169, wherein the inspection laser and the inspection spoke The source of penetrating belongs to fielded system, and wherein described other inspection data by the remote computer system from the fielded system Receive.
171. method according to any one of claim 165-169, wherein the inspection laser and the inspection spoke The source of penetrating belongs to primary scene system, and wherein described other inspection data by the remote computer system from different from institute The secondary scene system for stating primary scene system receives.
172. method according to any one of claim 165-171, wherein the inspection radiation source includes examining x-ray Radiation source, and the radiation examinations data include radiation, x-ray inspection data, and wherein described welding data, it is described in Portion's weld part inspection data and the radiation, x-ray inspection data are launched into the remote computer system.
173. method according to any one of claim 165-172, wherein the welding data, the internal welding socket part Inspection data or the radiation examinations data are dynamically transmitted into the remote computer system.
174. method according to any one of claim 173, it also includes：
Dynamic outline data are received from the remote computer system during the welding of the alignment end, wherein The dynamic outline data are based on the welding data, the internal inspection data or the radiation examinations data；And
The software test data generation welding signal is based on to control the weldering during the welding of the alignment end Connect welding torch.
175. method according to claim 173, it also includes：
Dynamic outline data are received from the remote computer system during the welding of the alignment end, wherein The dynamic outline data are based on the internal inspection data or the radiation examinations data；And
The software test data generation welding signal is based on to control the weldering during the welding of the alignment end Connect welding torch.
176. method according to claim 173, it also includes：
Receive and the dynamic of the welding parameter is updated, wherein the dynamic renewal to the welding parameter is based on the welding Data, the internal inspection data or the radiation examinations data；And
Based on the more newly-generated welding of the dynamic to the welding parameter during the welding of the alignment end Signal is to control the welding torch.
177. method according to any one of claim 165-176, wherein the welding parameter include to it is following related Parameter：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, weldering The power level of arc, welding current, weldingvoltage, welding impedance, the weldering of welding torch gait of march, the welding torch Connect the angle that the weld tip of the tip along the position of the conduit axis, the welding torch rotates relative to plane Distance of the weld tip of positioning or the welding torch to the inner surface of the pipeline to be welded.
A kind of 178. fielded systems for being used to promote on-the-spot test and the physical operations based on it, it includes：
Field device, it is configured to carry out the operation for physically influenceing object；
Verifying attachment, it is configured to scan the object；And
One or more processors, it is communicably connected to the verifying attachment and is configured to receive from the verifying attachment The inspection data associated with the scanning to the object,
Remote computer system is connected to wherein one or more of processor communications, and is configured to the inspection Data are transmitted into the remote computer system,
Wherein one or more of processors are configured in response to launching the inspection data from the remote computer system System receives the data related to performing the operation, and causes the field device to perform thing based on the operation related data Reason ground influences the operation of the object, and
Wherein described operation related data is from the inspection data and associated with the independent scanning to another object another Individual inspection data is drawn.
179. fielded system according to claim 178, wherein one or more of processors are configured to：
Another inspection data described in reception is associated with the scanning to another object；And
Another described inspection data is transmitted into the remote computer system.
180. fielded system according to claim 178, wherein another described inspection data is by the remote computer System receives from another fielded system.
181. fielded system according to any one of claim 178-180, wherein the field device is to the thing One or more operations are performed before the scanning of body, wherein one or more of processors are by one or more of behaviour One or more input parameters of work are transmitted into the remote computer system, and are wherein connect from the remote computer system The operation related data received is based on the inspection data and one or more of input parameters.
182. fielded system according to any one of claim 178-181, wherein the object includes the first object, and And the operation related data includes the instruction related to the welding carried out between first object and the second object,
Wherein described verifying attachment scans the region between first object and second object, and
Wherein one or more of processors, which are based on the welding dependent instruction, causes the field device welding described first The region between object and second object.
183. fielded system according to claim 182, wherein the welding dependent instruction includes and following related finger Order：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, welding arc Power level, welding current, weldingvoltage, welding impedance, welding torch gait of march, the welding point of the welding torch The angle that end rotates relative to plane along the weld tip of the position of the conduit axis, the welding torch is determined Distance of the weld tip of position or the welding torch to the inner surface of the pipeline to be welded.
184. fielded system according to any one of claim 178-181, wherein it is described operation related data include with The related instruction of the object is coated, and wherein one or more of processors cause institute based on the coating dependent instruction State field device and one or more coats are applied to the object.
185. fielded system according to claim 184, wherein it is described coating dependent instruction include with pre-heating temperature or The related instruction of coating layer thickness.
186. fielded system according to any one of claim 178-181, wherein it is described operation related data include with Make the related instruction of the object alignment, and wherein one or more of processors are based on the alignment dependent instruction and caused The field device aligns the object.
187. fielded system according to any one of claim 178-181, wherein it is described operation related data include with The related instruction of the object is changed, and wherein one or more of processors cause institute based on the change related data State field device and change the object.
188. fielded system according to claim 187, wherein changing first object includes expanding the object At least partially.
189. fielded system according to claim 187, wherein changing first object includes reducing the object At least partially.
190. fielded system according to claim 187, wherein changing first object is included described in radially change At least one of size of object.
191. fielded system according to any one of claim 178-190, swash wherein the verifying attachment includes examining Light device, video camera, x-ray photography verifying attachment or ultrasonic inspection devices are examined, and wherein described inspection data includes swashing Light device inspection data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
192. fielded system according to any one of claim 178-190, swash wherein the verifying attachment includes examining Light device, examine video camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, Eddy-current test device or temperature monitoring, and wherein described inspection data includes laser inspection data, video camera check number According to, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, eddy-current test data or temperature Inspection data.
A kind of 193. methods for promoting on-the-spot test and the physical operations based on it, it includes：
Object is scanned by the verifying attachment of fielded system, to be provided and to described in the object to one or more processors The associated inspection data of scanning；
The inspection data is transmitted into remote computer system by the one or more processors of the fielded system；
In response to launching the inspection data, by one or more of processors from the remote computer system receive with Perform the data for the operation correlation for physically influenceing object；And
Based on the operation related data, the field device for causing the fielded system by one or more of processors is held Row physically influences the operation of the object,
Wherein described operation related data is from the inspection data and associated with the independent scanning to another object another Individual inspection data is drawn.
194. method according to 193, it also includes：
Another described object of scanning with described in will be associated with the scanning to another object another examine Data provide and arrive one or more of processors；And
Another described inspection data is transmitted into the remote computer system by one or more of processors.
195. method according to claim 193, wherein another described inspection data is by the remote computer system Received from another fielded system.
196. method according to any one of claim 193-195, wherein the field device is to the object One or more operations are performed before the scanning, wherein one or more of processors are by one or more of operations One or more input parameters are transmitted into the remote computer system, and wherein received from the remote computer system The operation related data is based on the inspection data and one or more of input parameters.
197. method according to any one of claim 193-196, wherein the object includes the first object, and institute Stating operation related data includes the instruction related to the welding carried out between first object and the second object,
Wherein described verifying attachment scans the region between first object and second object, and
Wherein one or more of processors, which are based on the welding dependent instruction, causes the field device welding described first The region between object and second object.
198. method according to claim 197, wherein the welding dependent instruction includes and following related instruction：Line Feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, the power electricity of welding arc Flat, welding current, weldingvoltage, welding impedance, welding torch gait of march, the weld tip of the welding torch along The position of the conduit axis, the weld tip of the welding torch rotate relative to angle positioning or the institute of plane The weld tip of welding torch is stated to the distance of the inner surface of the pipeline to be welded.
199. method according to any one of claim 193-196, wherein the operation related data includes and coating The related instruction of the object, and wherein one or more of processors be based on the coating dependent instruction cause it is described existing One or more coats are applied to the object by field device.
200. method according to claim 199, wherein the coating dependent instruction includes and pre-heating temperature or coating The related instruction of thickness.
201. method according to any one of claim 193-196, wherein the operation related data is included with making institute State the related instruction of object alignment, and wherein one or more of processors be based on the alignment dependent instruction cause it is described Field device aligns the object.
202. method according to any one of claim 193-196, wherein the operation related data includes and change The related instruction of the object, and wherein one or more of processors be based on the change related data cause it is described existing Field device changes the object.
203. method according to claim 202, wherein changing first object includes expanding the object at least A part.
204. method according to claim 202, wherein changing first object includes reducing the object at least A part.
205. method according to claim 202, wherein changing first object includes radially changing the object At least one of size.
206. method according to any one of claim 193-205, wherein the verifying attachment include examine laser, Video camera, x-ray photography verifying attachment or ultrasonic inspection devices are examined, and wherein described inspection data includes laser Inspection data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
207. method according to any one of claim 193-205, wherein the verifying attachment include examine laser, Examine video camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, vortex Verifying attachment or temperature monitoring, and wherein described inspection data includes laser inspection data, video camera inspection data, x Radioscopy data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, eddy-current test data or temperature check Data.
208. is a kind of for promoting on-the-spot test and the remote generation on-the-spot test based on its physical operations and the thing The computer system of fielded system where reason operation, the remote scene system include：Verifying attachment, it is configured to scan The object；And field device, it is configured to carry out the operation for physically influenceing the object, the computer system bag Include：
Receiver, its be configured to from the remote scene system receive with by the verifying attachment carry out to the object The associated inspection data of the scanning；
One or more processors, it is configured to handle the inspection data physically influences the object to generate and perform The related data of the operation；And
Transmitter, it is configured to the operation related data being transmitted into the remote scene system, described long-range to cause Fielded system performs the operation for physically influenceing the object, wherein the operation is held based on the operation related data OK.
209. computer system according to claim 208, wherein the receiver is configured to from the remote scene System receives another inspection data associated with the scanning to another object, and wherein it is described operate related data by One or more of processors are based on the inspection data and another described inspection data generates.
210. computer system according to claim 208, wherein the receiver is configured to from away from described long-range Another fielded system of fielded system positioning receives another inspection data associated with the scanning to another object, and And wherein described operation related data is based on the inspection data and another described inspection by one or more of processors Data generate.
211. computer system according to any one of claim 208-210, wherein to being swept described in the object One or more operations are performed before retouching on the object, wherein the receiver is configured to from the remote scene system One or more input parameters of one or more of operations are received, and wherein described operation related data is by one Or multiple processors are based on the inspection data and one or more of input parameters generate.
212. computer system according to any one of claim 208-211, wherein the object includes the first object, And the operation related data includes the instruction related to the welding carried out between first object and the second object, and And welding operation is wherein performed to weld first object and second object based on the welding dependent instruction.
213. computer system according to claim 212, wherein it is described welding dependent instruction include to it is following related Instruction：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, welding arc Power level, welding current, weldingvoltage, welding impedance, the welding of welding torch gait of march, the welding torch The angle that the weld tip of the tip along the position of the conduit axis, the welding torch rotates relative to plane is determined Distance of the weld tip of position or the welding torch to the inner surface of the pipeline to be welded.
214. computer system according to any one of claim 208-211, wherein the operation related data includes The instruction related to coating the object, and coating operation is wherein performed with by one or more based on the coating dependent instruction Individual coat is applied to the object.
215. computer system according to claim 214, wherein the coating dependent instruction includes and pre-heating temperature Or the instruction that coating layer thickness is related.
216. computer system according to any one of claim 208-211, wherein the operation related data includes Alignd related instruction to making the object, and alignment operation is wherein performed so that the thing based on the alignment dependent instruction Body aligns.
217. computer system according to any one of claim 208-211, wherein the operation related data includes The instruction related to changing the object, and change operation is wherein performed to change the thing based on the change related data Body.
218. computer system according to any one of claim 208-217, wherein the inspection data includes laser Device inspection data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
219. computer system according to any one of claim 208-217, wherein the inspection data includes laser Device inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test Data, eddy-current test data or temperature check data.
220. is a kind of for promoting on-the-spot test and the remote generation on-the-spot test based on its physical operations and the thing The method of fielded system where reason operation, the remote scene system include：Verifying attachment, it is configured to scan the thing Body；And field device, it is configured to carry out the operation for physically influenceing the object, and methods described also includes：
By receiver from the remote scene system receive with by the verifying attachment carry out to described in the object The associated inspection data of scanning；
The inspection data is handled by one or more processors, is physically influenceed described in the object with generating and performing Operate related data；And
The operation related data is transmitted into by the remote scene system by transmitter, to cause the remote scene system Performing physically influences the operation of the object, wherein the operation is performed based on the operation related data.
221. method according to claim 220, it also includes：
Another inspection associated with the scanning to another object is received from the remote scene system by the receiver Test data,
Wherein described operation related data is based on the inspection data and another described inspection by one or more of processors Test data generation.
222. method according to claim 220, it also includes：
Received by the receiver from another fielded system positioned away from the remote scene system and to another thing Another inspection data that the scanning of body is associated,
Wherein described operation related data is based on the inspection data and another described inspection by one or more of processors Test data generation.
223. method according to any one of claim 220-222, wherein before the scanning to the object One or more operations are performed on the object, and methods described also includes：
One or more input ginsengs of one or more of operations are received from the remote scene system by the receiver Number,
Wherein described operation related data is based on the inspection data and one or more by one or more of processors Individual input parameter generation.
224. method according to any one of claim 220-223, wherein the object includes the first object, and institute Stating operation related data includes the instruction related to the welding carried out between first object and the second object, and wherein Welding operation is performed to weld first object and second object based on the welding dependent instruction.
225. method according to claim 224, wherein the welding dependent instruction includes and following related instruction：Line Feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, the power electricity of welding arc Flat, welding current, weldingvoltage, welding impedance, welding torch gait of march, the weld tip of the welding torch along The position of the conduit axis, the weld tip of the welding torch rotate relative to angle positioning or the institute of plane The weld tip of welding torch is stated to the distance of the inner surface of the pipeline to be welded.
226. method according to any one of claim 220-223, wherein the operation related data includes and coating The related instruction of the object, and coating operation is wherein performed so that one or more to be coated based on the coating dependent instruction Layer is applied to the object.
227. method according to claim 226, wherein the coating dependent instruction includes and pre-heating temperature or coating The related instruction of thickness.
228. method according to any one of claim 220-223, wherein the operation related data is included with making institute The related instruction of object alignment is stated, and alignment operation is wherein performed so that the object pair based on the alignment dependent instruction Together.
229. method according to any one of claim 220-223, wherein the operation related data includes and change The related instruction of the object, and change operation is wherein performed to change the object based on the change related data.
230. method according to any one of claim 220-229, wherein the inspection data is examined including laser Data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
231. method according to any one of claim 220-229, wherein the inspection data is examined including laser Data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, whirlpool Flow inspection data or temperature check data.
A kind of 232. on-the-spot test for promoting to carry out at system at the scene and the computer system of the physical operations based on it, The fielded system includes：Verifying attachment, it is configured to scan the object；With one or more field devices, its by with Put to perform one or more operations of physically influence object, the computer system includes：
Receiver, it is configured to receive the institute to the object with carrying out by the verifying attachment from the fielded system The associated inspection data of scanning is stated, wherein the scanning to the object carried out by the verifying attachment is passing through State after one or more field devices perform the one or more of operations for physically influenceing the object, it is one or It is multiple to operate with first group of input parameter to perform；
One or more processors, it is configured to：
The defects of related to the object, is detected based on the inspection data；
The operation associated with least one action type of one or more of operations is generated in response to the defects detection Agreement, wherein the operating protocol includes be different from first group of input parameter with least one input parameter second group Input parameter；
Select the operating protocol be used for perform with least one similar subsequent operation in one or more of operations；With And
At least one input parameter generation based on operating protocol data related to performing the subsequent operation；And
Transmitter, it is configured to, and by the operation related data, to be transmitted into one or more fielded systems one to cause Or multiple fielded systems perform the subsequent operation, wherein the subsequent operation is performed based on the operation related data.
233. computer system according to claim 232, wherein the operating protocol is assisted by changing predefined operation Discuss to be generated including second group of input parameter.
234. computer system according to claim 233, wherein before the modification, first group of input parameter For one or more of based on the predefined operation agreement execution for being selected to perform one or more of operations Operation.
235. computer system according to any one of claim 232-234, wherein one or more of processors By the inspection data compared with predefined quality profile, and described in the defect wherein related to the object Detection is based on the comparison.
236. computer system according to any one of claim 232-235, wherein one or more of processors The inspection data or its analysis result are provided for being presented to user, and receive the instruction defect of the user User is inputted, and the detection of the defect wherein related to the object is indicated based on the defect.
237. computer system according to any one of claim 232-236, wherein the operating protocol is based on described Defects detection and first group of input parameter generate.
238. computer system according to any one of claim 232-237, wherein the operation related data includes The instruction related to the welding carried out between the first object and the second object, and wherein held based on the welding dependent instruction Row welding is operated to weld first object and second object.
239. computer system according to claim 238, wherein it is described welding dependent instruction include to it is following related Instruction：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, welding arc Power level, welding current, weldingvoltage, welding impedance, the welding of welding torch gait of march, the welding torch The angle that the weld tip of the tip along the position of the conduit axis, the welding torch rotates relative to plane is determined Distance of the weld tip of position or the welding torch to the inner surface of the pipeline to be welded.
240. computer system according to any one of claim 232-237, wherein the operation related data includes The instruction related to coating the object, and coating operation is wherein performed with by one or more based on the coating dependent instruction Individual coat is applied to the object.
241. computer system according to claim 240, wherein the coating dependent instruction includes and pre-heating temperature Or the instruction that coating layer thickness is related.
242. computer system according to any one of claim 232-237, wherein the operation related data includes Alignd related instruction to making the object, and alignment operation is wherein performed so that the thing based on the alignment dependent instruction Body aligns.
243. computer system according to any one of claim 232-237, wherein the operation related data includes The instruction related to changing the object, and change operation is wherein performed to change the thing based on the change related data Body.
244. computer system according to any one of claim 232-243, wherein the inspection data includes laser Device inspection data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
245. computer system according to any one of claim 232-243, wherein the inspection data includes laser Device inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test Data, eddy-current test data or temperature check data.
A kind of 246. on-the-spot test for promoting to carry out at system at the scene and the method for the physical operations based on it, it is described existing Field system includes：Verifying attachment, it is configured to scan the object；With one or more field devices, it is configured to hold Row physically influences one or more operations of object, and methods described includes：
The scanning to the object for being received from the fielded system by receiver and being carried out by the verifying attachment Associated inspection data, wherein the scanning to the object carried out by the verifying attachment is by one Or after multiple field devices perform the one or more of operations for physically influenceing the object, one or more of behaviour Work is performed using first group of input parameter；
Based on the inspection data, the defects of related to the object is detected by one or more processors；
Generated in response to the defects detection by one or more of processors with one or more of operations at least The associated operating protocol of one action type, wherein the operating protocol includes that there is at least one input parameter to be different from institute State second group of input parameter of first group of input parameter；
The operating protocol is selected to be used in execution and one or more of operations by one or more of processors At least one similar subsequent operation；
At least one input parameter based on the operating protocol, described in the generation of one or more of processors and performing The related data of subsequent operation；And
By transmitter, by the operation related data, to be transmitted into one or more fielded systems one or more of to cause Fielded system performs the subsequent operation, wherein the subsequent operation is performed based on the operation related data.
247. method according to claim 246, wherein generating the operating protocol includes modification predefined operation agreement With including second group of input parameter.
248. method according to claim 247, wherein before the modification, first group of input parameter is used for base One or more of operations are performed in the predefined operation agreement for being selected to perform one or more of operations.
249. method according to any one of claim 246-248, it also includes：
By one or more of processors by the inspection data compared with predefined quality profile,
The detection of the defect wherein related to the object is based on the comparison.
250. method according to any one of claim 246-249, it also includes：
The inspection data or its analysis result are provided for being presented to user by one or more of processors, and User's input of the instruction defect of the user is received,
The detection of the defect wherein related to the object is indicated based on the defect.
251. method according to any one of claim 246-250, wherein the operating protocol is examined based on the defect Survey with first group of input parameter to generate.
252. method according to any one of claim 246-251, wherein the operation related data include with the What is carried out between one object and the second object welds related instruction, and wherein performs welding based on the welding dependent instruction Operate to weld first object and second object.
253. method according to claim 252, wherein the welding dependent instruction includes and following related instruction：Line Feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, the power electricity of welding arc Flat, welding current, weldingvoltage, welding impedance, welding torch gait of march, the weld tip of the welding torch along The position of the conduit axis, the weld tip of the welding torch rotate relative to angle positioning or the institute of plane The weld tip of welding torch is stated to the distance of the inner surface of the pipeline to be welded.
254. method according to any one of claim 246-251, wherein the operation related data includes and coating The related instruction of the object, and coating operation is wherein performed so that one or more to be coated based on the coating dependent instruction Layer is applied to the object.
255. method according to claim 254, wherein the coating dependent instruction includes and pre-heating temperature or coating The related instruction of thickness.
256. method according to any one of claim 246-251, wherein the operation related data is included with making institute The related instruction of object alignment is stated, and alignment operation is wherein performed so that the object pair based on the alignment dependent instruction Together.
257. method according to any one of claim 246-251, wherein the operation related data includes and change The related instruction of the object, and change operation is wherein performed to change the object based on the change related data.
258. method according to any one of claim 246-257, wherein the inspection data is examined including laser Data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
259. method according to any one of claim 246-257, wherein the inspection data is examined including laser Data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, whirlpool Flow inspection data or temperature check data.
A kind of 260. on-the-spot test for promoting to carry out at system at the scene and the computer system of the physical operations based on it, The fielded system includes：Verifying attachment, it is configured to scan the object；With one or more field devices, its by with Put physically influences one or more operations of the object to perform, and the computer system includes：
Receiver, it is configured to receive the check number associated with the scanning to the object from the fielded system According to, wherein the scanning on the object is after performing and physically influenceing one or more of operations of the object, It is one or more of to operate with first group of input parameter to perform；
One or more processors, it is configured to：
The one or more aspects as caused by one or more of operations of the object are determined based on the inspection data Whether quality exceedes the quality standard indicated by predefined quality profile；
The generation operating protocol associated with least one action type of one or more of operations, wherein in response to described The quality of one or more of aspects of object exceedes the quality standard indicated by the predefined quality profile, The operating protocol is generated with one or more of input parameter including described group；
Select the operating protocol be used for perform with least one similar subsequent operation in one or more of operations；With And
At least one input parameter generation based on operating protocol data related to performing the subsequent operation；And
Transmitter, it is configured to, and by the operation related data, to be transmitted into one or more fielded systems one to cause Or multiple fielded systems perform the subsequent operation, wherein the subsequent operation is performed based on the operation related data.
261. computer system according to claim 260, wherein one or more of sides in response to the object The quality in face exceedes the quality standard indicated by the predefined quality profile, and one or more of processors are deposited Storage second predefines quality profile for analyzing the quality of the one or more aspects as caused by one or more subsequent operations, Wherein described second predefined quality profile is defined based on the inspection data.
262. computer system according to claim 260 or 261, wherein it is described operation related data include with first What is carried out between object and the second object welds related instruction, and wherein performs welding based on the welding dependent instruction and grasp Make to weld first object and second object.
263. computer system according to claim 262, wherein it is described welding dependent instruction include to it is following related Instruction：Line feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, welding arc Power level, welding current, weldingvoltage, welding impedance, the welding of welding torch gait of march, the welding torch The angle that the weld tip of the tip along the position of the conduit axis, the welding torch rotates relative to plane is determined Distance of the weld tip of position or the welding torch to the inner surface of the pipeline to be welded.
264. computer system according to claim 260 or 261, wherein the operation related data is included with coating institute State the related instruction of object, and coating operation is wherein performed with by one or more coats based on the coating dependent instruction It is applied to the object.
265. computer system according to claim 264, wherein the coating dependent instruction includes and pre-heating temperature Or the instruction that coating layer thickness is related.
266. computer system according to claim 260 or 261, wherein the operation related data include with make it is described The related instruction of object alignment, and alignment operation is wherein performed so that the object aligns based on the alignment dependent instruction.
267. computer system according to claim 260 or 261, wherein the operation related data is included with changing institute The related instruction of object is stated, and change operation is wherein performed to change the object based on the change related data.
268. computer system according to any one of claim 260-267, wherein the inspection data includes laser Device inspection data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
269. computer system according to any one of claim 260-267, wherein the inspection data includes laser Device inspection data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test Data, eddy-current test data or temperature check data.
A kind of 270. on-the-spot test for promoting to carry out at system at the scene and the method for the physical operations based on it, it is described existing Field system includes：Verifying attachment, it is configured to scan the object；With one or more field devices, it is configured to hold Row physically influences one or more operations of the object, and methods described includes：
The inspection data associated with the scanning to the object is received from the fielded system by receiver, wherein right The scanning of the object perform physically influence one or more of operations of the object after, it is one or It is multiple to operate with first group of input parameter to perform；
Based on the inspection data, being produced by one or more of operations for the object is determined by one or more processors Whether the quality of raw one or more aspects exceedes the quality standard indicated by predefined quality profile；
Generated by one or more of processors associated with least one action type of one or more of operations Operating protocol, wherein exceeding the predefined quality in response to the quality of one or more of aspects of the object The quality standard indicated by profile, the operating protocol are generated with one in the input parameter including described group or more It is individual；
The operating protocol is selected to be used in execution and one or more of operations by one or more of processors At least one similar subsequent operation；
At least one input parameter based on the operating protocol, described in the generation of one or more of processors and performing The related data of subsequent operation；And
The operation related data is transmitted into one or more fielded systems to cause by one or more of processors One or more of fielded systems perform the subsequent operation, wherein the subsequent operation be based on the operation related data come Perform.
271. method according to claim 270, it also includes：
Exceed in response to the quality of one or more of aspects of the object indicated by the predefined quality profile The quality standard, the second predefined quality profiles of one or more of processors storage are for analyzing by one or more The quality of one or more aspects caused by individual subsequent operation, wherein the described second predefined quality profile is based on the check number According to defining.
272. method according to claim 270 or 271, wherein it is described operation related data include with the first object with The instruction of the welding correlation carried out between second object, and welding is wherein performed based on the welding dependent instruction and operated to weld Connect first object and second object.
273. method according to claim 272, wherein the welding dependent instruction includes and following related instruction：Line Feed rate, line consumption, swing width, trochoidal wave form, amplitude of fluctuation, weld interval, flow rate of gas, the power electricity of welding arc Flat, welding current, weldingvoltage, welding impedance, welding torch gait of march, the weld tip of the welding torch along The position of the conduit axis, the weld tip of the welding torch rotate relative to angle positioning or the institute of plane The weld tip of welding torch is stated to the distance of the inner surface of the pipeline to be welded.
274. method according to claim 270 or 271, wherein the operation related data is included with coating the object Related instruction, and coating operation is wherein performed so that one or more coats to be applied to based on the coating dependent instruction The object.
275. method according to claim 274, wherein the coating dependent instruction includes and pre-heating temperature or coating The related instruction of thickness.
276. method according to claim 270 or 271, wherein the operation related data is included with making the object pair Neat related instruction, and alignment operation is wherein performed so that the object aligns based on the alignment dependent instruction.
277. method according to claim 270 or 271, wherein the operation related data is included with changing the object Related instruction, and change operation is wherein performed to change the object based on the change related data.
278. method according to any one of claim 270-277, wherein the inspection data is examined including laser Data, video camera inspection data, x-ray inspection data or ultrasonic examination data.
279. method according to any one of claim 270-277, wherein the inspection data is examined including laser Data, video camera inspection data, x-ray inspection data, gamma-ray examination data, ultrasonic examination data, magnetic powder test data, whirlpool Flow inspection data or temperature check data.
A kind of 280. computer systems for being used to promote on-the-spot test and the physical operations based on it, it includes：
One or more processors, it is configured to：
The number related to from the one or more operations performed in multiple objects is obtained from one or more fielded systems According to wherein the multiple object includes：(i) determine with one the defects of generation by one or more of observed operations Individual or multiple objects；The one or more objects of (ii) without the defect；
Based on the observation related data, by it is determined that the operation performed on the object with the defect first group of observation with Other one or more groups of observations of the operation performed on other one or more objects of no defect are compared Compared with；
Based on the comparison, it is common poor with other one or more groups of observations possessed by first group of observation to determine It is different；And
Based on the common difference, operation triggering is caused to be implemented so that when the situation corresponding to the common difference is in physics When ground influences to occur during the subsequent operation of one or more other objects, fielded system is caused to perform and the operation The associated operation of triggering.
281. computer system according to claim 280, wherein one or more of processors are configured to：
The comparison based on first group of observation Yu other one or more groups of observations, determines first group of observation institute It is having with other one or more groups of observations first group of common difference；
Based on the observation related data, by it is determined that the operation performed on the second object with the defect second Other group described in group observation and the operation performed on other one or more of objects of no defect Or multigroup observation is compared；
The comparison based on second group of observation Yu other one or more groups of observations, determines second group of observation institute It is having with other one or more groups of observations second group of common difference；And
One or more similitudes between first group of common difference and second group of common difference are determined,
One or more of similitudes are wherein based on, cause the operation triggering to be implemented, one or more of similitudes Including the common difference.
282. computer system according to claim 280 or 281, wherein one or more of processors are configured Come：
Monitor the one or more subsequent operations performed on other object；And
Detected during one based on the operation triggering and in one or more of subsequent operations corresponding to institute State the monitoring of the situation of common difference, cause with the associated operation of the operation triggering on it is described in addition Object is performed.
283. computer system according to claim 282, wherein the operation bag associated with the operation triggering Include one or more input parameters that one subsequent operation is changed during one subsequent operation.
284. computer system according to claim 283, wherein the one or more of input parameter bags changed Include one or more welding parameters, coating parameters, alignment parameters or change parameter.
285. computer system according to claim 282, wherein the operation bag associated with the operation triggering Include at least another the one or more input parameters changed in one or more of subsequent operations.
286. computer system according to claim 282, wherein the operation bag associated with the operation triggering Include and stop one subsequent operation.
287. computer system according to claim 282, wherein the operation bag associated with the operation triggering Include the warning that the generation during one subsequent operation indicates the situation.
288. computer system according to any one of claim 280-287, wherein one or more of processors It is configured to：
The one or more of operations performed on the multiple object are monitored,
Wherein described observation related data is obtained based on the monitoring of one or more of operations.
289. computer system according to claim 288, wherein one or more of processors pass through one or more One or more of operations that individual verifying attachment monitoring performs on the multiple object, the verifying attachment, which includes examining, to swash Light device, examine video camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, Eddy-current test device or temperature monitoring.
290. computer system according to any one of claim 280-289, wherein the observation related data includes： (i) data related to the observation of one or more field devices during one or more of operations are performed；Or (ii) data related to the observation of one or more of objects during one or more of operations are performed.
A kind of 291. methods for promoting on-the-spot test and the physical operations based on it, it includes：
One or more for being obtained from one or more fielded systems by one or more processors and being performed in multiple objects The data of the observation correlation of individual operation, wherein the multiple object includes：(i) determine to have by one or more of observed Operation produce the defects of one or more objects；The one or more objects of (ii) without the defect；
Based on the observation related data, by one or more of processors by it is determined that on the object with the defect First group of observation of the operation of execution and the operation that is performed on other one or more objects of no defect Other one or more groups of observations are compared；
Based on the comparison, by one or more of processors determine possessed by first group of observation with it is described other The common difference of one or more groups of observations；And
Based on the common difference, cause to operate triggering by one or more of processors and be implemented so that when corresponding to The situation of the common difference causes when occurring during physically influenceing the subsequent operation of one or more other objects Fielded system is set to perform the operation associated with the operation triggering.
292. method according to claim 291, it also includes：
The comparison based on first group of observation Yu other one or more groups of observations, passes through one or more of places Reason device determines first group of common difference possessed by first group of observation with other one or more groups of observations；
Based on the observation related data, by one or more of processors by it is determined that the second thing with the defect Second group of observation of the operation performed on body on other one or more of objects of no defect with performing The operation it is described other it is one or more groups of observation be compared；
The comparison based on second group of observation Yu other one or more groups of observations, passes through one or more of places Reason device determines second group of common difference possessed by second group of observation with other one or more groups of observations；And
Determined by one or more of processors between first group of common difference and second group of common difference One or more similitudes,
One or more of similitudes are wherein based on, cause the operation triggering to be implemented, one or more of similitudes Including the common difference.
293. method according to claim 291 or 292, it also includes：
The one or more subsequent operations performed by the monitoring of one or more of processors on other object；And
Detected during one based on the operation triggering and in one or more of subsequent operations corresponding to institute The monitoring of the situation of common difference is stated, is caused by one or more of processors related to the operation triggering The operation of connection is performed on the object in addition.
294. method according to claim 293, wherein the operation associated with the operation triggering is included in institute One or more input parameters of one subsequent operation are changed during stating a subsequent operation.
295. method according to claim 294, wherein the one or more of input parameters changed include one Or multiple welding parameters, coating parameters, alignment parameters or change parameter.
296. method according to claim 293, wherein the operation associated with the operation triggering includes modification At least another one or more input parameters in one or more of subsequent operations.
297. method according to claim 293, wherein the operation associated with the operation triggering includes stopping One subsequent operation.
298. method according to claim 293, wherein the operation associated with the operation triggering is included in institute The warning for indicating the situation is generated during stating a subsequent operation.
299. method according to any one of claim 291-298, it also includes
The one or more of operations performed by the monitoring of one or more of processors on the multiple object,
Wherein described observation related data is obtained based on the monitoring of one or more of operations.
300. method according to claim 299, wherein one or more of processors are examined by one or more One or more of operations that device monitoring performs on the multiple object, the verifying attachment include examine laser, Examine video camera, x-ray photography verifying attachment, gamma-ray examination device, ultrasonic inspection devices, magnetic powder test device, vortex Verifying attachment or temperature monitoring.
301. method according to any one of claim 291-300, wherein the observation related data includes：(i) with The related data of the observation of one or more field devices during one or more of operations are performed；Or (ii) with Perform the related data of the observation of one or more of objects during one or more of operations.
A kind of 302. welded pipe line assemblies, it includes：
First metallic conduit, its external diameter with least 30 ' length and less than 24 "；
Second metallic conduit, its external diameter with least 30 ' length and less than 24 "；
Welding material, first pipeline is connected by it with the second pipe, and the welding material includes multiple weld passes Layer, the multiple weld pass layer include root channel layer and the passage of heat layer being arranged on the top of the root channel layer,
Wherein described passage of heat layer is positioned to than the root channel layer closer to the first pipeline and second pipe welded Inside longitudinal axis.
The 303. welded pipe line assembly according to claim 302, wherein the passage of heat layer of the welding material At least a portion is arranged to the interior surface than the welded pipe line closer to the longitudinal axis, described at least one Point on the opposite side in the welding material of the welded pipe line with the welding material close to region in.
The 304. welded pipe line assembly according to claim 302 or 303, wherein the first end weldering of first pipeline The second end of the second pipe is connected to, the first end of first pipeline has inner chamfer and outer ramp, The second end of the second pipe has inner chamfer and outer ramp, wherein the root channel layer be arranged on it is described In inner chamfer, and wherein described passage of heat layer is arranged on the top of the root channel layer.
The 305. welded pipe line assembly according to any one of claim 302-304, it also leads to including other welding Channel layer, the other weld pass layer is arranged on the top of the passage of heat layer, and is positioned to than the passage of heat layer Closer to the internal longitudinal axis of the first pipeline and second pipe welded.
A kind of 306. welded pipe line assemblies, it includes：
First metallic conduit, its external diameter with least 30 ' length and less than 24 "；
Second metallic conduit, its external diameter with least 30 ' length and less than 24 "；
Solder joint, it connects first metallic conduit and second metallic conduit, and the solder joint includes being formed The first inner chamfer in first metallic conduit and the second inner chamfer formed in second metallic conduit and The root channel layer for the welding material being arranged in the region limited by first inner chamfer and second inner chamfer.
The 307. welded pipe line assembly according to claim 306, it also includes the top for being arranged on the root channel layer Passage of heat layer in portion, wherein the passage of heat layer is positioned to than the root channel layer closer to the first pipeline welded With the internal longitudinal axis of second pipe.
A kind of 308. fielded systems for being used to weld two pipelines, it includes：
First pipeline engaging structure, it is configured to the interior surface for engaging the first pipeline, so that first pipeline is nibbled Closing structure can fix relative to first pipeline；
Second pipe engaging structure, it is configured to the interior surface for engaging second pipe, so that the second pipe is nibbled Closing structure can fix relative to the second pipe；
One or more welding torch, it is configured to be positioned in the pipeline with the junction surface region between the pipeline Place produces interior welds；
Motor, it is operatively associated with one or more of welding torch, so that one or more of welding welderings Torch rotates along the junction surface region between the pipeline；And
One or more processors, it controls the motor and one or more of welding torch, one or more of Processor operates the motor and one or more of welding torch with by making one or more of welding torch edges The junction surface region and rotate on single direction of rotation to come along the junction surface until completing complete circumferential weld part Complete circumferential weld part described in Area generation.
309. fielded system according to claim 308, wherein one or more of welding torch include multiple welding Welding torch, and at least one in wherein the multiple welding torch is welded on direction is rotated up, and meanwhile it is described more In individual welding torch at least another welded on direction is rotated down.
310. fielded system according to claim 308 or 309, it also includes examining detector, and wherein described electricity Motivation drives the inspection detector.
The inspection system in the junction surface region between a kind of 311. two pipelines welded for the pending end of Pre-testing to end System, the system include：
Framework, it is configured to be placed in the pipeline；
Multiple rollers, it is configured to be pivotably supported the framework；
Drive motor, it drives the roller so that the framework moves in the pipeline；
Brakes, its desired locations that framework is fixed in the pipeline do not move；
Sensor, it can be moved together with the framework, and the sensor detects the junction surface region between the pipeline；
Detector is examined, it is configured to based upon the profile generation signal in the junction surface region between the pipeline；
Motor, it makes the inspection detector rotatably be moved along the junction surface region；And
One or more processors, itself and the drive motor, the sensor, the inspection detector and the motor Operatively it is associated,
One or more of processors operate the drive motor so that the framework is moved through in the pipeline extremely It is few one, untill the sensor detects the junction surface region,
One or more of processors operate the brakes, the appropriate position framework being fixed in the pipeline The place of putting does not move, and in the opening position, examines detector relative to the junction surface zone location so that the inspection by described Detector can detect the profile in the junction surface region between the pipeline；
One or more of processor operations are described to examine detector and the motor to scan the institute between the pipeline State junction surface region, and in response to detecting one or more undesirable characteristics in the junction surface region, described one Individual or multiple processors are based on its transmission instruction.
312. checking system according to claim 311, wherein the brakes radially extends fixture, institute including multiple State multiple fixtures that radially extend and engage the interior surface of the pipeline so that framework fixation is not moved.
313. checking system according to claim 311, wherein the brakes includes wheel lock, the wheel lock prevents institute One or more of roller is stated to rotate so that framework fixation is not moved.
314. checking system according to any one of claim 311-313, wherein the sensor includes uniform enconding Device, the linear encoder are configured to operatively associated with the roller.
315. checking system according to any one of claim 311-314, wherein the inspection detector is described in Junction surface field emission radiation, it is described to examine detector to include being used to receive what is reflected from the surface in the junction surface region Radiate and the receiver of electronic signal is generated based on it, one or more of processors receive the signal with described in determining Whether undesirable characteristic should correct.
316. checking system according to claim 315, wherein the inspection detector is included towards the junction surface area Multiple inspection detectors of domain transmitting radiation, it is described to examine detector to include being used to receive the table from the junction surface region Face reflection radiates and generates the receiver of signal based on it.
317. checking system according to any one of claim 311-316, wherein complete 360 degree of the detector of inspection Scan the junction surface region between the pipeline.
318. checking system according to any one of claim 311-318, wherein one or more of processors will The instruction is sent to the motor for controlling the radial rotary position of one in the pipeline, to cause the motor to make institute One another rotation relative in the pipeline in pipeline is stated to correct undesirable characteristic.
319. checking system according to claim 318, wherein the motor is arranged to make to radially extend fixture It is mobile.
The method in the junction surface region between a kind of 320. two pipelines welded for the pending end of Pre-testing to end, institute The method of stating includes：
Make at least one interior movement of the framework in the pipeline to be welded；
Detect the junction surface region between the pipeline；
The framework is fixed at the junction surface region between the pipeline and do not moved；
Detect the profile in the junction surface region between the pipeline；And
One or more undesirable characteristics in response to detecting the junction surface region between the pipeline, based on it Generation instruction.
321. method according to claim 320, it is also included based on relative between the instruction adjustment pipeline Positioning.
322. method according to claim 320 or 321, wherein the fixed packet is included using fixture the framework to be pressed from both sides Tightly in the pipeline.
323. method according to claim 322, wherein the fixture is described relatively fixed between the pipeline is adjusted It is released before position.
324. method according to any one of claim 320-323, wherein the pipeline is engaged to adjust in outside The relative positioning.
The scene system in the junction surface region between a kind of 325. two pipelines welded for the pending end of Pre-testing to end System, the system include：
Framework, it is configured to be placed in the pipeline；
Multiple rollers, it is configured to be pivotably supported the framework；
Drive motor, it drives the roller so that the framework moves in the pipeline；
Brakes, its desired locations that framework is fixed in the pipeline do not move；
Detector is examined, it is configured to based upon the profile generation signal in the junction surface region between the pipeline；
One or more orientation motor, it makes the inspection detector rotatably be moved along the junction surface region；And
One or more processors, itself and the drive motor, the inspection detector and the motor operation ground phase Association,
One or more of processors operate the brakes, the appropriate position framework being fixed in pipeline Do not move, in the opening position, detector is examined relative to the junction surface zone location so that described examine is detected by described Device can detect the profile in the junction surface region between the pipeline；
One or more of processor operations are described to examine detector and the motor to scan the institute between the pipeline Junction surface region is stated to generate welding front profile data, and in response to detecting weld front profile data one or more Individual undesirable characteristic, one or more of processors are based on its transmission instruction.
326. fielded system according to claim 325, wherein one or more of processors detect with described examine Device interaction is to scan the whole junction surface region between the pipeline, to apply welding material with by described two pipes Road generates the welding front profile data before welding together.
327. fielded system according to claim 325 or 326, wherein the brakes includes the first fixture and second Fixture, wherein one or more of processors are interacted with first fixture and second folder with the inspection detector Tool engage with first pipeline and the second pipe respectively scans the junction surface region come before obtaining the welding afterwards Outline data.
328. fielded system according to any one of claim 325-327, wherein first pipeline and/or described The outer surface of two pipelines is movably engaged by outer rotatable component, to be advantageous to be based on from one or more of The instruction of processor adjusts the relative positioning of the pipeline.
329. fielded system according to claim 327, wherein the inside of first pipeline and/or the second pipe Surface is engaged and regulated and controled by first fixture and second fixture respectively, with based on from one or more of processors The instruction adjust the relative positioning of the pipeline.
330. fielded system according to any one of claim 325-329, wherein one or more of processors with Connect so that first fixture rotates relative to second fixture to one or more of orientation motor operations, with Just first pipeline is made to be rotated relative to the second pipe based on the instruction from one or more of processors.
331. fielded system according to any one of claim 325-330, its also include be used for carry and move described in The support of first pipeline and the second pipe, wherein the support is operatively connectable to one or more of processors, And wherein one or more of processors are based on support described in the welding front profile data manipulation to realize described first Relative movement between pipeline and the second pipe, to be based on coming from one or more of places before the welding operation Manage the junction surface region that the instruction of device is changed between the pipeline.
332. fielded system according to any one of claim 325-331, it also includes welding torch, the welding weldering Torch is operatively connected with one or more of processors, and is configured in response to one or more of Processor detect no undesirable characteristic exist and perform welding operation with by the pipeline welding together.
333. fielded system according to any one of claim 325-332, it is also described including being operatively connectable to The sensor of one or more processors, the junction surface area of the sensor between the framework is positioned at the pipeline Detected when at domain.
334. fielded system according to claim 333, wherein the sensor includes rotary switch and/or uniform enconding Device.
335. fielded system according to claim 333, wherein the sensor includes the inspection detector.
336. fielded system according to claim 335, wherein the inspection detector includes laser.
337. fielded system according to claim 333, wherein the sensor includes video camera.
338. fielded system according to any one of claim 325-337, wherein the inspection detector is described in Junction surface field emission radiation, it is described to examine detector to include being used to receive what is reflected from the surface in the junction surface region Radiate and the receiver of electronic signal is generated based on it, one or more of processors receive the signal with described in determining Whether undesirable characteristic should correct.
339. fielded system according to any one of preceding claims 325-338, wherein the inspection detector is complete The junction surface region between pipeline described in 360 degree of scannings.
A kind of 340. tube-cooled systems, it includes：
Framework, it is configured to be placed in welded pipe line；
Multiple rollers, it is configured to be pivotably supported the framework；
Drive motor, it drives the roller so that the framework moves in the pipeline；
Brakes, its desired locations that framework is fixed in the pipeline do not move；
Cooler, it is carried by the framework, and the cooler is applied to the interior surface of the metallic conduit by energy is cooled down To promote the cooling of the welding metal pipeline；And
One or more processors, it is operatively connected with the drive motor, the brakes and the cooler, One or more of processors operate the cooler so that the temperature of the welded pipe line is decreased into predeterminated level.
The 341. tube-cooled system according to claim 340, it also includes the one or more carried by the framework Battery unit, one or more of battery sources are configured to as the drive motor and brakes power supply.
The 342. tube-cooled system according to any one of claim 340-341, wherein the brakes includes one Individual or multiple fixtures, one or more of fixtures clamp circumferentially spaced position in the interior surface of the welded pipe line Put.
The 343. tube-cooled system according to any one of claim 340-342, wherein the brakes includes preventing The only wheel lock of the roller rotation.
The 344. tube-cooled system according to any one of claim 340-343, wherein the cooler is included in it The middle heat exchanger for carrying cooling fluid, the heat exchanger, which has, contacts the interior surface of the pipeline to promote the welding The pipe contact surface of the cooling of pipeline.
The 345. tube-cooled system according to claim 344, it also includes heat exchanger motor, the heat exchanger Motor is configured to be moved radially outward the heat exchanger so that described in being positioned in the framework in the pipeline After desired locations, the pipe contact surface engages the interior surface of the welded pipe line.
The 346. tube-cooled system according to any one of claim 340-343, wherein the cooler includes air blast Machine, the air blower by the interior surface of blow air to the pipeline to promote the cooling of the welded pipe line.
The 347. tube-cooled system according to any one of claim 340-343, wherein the cooler sprays including water Water is blown into the interior surface of the pipeline to promote the cooling of the welded pipe line by mouth, the (operating) water nozzle.
The 348. tube-cooled system according to any one of claim 340-347, it also includes being carried by the framework One or more battery unit, one or more of battery sources be configured to for the cooler power.
The 349. tube-cooled system according to any one of claim 340-348, wherein one or more of processing Device is connected to the brakes, the drive motor or described cold by one or more wired or wireless connection communications But device.
The 350. tube-cooled system according to any one of claim 340-349, wherein one or more of processing Device is connected to brakes, the drive motor or the cooler by one or more wireless communications, and Wherein one or more of wireless connections include Wi-Fi connection, bluetooth connection, near-field communication (NFC) connection or honeycomb and connected Connect.
The 351. tube-cooled system according to any one of claim 340-350, it also includes sensing the pipeline The temperature sensor of temperature, the temperature sensor operatively communicate with one or more of processors, it is one or Multiple processors are based on the transmission operational order from the signal that the temperature sensor receives to the cooler.
The 352. tube-cooled system according to claim 351, wherein the operation of one or more of processors is described cold But device, untill the sensor and the processor determine that the temperature of the pipeline is less than threshold temperature.
The 353. tube-cooled system according to any one of claim 340-352, wherein one or more of processing Device is communicably connected to remote computer system, and is configured to tube-cooled data being transmitted into the remote computer system System.
The 354. tube-cooled system according to claim 353, wherein launched by one or more of processors The cooling data include cool time calibration curve information, and the cool time calibration curve information includes pipe temperature changing with the time Become.
The 355. tube-cooled system according to claim 353 or 354, come from wherein the remote computer system includes The cooling data of other welding systems and expeced time is calculated, until the temperature of the welded pipe line is less than threshold value Only.
The 356. tube-cooled system according to claim 355, wherein be sent to the expeced time it is one or Multiple processors.
The 357. tube-cooled system according to claim 356, it also includes user interface, and it is wherein described expected when Between and/or the pipe temperature be sent to the user interface by one or more of processors.
The 358. tube-cooled system according to claim 355, wherein being based at least partially on the expeced time described The size of welded pipe line calculates.
The 359. tube-cooled system according to any one of claim 340-357, wherein one or more of processing Device is configured to calculate expeced time, untill the temperature of the welded pipe line is less than threshold temperature, wherein the meter Calculate the size for being based at least partially on the welded pipe line.
The 360. tube-cooled system according to claim 359, wherein cooling of the calculating also based on the cooler Energy exports.
The 361. tube-cooled system according to claim 360, wherein the cooling energy output is based on from described long-range The information that computer system receives.
The 362. tube-cooled system according to claim 360, wherein the cooling energy output is predetermined.
The 363. tube-cooled system according to any one of claim 340-362, wherein one or more of processing Device is communicably connected to remote computer system, and is configured to launch cooling agent consumption data.
A kind of 364. systems for being used to two sections of pipeline are alignd and welded together：
Welding mechanism, it is used to apply welding to the face seam of described two sections, and the welding mechanism includes carrying out joint fortune Dynamic welding torch, the profile for reading the face seam laser sensor and for from the laser sensor receive believe Information signal is to control the electronic controller of the position of the welding torch and/or the orientation；
Registration mechanism, its at least one described longitudinal axis being used to regulate and control in the section take relative to described in another To；And
Wherein described welding mechanism also includes：Bracket, it is used to fix the position of the welding mechanism in the pipeline；With Welding portion, it can be relative to the support section in the pipeline internal rotation；And
Wherein described welding torch and the laser sensor are pivotably supported by the welding portion so that during welding The welding torch follows the laser sensor along the face seam.
The method that a kind of 365. two sections by pipeline align and welded together, it comprises the following steps：
First pipeline section is placed in alignment means；
Interior welds machine with laser and welding torch is inserted into first pipeline section；
Second pipeline section is generally alignd with first pipeline section and the interior welds machine；
The outside of first pipeline section and second pipeline section is clamped to adjust the axial location of the interior welds machine, so as to With the face seam of first pipeline section and second pipeline section in general alignment with；
Based on the signal from the internal welding machine, first pipeline section and second pipeline section are adjusted by the alignment means Alignment relative；
Start the root weld cycle, in the root weld cycle, face seam described in the laser scans, the welding torch with With the laser, and institute's rheme of the welding torch using the output control progress joint motions from the laser Put, wherein controlling the welding torch relative to the position and the orientation of the face seam to produce quality welding；
Face joint profile is determined from the laser；
Discharge the alignment means and remove interior welds machine from opening tube section ends；And
Next order pipeline section is repositioned to prepare to weld next seam in the outside registration mechanism.
A kind of 366. inner heat exchangers (IHEX) for pipeline welding, the inner heat exchanger include：
Drive system, its be configured to by the IHEX be moved at least one pipe section with another pipe section In the position near solder joint position divided；
Cooling segment, it includes being configured to the internal table of one or more for optionally cooling down at least one pipe section The cooling structure of face part；And
Controller, it communicates with the cooling structure, and is configured to when the IHEX is at least one pipe section The cooling segment is activated during the interior position.
A kind of 367. welding systems, it includes：
Multiple welding benches, each welding bench include welding bench computer and the welding system to be communicated with the welding bench computer, Each welding bench includes one or more sensors, and one or more of sensors, which are configured to measurement, includes wire speed number According to welding data；
Multiple wireless devices, it communicates to receive including measured lead one or more of with the welding bench computer The welding data of speed data；And
Cloud Server, itself and the wireless device, the Cloud Server are configured to handle including the wire speed number According to the welding data, and be configured to determine in preset time section welding can be consumed used in the multiple welding bench The amount of material, wherein the Cloud Server is configured to the used amount for consuming welding material being sent to the nothing One or more of line apparatus.
A kind of 368. welding systems, it includes：
Welding bench, the welding bench include welding bench computer and the welding system to be communicated with the welding bench computer,
The welding system includes welding material supply, welder and the welding material is moved into the welder device Weld supply motor assembly；
Weighing device, it is connected with the welding bench computer operation, and is configured to measure the welding material confession The weight answered and the weight for supplying the welding material are sent to the welding bench in the form of weight data and calculated Machine；And
Sensor, it is connected with the welding supply motor assembly and the welding bench computer operation, to incite somebody to action The speed of the welding supply motor assembly is sent to the welding bench computer in the form of speed data；
The welding supply motor assembly is connected to wherein described welding bench computer operation, and is configured to base The speed of the motor unit piece installing is controlled in the weight data.
A kind of 369. methods for controlling welding, it includes：
At the very first time, the first weight of Weight-measuring device measurement welding material supply is used；
At the second time after the very first time, measure what the welding material was supplied using the Weight-measuring device Second weight；
The difference of weight measured between first weight and second weight, measured weight are calculated using computer The difference correspond to the measured welding material used；
The speed of the welding material is fed to welder based on motor unit piece installing, calculates what is used using the computer The theoretical weight of welding material；
By the computer by the theoretical weight of the welding material used and the measured weight of welding material used Amount is compared；And
The speed of the motor unit piece installing is adjusted by the computer to correct the cunning of the motor unit piece installing Move.
A kind of 370. welding systems, it includes：
Multiple welding benches, each welding bench include welding bench computer and the welding system to be communicated with the welding bench computer, Each welding bench includes one or more sensors, and one or more of sensors, which are configured to measurement, includes wire speed number According to welding data；
Multiple wireless devices, it communicates to receive including measured lead one or more of with the welding bench computer The welding data of speed data；And
The welding system processing that each welding bench computer is configured to communicate with includes the wire speed data The welding data, the welding bench computer is configured to determine in preset time section can used in the welding system Consume the amount of welding material and consumption data is generated based on it.
A kind of 371. systems for test pipeline, it includes：
Test device, the test device are suitable at least one of non-invasive test data of the generation about weld part；
The non-invasive test data is sent to the second dress suitable for receiving the non-invasive test data by the test device Put；And
The test device is suitable to be operated away from the device for analyzing the non-invasive test data.
A kind of 372. systems for non-invasive test pipeline, it includes：
Imaging device, it is suitable to the non-invasive test data of a part of the generation about welded pipe line；
Remote processing device, it is suitable to receive and handle the inspection data of the part about the welded pipe line.
373. a kind of method of non-invasive test pipeline, it comprises the following steps：
Imaging device is provided；
Generate non-invasive test data；
It is provided for device of the non-invasive test data for analysis；And
The non-invasive test data is provided for away from the part of detecting of pipeline and the test of adjacent conduit The opening position of the partial equipment is analyzed.
A kind of 374. systems for pipeline construction, it includes：
System for recording welding data in real time；And
The welding data is provided for being analyzed by the device of computerization and/or by subject matter expert.
A kind of 375. computer program products for being used to weld support, it includes：
Computer-readable program code means, it provides welding data to computer storage；
Computer-readable program code means, it provides the data from the data group including pipeline data to the memory；
Computer-readable program code means, it handles the welding data and the pipeline data to provide record output.
A kind of 376. methods of the data management performed on computers, it comprises the following steps：
The first data from first device are sent to second device, first data are the data of relevant pipeline construction；
First data are handled by the network equipment based on cloud.
A kind of 377. computer systems, it includes：
First device, it has the processor of processing pipeline construction data, and the first device passes pipeline construction data The memory based on cloud is sent to,
The pipeline constructs data by being handled based on the processor of cloud.
A kind of 378. methods for welding two pipelines, it includes：
The first pipeline is internally clamped using the first fixture；
Internally clamp second pipe using the second fixture, clamp first pipeline and the second pipe so that they with The neighbouring relations of end to end are set, and wherein junction surface region is in-between；
The junction surface region is scanned from the position in the pipeline and between the fixture, with from the junction surface area Domain obtains outline data；
Described two pipelines are welded with end to end relation based on the outline data；And
The welded pipe line is internally examined from the position in the pipeline and between the fixture.
379. method according to claim 378, wherein described in the pipeline and between the fixture The welded pipe line is internally examined to be performed in the case where not discharging the fixture in position.
380. method according to claim 378 or 379, wherein the welding is by being positioned at the pipeline external at least One welding torch is implemented.
381. method according to claim 378 or 379, wherein the welding is by being positioned inside the pipeline at least One welding torch is implemented.
382. method according to any one of preceding claims 378-381, wherein the inspection is by video camera or laser Device is implemented.
383. method according to any one of preceding claims 378-381, wherein the scanning is implemented by laser.
CN201580080511.1A 2015-03-26 2015-11-24 System and method for the pipeline section of welded pipeline Pending CN107614193A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011391383.1A CN112589320A (en) 2015-03-26 2015-11-24 Spin welding system
CN202110266287.2A CN113001070A (en) 2015-03-26 2015-11-24 Pipeline cooling system

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
PCT/US2015/022665 WO2015148765A1 (en) 2014-03-28 2015-03-26 Internal pipeline cooler
USPCT/US2015/022665 2015-03-26
US201562175201P 2015-06-12 2015-06-12
US62/175,201 2015-06-12
US201562189716P 2015-07-07 2015-07-07
US62/189,716 2015-07-07
USPCT/US2015/047603 2015-08-28
PCT/US2015/047603 WO2016033568A1 (en) 2014-08-29 2015-08-28 Method and system for welding
PCT/US2015/062558 WO2016153562A1 (en) 2015-03-26 2015-11-24 Systems and methods for use in welding pipe segments of a pipeline

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202110266287.2A Division CN113001070A (en) 2015-03-26 2015-11-24 Pipeline cooling system
CN202011391383.1A Division CN112589320A (en) 2015-03-26 2015-11-24 Spin welding system

Publications (1)

Publication Number Publication Date
CN107614193A true CN107614193A (en) 2018-01-19

Family

ID=56978897

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201580080511.1A Pending CN107614193A (en) 2015-03-26 2015-11-24 System and method for the pipeline section of welded pipeline
CN202011391383.1A Pending CN112589320A (en) 2015-03-26 2015-11-24 Spin welding system
CN202110266287.2A Pending CN113001070A (en) 2015-03-26 2015-11-24 Pipeline cooling system

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202011391383.1A Pending CN112589320A (en) 2015-03-26 2015-11-24 Spin welding system
CN202110266287.2A Pending CN113001070A (en) 2015-03-26 2015-11-24 Pipeline cooling system

Country Status (10)

Country Link
EP (1) EP3274125A4 (en)
CN (3) CN107614193A (en)
AU (2) AU2015387441B2 (en)
BR (1) BR112017020431B1 (en)
CA (1) CA2980559A1 (en)
MX (1) MX2017012366A (en)
MY (1) MY191994A (en)
RU (1) RU2708721C2 (en)
WO (1) WO2016153562A1 (en)
ZA (1) ZA201706249B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109108515A (en) * 2018-10-30 2019-01-01 广船国际有限公司 A kind of installation method of steamer oil pipe
CN109238840A (en) * 2018-10-29 2019-01-18 哈尔滨工业大学 The test device and test method of plate forming property under a kind of ultralow temperature
CN110282550A (en) * 2019-07-01 2019-09-27 上海海事大学 A kind of bridge crane pivot angle and rope length detection device based on optical diffraction
CN110763818A (en) * 2019-11-20 2020-02-07 苏州热工研究院有限公司 Method for testing space spiral bent pipe for heat exchanger
CN111351750A (en) * 2020-04-14 2020-06-30 国网安徽省电力有限公司铜陵市义安区供电公司 Appearance detection device for high-voltage transmission cable
CN112329336A (en) * 2020-10-22 2021-02-05 同济大学 Method for planning charging-cooling process of battery pack of electric vehicle
CN112987616A (en) * 2021-03-15 2021-06-18 沈阳智谷科技有限公司 Ultrahigh-speed electronic package acquisition system and method based on magnetic variable signals
CN113329841A (en) * 2018-12-21 2021-08-31 Etxe-Tar有限公司 Method and system for supervising scanning of an energy beam
CN117381336A (en) * 2023-11-29 2024-01-12 广州市银三环机械有限公司 Process and system for motor seat and down tube integrated structure by oil/water injection molding
CN117470302A (en) * 2023-10-30 2024-01-30 本溪市特种设备监督检验所 Pressure pipeline parameter inspection management system based on computer
CN117840590A (en) * 2024-03-07 2024-04-09 成都天成电科科技有限公司 Method for protecting inner cavity chip during laser re-welding and laser re-welding system

Families Citing this family (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11767934B2 (en) 2013-05-23 2023-09-26 Crc-Evans Pipeline International, Inc. Internally welded pipes
US10589371B2 (en) 2013-05-23 2020-03-17 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
US10040141B2 (en) 2013-05-23 2018-08-07 Crc-Evans Pipeline International, Inc. Laser controlled internal welding machine for a pipeline
US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
US9821415B2 (en) 2014-03-28 2017-11-21 Crc-Evans Pipeline International, Inc. Internal pipeline cooler
US10480862B2 (en) 2013-05-23 2019-11-19 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10828715B2 (en) 2014-08-29 2020-11-10 Crc-Evans Pipeline International, Inc. System for welding
US10557833B2 (en) 2015-12-31 2020-02-11 VeriPhase, Inc. Method for prioritizing data processing of a plurality of ultrasonic scan data files
US11458571B2 (en) * 2016-07-01 2022-10-04 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10371679B2 (en) * 2016-11-08 2019-08-06 Michael Hacikyan Wireless oxygen monitor
DE102017105821A1 (en) * 2017-03-17 2018-09-20 Faurecia Emissions Control Technologies, Germany Gmbh Joining device and method for manufacturing an exhaust system
CN107214125B (en) * 2017-06-12 2023-03-10 河南理工大学 Automatic flushing deep well pipeline conveying pressure relief box system
MX2018002790A (en) * 2017-06-23 2019-04-04 Crc evans pipeline int inc Systems and methods for use in welding pipe segments of a pipeline.
EP4371697A2 (en) 2018-07-11 2024-05-22 Keystone Tower Systems, Inc. Flange fitting for tubular structures
FR3086568B1 (en) * 2018-10-02 2022-07-22 Serimax Holdings INTERNAL CLAMPING AND WELDING DEVICE
EP3650157B1 (en) * 2018-11-09 2023-05-31 Illinois Tool Works, Inc. Orbital welding device with simplified handling
WO2020204968A1 (en) * 2019-04-04 2020-10-08 VeriPhase, Inc. Method for prioritizing data processing of a plurality of ultrasonic scan data files
JP6972080B2 (en) * 2019-10-24 2021-11-24 株式会社東芝 Processing systems, processing equipment, processing methods, programs, and storage media
US20220388101A1 (en) * 2019-11-05 2022-12-08 Magna International Inc. Fixture assembly for supporting blanks during shearing and welding operations
EP3888839B1 (en) * 2020-03-30 2023-11-29 Hitachi Rail STS S.p.A. Method and system for monitoring and identifying the weld quality of a welding performed by a welding machinery on metallic components
JP7360987B2 (en) * 2020-04-01 2023-10-13 株式会社ダイヘン Welding condition adjustment device
CN111451960B (en) * 2020-04-22 2022-01-04 合肥康尔信电力系统有限公司 Oil pipe fixing and supporting mechanism of diesel generator
US20220219256A1 (en) * 2021-01-08 2022-07-14 Clay Hubler Orbital welding purge systems
CN113458554A (en) * 2021-06-28 2021-10-01 江苏海力风电设备科技股份有限公司 Novel welding process for offshore wind power sleeve ring beam
CN113399806B (en) * 2021-07-22 2022-09-02 温州职业技术学院 Automatic welding equipment for large-drift-diameter 90-degree elbow
CN113441883B (en) * 2021-07-29 2023-05-09 广东华坤建设集团有限公司 Immersed tube welding water workbench
CN113953661B (en) * 2021-09-18 2022-03-15 四川国芯通智能科技有限公司 Laser repair welding machine and repair welding method thereof
CN114068051B (en) * 2021-10-26 2023-06-16 四川大学 Method for calculating temperature flow of nuclear reactor main pipeline coolant based on ultrasonic array
CN114294476B (en) * 2021-12-06 2023-11-14 海洋石油工程股份有限公司 Efficient passing method of corrosion-resistant equipment in sea pipe node
CN114406690B (en) * 2021-12-28 2023-07-18 湖北三江航天红阳机电有限公司 Processing system and processing method of magnesium alloy thin-wall cylinder
CN114274158B (en) * 2021-12-31 2024-02-02 北京博清科技有限公司 Control method, controller and welding system of crawling welding robot
CN114406623B (en) * 2022-02-28 2023-09-22 凯奇集团有限公司 Forming method of stainless steel sliding tube elbow
CN114700678B (en) * 2022-03-16 2024-07-12 青岛西海岸市政工程有限公司 Urban pipeline welding device with compactness inspection function
CN115139105B (en) * 2022-08-05 2023-10-13 泰州汇品不锈钢有限公司 Pipeline fixing frame welding equipment
CN115507760B (en) * 2022-11-22 2023-03-24 唐山学院 Tubular product external diameter caliber of multiplicable accuracy
CN116551208B (en) * 2023-05-11 2024-01-12 广东兴奇新材料有限公司 Metal plate laser cutting equipment and method based on cooling of cutting part
CN116748729B (en) * 2023-08-14 2023-10-24 山西海德拉太矿国际采矿刀具设备有限公司 Coal cutter spiral roller tooth holder welding method based on multiple tests
CN117900682B (en) * 2024-03-19 2024-06-04 山西万家寨水控水利机电科技服务有限公司 Electromechanical automatic welding system and use method thereof
CN117900716B (en) * 2024-03-20 2024-05-24 上海飞挺管业制造有限公司 Multi-axis linkage system for steel pipe rapid automatic position welding

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0193812A2 (en) * 1985-03-04 1986-09-10 CRC Pipeline International, Inc. Internal pipe clamp for inert gas welding
US5227601A (en) * 1991-10-11 1993-07-13 The Lincoln Electric Company Adjustable welding torch mounting
CN103495795A (en) * 2013-10-10 2014-01-08 中国化学工程第三建设有限公司 Gas protection bottoming automatic welding process of carbon steel pipeline consumable electrode
US20140346163A1 (en) * 2013-05-23 2014-11-27 Crc-Evans Pipeline International, Inc. Laser controlled internal welding machine for a pipeline
CN104209626A (en) * 2013-06-05 2014-12-17 中国石油天然气集团公司 Pipeline multipoint synchronous automatic welding variable position lap joint method

Family Cites Families (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3009048A (en) 1958-02-27 1961-11-14 Midwestern Welding Company Internal pipe welding apparatus
US3009049A (en) * 1958-08-13 1961-11-14 Richard C Stanley Television controlled internal pipe welding apparatus
US3424887A (en) * 1966-08-19 1969-01-28 Barry F Fehlman Apparatus for welding pipe joints
US3461264A (en) 1967-01-12 1969-08-12 Crc Crose Int Inc Method and apparatus for welding girth joints in pipe lines
ES370730A1 (en) 1968-08-26 1972-02-16 Crc Crose Int Inc Welding unit
US3551636A (en) 1968-08-26 1970-12-29 Crc Crose Int Inc Automatic pipeline welding method and apparatus therefor
US3612808A (en) 1969-06-04 1971-10-12 Crc Crose Int Inc Shielding gas pressure actuated pipe-welding device
US4145593A (en) * 1976-02-03 1979-03-20 Merrick Welding International, Inc. Automatic pipe welding system
US4092950A (en) * 1977-06-20 1978-06-06 Commercial Resins Company Internal pipe coating apparatus
CA1060488A (en) * 1977-11-25 1979-08-14 Bernard Lajoie Pipe aligning apparatus
US4223197A (en) * 1978-04-18 1980-09-16 Hitachi, Ltd. Method of cooling weld in steel piping and apparatus therefor
US4306134A (en) * 1979-08-01 1981-12-15 Midcon Pipeline Equipment Co. Arc welding pipe apparatus
JPS57142777A (en) * 1981-03-02 1982-09-03 Sumitomo Metal Ind Ltd Welding device for inside surface of steel pipe
JPS58122200A (en) * 1982-01-18 1983-07-20 Nippon Steel Corp Welding method of spiral pipe, and its device
JPS5994587A (en) * 1982-11-24 1984-05-31 Nippon Steel Corp Installation for producing spiral steel pipe
JPS61159275A (en) * 1984-12-28 1986-07-18 Sumikin Kokan Koji Kk Automatic welding method
SU1741999A1 (en) * 1987-09-07 1992-06-23 Свердловский Научно-Исследовательский Технологический Институт Method and apparatus for tracking the joint of welded articles
JP2594601B2 (en) * 1988-03-02 1997-03-26 株式会社竹中工務店 Steel pipe welding equipment
DK669888D0 (en) * 1988-11-30 1988-11-30 Tjaereborg Ind A S PROCEDURE AND TOOLS FOR COMPOSITION OF BEARS
GB2258901B (en) * 1991-07-31 1995-01-04 Heat Pipeline Induction Ltd Pipe coating machine
BE1005512A3 (en) * 1991-11-21 1993-08-31 Henri Bosteels Installation welding induction and butt of metal tubes.
JP3007951B2 (en) * 1994-04-18 2000-02-14 新日本製鐵株式会社 Spiral steel pipe inner surface welding equipment
US5593605A (en) * 1994-10-11 1997-01-14 Crc-Evans Pipeline International, Inc. Internal laser welder for pipeline
FR2727643A1 (en) * 1994-12-01 1996-06-07 Serimer Internal pipe butt welding appts.
US5796069A (en) * 1997-01-10 1998-08-18 Crc-Evans Pipeline International, Inc. Arc and laser welding process for pipeline
GB2345016B (en) * 1998-12-24 2003-04-02 Saipem Spa Method and apparatus for welding pipes together
US7780065B2 (en) * 1999-11-03 2010-08-24 Vermaat Technics B.V. Method and device for welding pipes
BRPI0114859B1 (en) * 2000-10-24 2015-12-22 Saipem Spa method of laying a submerged pipe
US6583386B1 (en) * 2000-12-14 2003-06-24 Impact Engineering, Inc. Method and system for weld monitoring and tracking
US6904818B2 (en) * 2002-04-05 2005-06-14 Vetco Gray Inc. Internal riser inspection device
US6915943B2 (en) * 2002-11-27 2005-07-12 Crc-Evans Pipeline International, Inc. Tetherless internal line-up unit for pipeline welding
OA13028A (en) * 2003-02-14 2006-11-10 Heerema Marine Contractors Nl Apparatus and method for joining pipe ends together.
DE102006033992A1 (en) * 2006-01-23 2007-08-02 Schmidt + Clemens Gmbh + Co. Kg Welding process for e.g. welding stainless steel pipes comprises placing two pipes in a position necessary for forming the peripheral joint, moving a cooling body into the pipes and further processing
GB0819377D0 (en) * 2008-10-22 2008-11-26 Saipem Spa Method and apparatus for measuring a pipe weld joint
GB0917950D0 (en) * 2009-10-13 2009-11-25 Shawcor Ltd X-ray inspection method and apparatus for pipeline girth weld inspection
US20130048619A1 (en) * 2009-12-31 2013-02-28 J. Ray Mcdermott, S.A. Adaptive Control Of Arc Welding Parameters
US8857700B2 (en) * 2010-06-04 2014-10-14 Shawcor Ltd. Low temperature method for forming field joints on undersea pipelines
CN102166683B (en) * 2011-03-29 2012-12-12 武汉科技大学 Air cooling device of quick cooling welding joint and use method thereof
GB2502130A (en) * 2012-05-17 2013-11-20 Acergy France Sa Improvements relating to pipe welding
US10183351B2 (en) * 2012-06-27 2019-01-22 Lincoln Global, Inc. Parallel state-based controller for a welding power supply

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0193812A2 (en) * 1985-03-04 1986-09-10 CRC Pipeline International, Inc. Internal pipe clamp for inert gas welding
US5227601A (en) * 1991-10-11 1993-07-13 The Lincoln Electric Company Adjustable welding torch mounting
US20140346163A1 (en) * 2013-05-23 2014-11-27 Crc-Evans Pipeline International, Inc. Laser controlled internal welding machine for a pipeline
CN104209626A (en) * 2013-06-05 2014-12-17 中国石油天然气集团公司 Pipeline multipoint synchronous automatic welding variable position lap joint method
CN103495795A (en) * 2013-10-10 2014-01-08 中国化学工程第三建设有限公司 Gas protection bottoming automatic welding process of carbon steel pipeline consumable electrode

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109238840B (en) * 2018-10-29 2021-07-27 哈尔滨工业大学 Device and method for testing forming performance of plate at ultralow temperature
CN109238840A (en) * 2018-10-29 2019-01-18 哈尔滨工业大学 The test device and test method of plate forming property under a kind of ultralow temperature
CN109108515A (en) * 2018-10-30 2019-01-01 广船国际有限公司 A kind of installation method of steamer oil pipe
CN113329841B (en) * 2018-12-21 2023-09-08 Etxe-Tar有限公司 Method and system for monitoring the scanning of an energy beam
CN113329841A (en) * 2018-12-21 2021-08-31 Etxe-Tar有限公司 Method and system for supervising scanning of an energy beam
CN110282550B (en) * 2019-07-01 2020-05-29 上海海事大学 Bridge crane swing angle and rope length detection device based on light diffraction
CN110282550A (en) * 2019-07-01 2019-09-27 上海海事大学 A kind of bridge crane pivot angle and rope length detection device based on optical diffraction
CN110763818A (en) * 2019-11-20 2020-02-07 苏州热工研究院有限公司 Method for testing space spiral bent pipe for heat exchanger
CN111351750A (en) * 2020-04-14 2020-06-30 国网安徽省电力有限公司铜陵市义安区供电公司 Appearance detection device for high-voltage transmission cable
CN112329336A (en) * 2020-10-22 2021-02-05 同济大学 Method for planning charging-cooling process of battery pack of electric vehicle
CN112987616A (en) * 2021-03-15 2021-06-18 沈阳智谷科技有限公司 Ultrahigh-speed electronic package acquisition system and method based on magnetic variable signals
CN112987616B (en) * 2021-03-15 2022-03-25 沈阳智谷科技有限公司 Ultrahigh-speed electronic package acquisition system and method based on magnetic variable signals
CN117470302A (en) * 2023-10-30 2024-01-30 本溪市特种设备监督检验所 Pressure pipeline parameter inspection management system based on computer
CN117381336A (en) * 2023-11-29 2024-01-12 广州市银三环机械有限公司 Process and system for motor seat and down tube integrated structure by oil/water injection molding
CN117381336B (en) * 2023-11-29 2024-06-07 广州市银三环机械有限公司 Process and system for motor seat and down tube integrated structure by oil/water injection molding
CN117840590A (en) * 2024-03-07 2024-04-09 成都天成电科科技有限公司 Method for protecting inner cavity chip during laser re-welding and laser re-welding system
CN117840590B (en) * 2024-03-07 2024-06-04 成都天成电科科技有限公司 Method for protecting inner cavity chip during laser re-welding and laser re-welding system

Also Published As

Publication number Publication date
RU2017134991A3 (en) 2019-05-29
AU2015387441A1 (en) 2017-11-09
RU2019138447A3 (en) 2021-12-07
WO2016153562A1 (en) 2016-09-29
BR112017020431A2 (en) 2018-07-03
RU2017134991A (en) 2019-04-05
ZA201706249B (en) 2018-12-19
CN113001070A (en) 2021-06-22
MY191994A (en) 2022-07-22
CA2980559A1 (en) 2016-09-29
AU2021229209A1 (en) 2021-10-07
RU2708721C2 (en) 2019-12-11
RU2019138447A (en) 2019-12-05
CN112589320A (en) 2021-04-02
EP3274125A1 (en) 2018-01-31
EP3274125A4 (en) 2018-12-12
AU2015387441B2 (en) 2021-06-10
BR112017020431B1 (en) 2021-09-14
MX2017012366A (en) 2018-02-19

Similar Documents

Publication Publication Date Title
CN107614193A (en) System and method for the pipeline section of welded pipeline
US10589371B2 (en) Rotating welding system and methods
US20200033063A1 (en) Systems and methods for use in welding pipe segments of a pipeline
US10695876B2 (en) Self-powered welding systems and methods
CN107073628B (en) Control system and system including control system and metal working machines people's system
US11448342B2 (en) Methods and apparatus relating to pipe welding
Roman et al. Pipe crawling inspection robots: an overview
EP2782701B1 (en) System and method for modular portable welding and seam tracking
Buckingham et al. Dexterous manipulators for nuclear inspection and maintenance—Case study
CN109429490A (en) The system and method for pipeline section for welded pipe line
US20130026148A1 (en) Welding apparatus and welding method
KR20170058369A (en) System for characterizing manual welding operations on pipe and other curved structures
CA2986645A1 (en) Systems and methods for use in welding pipe segments of a pipeline
US20180186475A1 (en) System and method for refurbishing aircraft structures
US20190136477A1 (en) Inspection of Grouting in Jacket Pin Piles on offshore wind turbines
Asai et al. Visualization and digitization of welder skill for education and training
RU2775308C1 (en) Systems and methods used in welding pipe segments in a pipeline
RU2775615C2 (en) Systems and methods used in welding pipe segments in pipeline
CN207223255U (en) The automatic welding device of large and medium-sized bend pipe girth joint peculiar to vessel
CN104010761B (en) Automatic soldering device
Bonacorso et al. Automation of the processes of surface measurement and of deposition by welding for the recovery of rotors of large-scale hydraulic turbines
WO2023052790A1 (en) Capturing data relating to welded pipelines
Millwood et al. Construction of the X100 Operational Trial Pipeline at Spadeadam, Cumbria, UK
WELDING et al. AFRICAN
bin Ahamad et al. Optimization of Pipeline Welding Qualification, Production and Effective Field Joint Coating Application

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20180119