WO2009126023A1 - Procédé et appareil de soudure automatisée, et système de soudure - Google Patents

Procédé et appareil de soudure automatisée, et système de soudure Download PDF

Info

Publication number
WO2009126023A1
WO2009126023A1 PCT/NL2009/000085 NL2009000085W WO2009126023A1 WO 2009126023 A1 WO2009126023 A1 WO 2009126023A1 NL 2009000085 W NL2009000085 W NL 2009000085W WO 2009126023 A1 WO2009126023 A1 WO 2009126023A1
Authority
WO
WIPO (PCT)
Prior art keywords
welding
pass
shape
function
torch
Prior art date
Application number
PCT/NL2009/000085
Other languages
English (en)
Inventor
Cornelis Van Zandwijk
Eugene Alexander Bajema
Original Assignee
Heerema Marine Contractors Nederland B.V.
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
Application filed by Heerema Marine Contractors Nederland B.V. filed Critical Heerema Marine Contractors Nederland B.V.
Publication of WO2009126023A1 publication Critical patent/WO2009126023A1/fr

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
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
    • B23K9/0286—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections with an electrode moving around the fixed tube during the welding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • 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

Definitions

  • a method of automated welding, an apparatus for automated welding, and a welding system is disclosed.
  • the present invention relates to a method of automated welding, an apparatus for automated welding, and a welding system.
  • FIG. 1A and 1B show an S-Lay vessel 1 constructing a pipeline 2 using the S-Lay method.
  • the pipeline 2 is launched over a stinger 3 and laid in the form of an 1 S' between the sea surface 4 and the seabed 5.
  • Line pipe is fabricated in typical joint lengths of 12.2m (40 ft), sometimes 18.3m (60 ft) length.
  • single pipe joints 6 are added to the most forward end of the pipeline 2, several work stations 7 performing a part of the pipeline construction process, a few stations completing the weld, one station inspecting the weld and one or two stations completing the field joint coating.
  • the pipeline 2 is laid in the form of a 'J' between the sea surface 4 and the seabed 5.
  • multi-joint pipe sections 13 are added to the most upward end of the pipeline 2, the pipeline construction process being typically completed in one or two work stations 15.
  • the multi-joints 13 are constructed from a number of single joints 14, either in a separate construction area on board the J-Lay vessel 11 or in a factory onshore or in a combination of both.
  • Figure 2 shows a cross-section over the walls of two joining pipe ends 20 and 30 with typical pipe end bevels 21 , 31 which joined together form the narrow gap weld gutter to be filled with weld metal during welding.
  • a typical narrow gap pipe end bevel 21 , 31 as applied in the J-Lay process is formed by the following characteristic points and sections:
  • transition point 24, 34 between the inner wall of the pipe end 22, 32 and the landing zone 25, 35.
  • the angle of transition point 24, 34 is approximately 90°.
  • the landing zone 25, 35 for instance 1 to 2 mm of radial dimension, i.e. thickness in radial direction r, and perpendicular to the axis of the pipe 2, 6, 13, 14.
  • transition point 26, 36 between the landing zone 25, 35 and the transition curve 27, 37.
  • the angle of transition point 26, 36 is approximately 90°.
  • transition curve 27, 37 between the transition point 26, 36 and the bevel flank 28, 38 has a radius of 2 to 3 mm.
  • the bevel flank 28, 38 typically at an angle of 85 to 90° with the axis of the pipe
  • transition point 29, 39 between the bevel flank 28, 38 and the outer wall of the pipe end 23, 33.
  • angle of transition point 29, 39 is 85 to 90°.
  • Figure 3 shows an alternative bevel as might be used in the S-Lay process.
  • This bevel shape shows an additional bevel shape 124, 134 between the transition point 24,
  • Figure 4 shows a possible build-up of a narrow gap weld.
  • the first pass is the root pass 45, melting the bevel noses 46 and 47 of both pipe end bevels 21 and 31 together under supply of some new weld metal 44.
  • a limited amount of new weld metal 44 is deposited, typically about 20% to 40% of the weld deposit of a normal filler pass 48.
  • the first pass after the root pass 45 is the hot pass 48A.
  • the hot pass 48A takes account of the limited thickness of the root pass 45, so as to avoid burn-through through the root pass 45. In the hot pass 48A, about 30 to 50% of the weld deposit of a normal filler pass 48 is deposited.
  • each filler pass 48 is approximately 2-4 mm thick.
  • the weld is finished with one or more cap passes 49, in Figure 4 two cap passes are shown.
  • Figure 5 shows that the shape of the weld gutter 40 is not ideal and symmetrical.
  • Hi-Io misalignment may occur at the transition points 24, 34 between inner wall 22, 32 and landing zone 25, 35; at transition points 26, 36 between landing zone 25, 35 and weld gutter 40; and at transition points 29, 39 between bevel flanks 28, 38 and outer wall 23, 33.
  • the bevel flanks may not be perfectly symmetrical.
  • the shape and the volume of the weld gutter 40 vary over the circumference of the pipe as a function of ⁇ .
  • the radial dimension of the contact area between the two pipe ends, in particular between the landing zones 25 and 35, that is the overlapping area of landing zones 25, 35 may vary in dependence of the circumference of the pipe as a function of ⁇ .
  • the root pass 45 is manually welded, whereby the welder seeks continuously a compromise between proper penetration of the root pass 45 through the bevel noses 46, 47, proper fusion of the bevel noses 46, 47 into the weld pool, avoidance of burning through the thin places where the contact area between landing zones 25, 35 is small, i.e. the radial dimension is small, and limiting the heat input in order to end up with mechanical properties as required.
  • Disadvantages of the present process is that the geometrical imperfections demand a high level of welder experience; prohibits automation of the pipeline welding process; and runs a considerable risk of bum-through at thin places.
  • the hot pass 48A is laid more or less as the root pass 45, the welder seeking a continuous compromise between proper fusion of the bevel flanks 28, 38 into the weld pool; avoidance of burning through the thin places of the root pas 45; and limiting the heat input in order to end up with mechanical properties as required.
  • the filler passes 48 do no longer bear the risk of burn-through.
  • the welder seeks a continuous compromise between proper fusion of the bevel flanks 28, 38 into the weld pool; and limiting the heat input in order to end up with mechanical properties as required.
  • Variations in shape and volume of the weld gutter 40 over the circumference are compensated for in the last filler passes or in the cap pass(es), sometimes requiring either extra passes to be made with extra starts and stops inducing extra risk of faults or such high deposit rates that the related heat input endangers the mechanical properties as required.
  • An aspect of the invention provides a welding method for welding a first pipe end of a first pipe section to a second pipe end of a second pipe section, comprising the steps of: - obtaining and/or providing geometrical bevel data of pipe end bevels of said first and second pipe end,
  • the welding process can be optimized. As a result, the welding process is less dependent on the skills of the welder, and less risk on welding faults is incurred.
  • the geometrical data of the pipe end bevels may for instance be obtained from a detailed survey of the pipe end bevels after completion of the beveling process. In such survey, a detailed record may be taken of characteristic transition points and bevel sections. The geometrical data is preferably obtained before the alignment of the first and second pipe section.
  • the alignment movements may be stored.
  • the exact relative positions of bevel transition points or any other reference point of the bevel shape may be known.
  • the digital shapes as a function of the circumferential position may for instance be determined of the weld gutter, the contact area between the landing zones, the hi-lo between the transition points, and/or the hi-lo between the transition points.
  • the method comprises the step of determining, after alignment, a shape and/or radial dimension of a contact area between said pipe ends as a function of a circumferential position, wherein preferably the automated welding of at least one welding pass, comprises steering of a welding torch and/or setting of welding parameters using said shape and/or said radial dimension of said contact area.
  • the shape and radial dimension of a contact area between the pipe ends is of importance during root and hot pass as this shape and radial dimension is an important factor in the risk of burn through of the weld.
  • the shape and/or radial dimension of the contact area between the two pipe ends is determined, and preferably this information is used for automatic steering of the welding torch and/or setting of welding parameters.
  • the shape and/or radial dimension of the contact area is preferably made on the basis of the geometrical bevel data and the alignment data.
  • the method according to this aspect of the invention is in particular used for welding a root pass and/or a hot pass.
  • the method comprises the step of measuring the position of said pipe end bevels after aligning of said pipe sections, and using said measurement data for steering of said welding torch and/or setting of welding parameters.
  • the shape of the weld gutter may be confirmed by moving a measuring tool in circumferential direction over the weld gutter.
  • the measuring tool may sense the shape of the weld gutter in the r-z plane, for instance by sweeping a laser beam or casting a laser line between boundaries and over the weld gutter as described in WO2006/112689 en WO2008/030079 the contents of which is herein incorporated by reference. Any other suitable method may also be applied.
  • the digital shapes as a function of the circumferential position determined by combination of the relative positions of transition points or other reference points and the detailed record of the pipe end bevels may be checked on correctness, or the measurement data is used to complete the bevel and alignment data .
  • the measured position of shape and/or volume of the weld gutter may also be used as an alternative input for the automated welding process, i.e. for steering of said welding torch and/or setting of welding parameters.
  • the method comprises the steps of:
  • said volume and cap offset line for determination of the amount of welding material to be deposited during subsequent welding passes to be made between the top of a previous welding pass and the cap offset line on the basis of optimal heat input
  • the steps of determining the shape and volume of a weld gutter and a cap offset line, determination of the amount of welding material to be deposited during a welding pass, and steering said welding torch and/or setting of welding parameters is repeated for subsequent welding passes.
  • the step of determining the shape and volume of a weld gutter and a cap offset line further comprises the step of measuring an external surface of said welding pass after completion.
  • a measuring tool may be used for measuring the shape and volume of the weld gutter, in particular in the r-z plane, for instance by sweeping a laser beam or casting a laser line between boundaries and over the weld gutter as described in WO2006/112689 en WO2008/030079 the contents of which is herein incorporated by reference. Any other suitable method may also be applied.
  • the method according to this aspect of the invention is in particular suitable for filler passes.
  • Measurement of the shape and volume of the weld gutter can provide quick and reliable information of the weld gutter.
  • information which cannot be seen by the measuring device for instance the radial dimension of the contact area between the pipe ends is of less relevance. Nonetheless, geometrical bevel information and/or alignment data may be used to check or complete the data used for steering the welding torch and/or setting the welding parameters.
  • the method comprises the steps of:
  • the steps of measuring the shape and volume of said weld gutter, determination of the amount of welding material to be deposited during a welding pass, and steering said welding torch and/or setting of welding parameters is repeated for subsequent welding passes, preferably filler passes.
  • the invention provides a welding method for welding a first pipe end of a first pipe section to a second pipe end of a second pipe section, comprising the steps of:
  • the invention further relates to an automated welding apparatus comprising:
  • said welding apparatus comprises an input device for at least input of geometrical data of pipe end bevels of said first and second pipe end, and wherein said welding apparatus is configured for carrying out the step of automated welding of claim 1.
  • controlling device of the welding apparatus is configured to control a tip speed of said welding torch dependent of the circumferential position of said welding torch. In an embodiment, the controlling device of the welding apparatus is configured to control voltage, current, power, pulse shape, and/or pulse frequency as a function of the circumferential position of said welding torch.
  • controlling device of the welding apparatus is configured to control a welding wire feed speed of said welding torch as a function of the circumferential position of said welding torch.
  • the controlling device of the welding apparatus is configured to control an oscillating amplitude of said welding torch as a function of the circumferential position of said welding torch.
  • controlling device of the welding apparatus is configured to control an oscillating frequency of said welding torch as a function of the circumferential position of said welding torch.
  • the controlling device of the welding apparatus is configured to control a distance between a tip of said welding torch and a bottom of a weld gutter as a function of the circumferential position of said welding torch.
  • the controlling device is configured to control any suitable combination of the above driving parameters and welding parameters on the basis of the geometrical data and possibly the alignment data and possibly deposit information of previous passes to control the welding process.
  • the invention further provides a welding system, comprising: - an alignment system configured to align a first and a second pipe section with respect to each other, and
  • the welding system comprises a system for obtaining and/or providing geometrical data of said pipe end bevels of said first and second pipe section.
  • Such system may be any suitable system to measure the absolute or relative positions of the shape of the pipe end bevels of the first and second pipe section, comprising at least the location of the transition points between the pipe section inner wall and the landing zone and the shape and size of the landing zone.
  • the alignment system comprises an alignment data storing device for storing alignment data of movements made during aligning of said first and second pipe section, and using said alignment data for steering of said welding torch and/or setting of welding parameters, the alignment data storing device preferably being connected to the input device so that the alignment data can be used for determination of the respective positions of the pipe end bevels of the first and second pipe sections.
  • the welding system comprises a measuring tool configured to measure the shape and/or volume of the weld gutter.
  • the measuring tool may comprise weld gutter data storing device for storing weld gutter data of the weld gutter between said first and second pipe section which may be connected to the input device of the welding apparatus.
  • the measuring tool may be directly connected to the input device, whereby the weld gutter data is directly stored and/or used in the controlling device of the welding system.
  • the welding system may further be configured to carry out any method step as described in this specification or any of the method claims.
  • the welding system according the invention may be arranged on a pipe-laying vessel or pipe-production vessel, but also on any other suitable location onshore or offshore.
  • Figures 1A and 1 B show a S-lay vessel for laying pipes
  • Figures 1C and 1 D show a J-lay vessel for laying pipes
  • Figure 2 shows a cross-section of an embodiment of two pipe end bevels for instance suitable for a J-lay process
  • Figure 3 shows a cross-section of an embodiment of two pipe end bevels for instance suitable for an S-lay process
  • Figure 4 shows the build-up of a narrow gap weld
  • Figure 5 shows an example of a weld gutter in practice
  • Figure 6 shows an example of welding of a narrow gap weld gutter
  • Figure 7 shows the creation of a weld pass in more detail
  • Figure 8 shows the use of a measuring tool for measuring the shape and/or volume of a weld gutter
  • Figure 9 shows a cap outline of the weld
  • Figure 10 - 15 show different steps of the build-up of a narrow gap weld; and Figure 16 shows schematically a welding system according to an embodiment of the invention.
  • Figure 6 shows how a narrow gap weld gutter may be welded.
  • the walls of the joining pipe ends 20 and 30 are accurately lined up and engaged, both pipe end bevels 21 and 31 forming the narrow gap weld gutter 40.
  • the welding tip 51 for instance a coated copper alloy tip, of a welding torch 50 is brought into the narrow gap weld gutter 40. Any other suitable welding tip for the welding torch 50 may also be applied.
  • the welding wire 52 is guided through a central opening
  • the electric arc 56 continuously melts off drops of metal from the wire tip 54 depositing these into the weld pool 55 as the wire is fed in the direction 57 and the welding torch manipulator 58 moves the welding torch forward in circumferential direction ⁇ .
  • the manipulator 58 is capable of
  • a shielding gas outlet 60 in the welding torch 50 casts a shielding gas shroud 61 over the weld pool 55 in order to prevent oxidation of the fluid weld metal.
  • the gas outlet 60 is movable with respect to the torch 50 in order to keep the outlet opening always close to the outer surface of the pipe for limiting gas losses when blowing gas into the weld gutter 40.
  • the shielding gas is supplied to the welding torch 50 via a shielding gas hose 62.
  • Figure 7 illustrates how the weld pool 55 fuses metal from different sources:
  • the following steps may be made for preparation of a complete weld between two pipe sections.
  • the welding torch 50 is automatically steered and the welding parameters are automatically set for laying a controlled root pass 45 by using geometrical data of the pipe end bevels 21, 31 together with information of line-up movements gathered in previous phases of the pipe construction process, i.e. alignment information, and assessing from these geometrical data and the alignment data the contact area between landing zones 25, 35, in particular the shape and radial dimension of this contact area, hi-lo of transition points 24, 34, and/or hi-lo of transition points 26, 36 as functions of the circumferential position.
  • the geometrical data of the pipe end bevels may be obtained by a bevel measuring system and the alignment data may be obtained by an alignment system as shown in Figure 16.
  • the geometrical data of the pipe end bevels and the alignment data may optionally be checked or completed with extra data from a measuring tool 70 after completion of alignment.
  • a measuring tool 70 is for instance shown in Figure 8.
  • a hot pass can be made as follows. Automatically steer the welding torch 50 and set the welding parameters for laying a controlled hot pass 48A by using geometrical data of the pipe end bevels 21, 31 together with information of line-up movements gathered in previous phases of the pipe construction process, optionally completed with extra data from measuring tool 70 after completion of the root pass 45, and optionally together with information of the material deposited in the root pass and assessing from these geometrical data and deposit information the thickness of the root pass 45 as a function of the circumferential position. Thereafter filling passes may be provided as follows.
  • Automatically steer the welding torch 50 and set the welding parameters for laying controlled filler passes 48 by using data from measuring tool 70 after completion of the hot pass 48A, optionally together with information of the material deposited in the root pass 45 and the hot pass 48A; subsequently, assessing from these data and possibly the deposit information a cap offset line 76, indicated in Figure 9, and the shape and volume of the remaining weld gutter 67 as functions of the circumferential position; and finally using shape and volume of the remaining weld gutter 67 for distributing the deposits as functions of the circumferential position of the filler passes to be made between the top of the hot pass 48A and the cap offset line 76 on the basis of optimal heat input.
  • an extra measuring run is made by measuring tool 70 after completion of each weld pass in order to re-distribute of the deposits of the remaining filler passes to be made between the top of the previous weld pass and the cap offset line 76.
  • the weld may be completed by one or two cap passes, as follows. Automatically steer the welding torch 50 and set the welding parameters for laying one or more controlled cap passes 49 by using data of the measuring tool 70 after completion of the last filler pass, and/or geometrical bevel data and/or alignment data; subsequently, assessing from these data a cap outline 78, as shown in Figure 9, and the shape and volume of the remaining weld gutter 67 as functions of the circumferential position; and finally, using shape and volume of the remaining weld gutter 67 for distributing the deposits as functions of the circumferential position of the one or more cap passes 49 to be made between the top of the last filler pass and the cap outline 78 on the basis of optimal heat input.
  • an extra measuring run is made by measuring tool 70 after completion of the previous cap pass in order to re-assess the deposit of the next cap pass to be made.
  • Figure 10 addresses the construction of the root pass 45.
  • the digital shape of the weld gutter 40 determined on the basis of the geometrical bevel data and the alignment data as a function of the circumferential position ⁇ is used as input to a robotized welding system to drive the welding torch manipulator 58 for: • steering the welding torch 50 with the welding tip 51 , for instance a coated copper alloy tip, and welding wire 52 in z-direction to the centerline of the weld gutter 40 as a function of ⁇ ; • steering the welding torch 50 with the welding tip 51 and welding wire 52 in r- direction such that the tip of the welding tip 59 is at a predetermined distance 63 from the 'bottom' of the U-shaped weld gutter 40 as a function of ⁇ .
  • the distance 63 has a fixed relation to the distance 69 between the tip of the welding wire 54 and the top of the weld pool 68.
  • the distance 69 is dictated by the electric arc between the tip of welding wire 54 and the weld pool. • oscillating the welding torch 50 with the welding tip 51 and welding wire 52 in z- direction over an oscillating amplitude 64 as a function of ⁇ .
  • the settings of welding parameters may be established from test results and welding qualification programs. These welding parameters involve amongst others; voltage; current; power; pulse shape; pulse frequency; heat input as required to lay a proper root pass 45 with consistent penetration, proper fusion of bevel noses 46 and 47 into the root pass and mechanical properties as required.
  • the heat input is a function of the cross- section of the deposited material in the r-z plane, which in its turn is a function of the wire feed speed w, the diameter of the wire and the tip travel speed v. Variations in the contact area between the landing zones 25, 35 and the hi-lo between the transition points 24, 34 as functions of ⁇ require the welding parameters to be varied slightly as functions of ⁇ .
  • Figure 11 addresses the construction of the hot pass 48A.
  • the measuring tool 70 may be run over the remaining weld gutter 67 which is formed by the weld gutter 40 before welding and the top of the root pass 45 indicated by 75, for measuring the digital shape of the remaining weld gutter 67 as a function of ⁇ .
  • the digital shape of the remaining weld gutter 67 in particular in the zone just above the root pass 45, together with information of the thickness of the root pass 45 anticipated from the top of the root pass 75 relative to transition points 24, 34, are used as input to a robotized welding system to drive the welding torch manipulator 58 for: • steering the welding torch 50 with welding tip 51 and welding wire 52 in z- direction to the centerline of the remaining weld gutter 67 as a function of ⁇ ;
  • the distance 63 has a fixed relation to the distance 69 between the tip of the welding wire 54 and the top of the weld pool 68.
  • the distance 69 is dictated by the electric arc between the tip of welding wire 54 and the weld pool.
  • the settings of welding parameters are established from test results and welding qualification programs. These welding parameters involve amongst others; voltage; current; power; pulse shape; pulse frequency; heat input, as required to lay a proper hot pass 48A with consistent penetration, proper side wall fusion and mechanical properties as required.
  • the heat input is a function of the cross-section of the deposited material in the r-z plane, which in its turn is a function of the wire feed speed w, the diameter of the wire and the tip travel speed v. Small variations in the thickness of the root pass 45 and the width of the remaining weld gutter 67 as functions of ⁇ are used to calculate a deposit area A 2 for the hot pass 48A as a function of ⁇ .
  • the digital shape of the deposit area A 2 indicated by 74 as a function of ⁇ , in combination with the assessed welding parameter settings, are used as input to a robotized welding system for:
  • the measuring tool 70 is run over the remaining weld gutter 67 which is formed by the weld gutter 40 before welding and the top of the previous weld pass #(m-1 ) indicated by 75, for measuring the digital shape of the remaining weld gutter 67 as a function of ⁇ .
  • the measuring tool 70 can be run either at some distance after and linked to the welding torch 50 when welding pass #(m-1 ) or at some distance before and linked to the welding torch 50 when welding pass #m or as a separate measuring run in between both welding passes.
  • the filler passes will build up the weld to the cap offset line 76, which is a function of the transition points 29, 39 as a function of ⁇ .
  • Figures 14 and 15 address the construction of the cap passes, two in this example.
  • the measuring tool 70 may be run over the remaining weld gutter 67 for measuring the digital shape of the remaining weld gutter 67 as a function of ⁇ down to the top of the last filler pass #(n-2) indicated by 75.
  • a cap outline 78 is assessed as a function of transition points 29, 39 which are both functions of ⁇ .
  • the cap passes will build up the weld to the cap outline 78.
  • a calculation is made of the remaining area A c ap to be filled in the remaining weld gutter 67 in between the top of the last filler pass #(n-2) indicated by 75 and the cap outline 78.
  • the measuring tool 70 may be run over the remaining weld gutter 67 for measuring the digital shape of the remaining weld gutter 67 as a function of ⁇ down to the top of the last filler pass #(n-2) indicated by 75 and adjacent to the outline of the first cap pass #(n-1 ) indicated by 79.
  • a calculation is made of the remaining area A n to be filled in the remaining weld gutter 67 up to the cap outline 78.
  • a n is the deposit area of filler pass #n as a function of ⁇ .
  • the digital shape of the cap pass #(n-1 ) or #n to be made as a function of ⁇ is used as input to a robotized welding system to drive the welding torch manipulator 58 for:
  • the distance 77 has a fixed relation to the distance 69 between the tip of the welding wire 54 and the top of the weld pool 68.
  • the distance 69 is dictated by the electric arc between the tip of welding wire 54 and the weld pool.
  • the settings of welding parameters are established from test results and welding qualification programs. These welding parameters involve amongst others; voltage; current; power; pulse shape; pulse frequency; heat input, as required to lay proper cap passes 49 with consistent penetration, proper fusion of the weld gutter edges at the transition points 29, 39 and mechanical properties as required.
  • the heat input is a function of the cross-section of the deposited material in the r-z plane, which in its turn is a function of the wire feed speed w, the wire diameter d and the tip travel speed v. Small variations in the deposit area A n- i or A n as a function of ⁇ require the welding parameters to be varied slightly as functions of ⁇ .
  • the digital shape of the deposit area A n- i or A n as a function of ⁇ , in combination with the assessed welding parameter settings, are used as input to a robotized welding system for:
  • FIG. 16 shows schematically a welding system according to an embodiment of the invention.
  • the welding system comprises the welding apparatus 50 as for instance shown in Figure 10.
  • the welding apparatus 50 comprises a controlling device 120 for controlling the automatic steering and the automatic setting of welding parameters. For this reason, the controlling device 120 is connected to the welding torch manipulator 58, the welding power supply system 65, and the wire feed speed regulator 66.
  • the welding apparatus comprises an input device 121 for the input of data relevant for the welding process.
  • data such as bevel geometrical bevel data, alignment data and measurement data of measuring tool 70 may be used during automatic welding.
  • the welding system further comprises a bevel measuring system 100 configured to measure the bevels of a first and a second pipe section.
  • the bevel measuring system 100 comprises a sensor 101 to measure geometrical data of the bevel 21, 31 of a pipe section 20, 30.
  • the bevel measuring system 10 comprises a bevel data storing device 102 for storing bevel data of said first and second pipe section.
  • the bevel data storing device 102 is connected to said input device 121 so that when the relevant pipe section 20, 30 is to be welded, the geometrical bevel data as measured by the bevel measuring system 100 may be used for steering the welding torch 50 and setting of welding parameters.
  • the welding system further comprises an alignment system 110 configured to align a first and a second pipe section 20, 30 with respect to each other in order to make welding after a proper alignment of the pipe sections 20, 30 possible.
  • the alignment system 110 comprises an alignment data storing device 111 for storing at least alignment data of the pipe section positions after aligning of said first and second pipe section. This alignment data may be used in combination with the geometrical bevel data in the welding process. Therefore, the alignment data storing device 111 is connected to the input device 121 so that the alignment data can be transferred to the welding apparatus.
  • the stored geometrical bevel data and/or alignment may be transferred on a portable data carrier from the bevel measuring system 100 to the input device 121 , or any other suitable way.
  • the measuring tool 70 configured to measure shape and volume of a weld gutter (see Figure 8) is connected to the input device 121 so that the measurement data of the measuring tool 70 can be transferred to the controlling device 120 of the welding apparatus so that this data is available in the welding apparatus. It is remarked that in Figure 16 the input device 121 and the controlling device

Landscapes

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

Abstract

Un aspect de l’invention concerne un procédé de soudure comprenant les étapes consistant à : - obtenir et/ou utiliser des données de chanfreinage géométrique des chanfreins des extrémités de tuyau desdites première et seconde extrémités de tuyau, - aligner la première et la seconde partie de tuyau et obtenir les données d’alignement géométrique, et – souder automatiquement au moins un cordon de soudure, et ce en orientant un chalumeau soudeur et/ou en définissant des paramètres de soudure à l’aide desdites données de chanfreinage géométrique et d’alignement. Un autre aspect de l’invention concerne un procédé de soudure comprenant les étapes consistant à : - mesurer la forme et le volume d’une gouttière soudée entre lesdites extrémités de tuyau en tant que fonction d’une position circonférentielle, et – souder automatiquement au moins un cordon de soudure, et ce en orientant un chalumeau soudeur et/ou en définissant des paramètres de soudure à l’aide de la forme et du volume mesurés de ladite gouttière soudée.
PCT/NL2009/000085 2008-04-07 2009-04-07 Procédé et appareil de soudure automatisée, et système de soudure WO2009126023A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US4301808P 2008-04-07 2008-04-07
US61/043,018 2008-04-07

Publications (1)

Publication Number Publication Date
WO2009126023A1 true WO2009126023A1 (fr) 2009-10-15

Family

ID=40790585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2009/000085 WO2009126023A1 (fr) 2008-04-07 2009-04-07 Procédé et appareil de soudure automatisée, et système de soudure

Country Status (1)

Country Link
WO (1) WO2009126023A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2340908A1 (fr) * 2009-12-31 2011-07-06 J.Ray McDermott, S.A. Contrôle d'adaptatif de paramètres de soudure à l'arc
CN102653022A (zh) * 2012-05-16 2012-09-05 中国核工业二三建设有限公司 焊接大管径厚壁管道的窄间隙对接接口的方法
EP2656956A1 (fr) * 2012-04-27 2013-10-30 EEW Special Pipe Constructions GmbH Procédé de fabrication d'un tuyau soudé dans sa longueur à partir d'une tôle de métal avec un chanfrein discontinu et tuyau de métal fabriqué de la sorte
CN103785925A (zh) * 2012-10-29 2014-05-14 J.雷.麦克德莫特股份有限公司 电弧焊参数的自适应控制
GB2539321A (en) * 2015-06-09 2016-12-14 Rolls Royce Plc An automated welding apparatus and computer-implemented method for filling a volume
CN108544056A (zh) * 2018-04-23 2018-09-18 段满红 一种随动式滑动窄间隙埋弧焊接装置
US10788147B2 (en) 2014-08-22 2020-09-29 Saipem S.P.A. Pipe handling system and method of joining pipe sections
WO2020234546A1 (fr) 2019-05-20 2020-11-26 Vallourec Tubes France Procédé et terminal de génération d'un indice de compatibilité entre deux extremités de deux tubes, et tube muni d'un marquage angulaire

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4144992A (en) * 1976-09-03 1979-03-20 Hitachi, Ltd. Method for controlling an automatic pipe welder
EP0423088A1 (fr) * 1989-09-11 1991-04-17 ESAB Aktiebolag Procédé de soudure automatique en plusieurs couches
EP0684101A1 (fr) * 1994-05-26 1995-11-29 P.W.T. S.p.A. Système pour le contrôle automatique de la forme du joint pour procédés de soudage orbital de tubes de moyennes et grandes dimensions
WO2000035622A1 (fr) * 1998-12-17 2000-06-22 Caterpillar Inc. Procede et systeme de controle des caracteristiques geometrique de soudures pour une meilleure resistance a la fatigue de structures fabriquees

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4144992A (en) * 1976-09-03 1979-03-20 Hitachi, Ltd. Method for controlling an automatic pipe welder
EP0423088A1 (fr) * 1989-09-11 1991-04-17 ESAB Aktiebolag Procédé de soudure automatique en plusieurs couches
EP0684101A1 (fr) * 1994-05-26 1995-11-29 P.W.T. S.p.A. Système pour le contrôle automatique de la forme du joint pour procédés de soudage orbital de tubes de moyennes et grandes dimensions
WO2000035622A1 (fr) * 1998-12-17 2000-06-22 Caterpillar Inc. Procede et systeme de controle des caracteristiques geometrique de soudures pour une meilleure resistance a la fatigue de structures fabriquees

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102133674A (zh) * 2009-12-31 2011-07-27 J.雷.麦克德莫特股份有限公司 电弧焊参数的自适应控制
EP2439010A1 (fr) * 2009-12-31 2012-04-11 J.Ray McDermott, S.A. Contrôle adaptatif des paramètres de soudure à l'arc
EP2340908A1 (fr) * 2009-12-31 2011-07-06 J.Ray McDermott, S.A. Contrôle d'adaptatif de paramètres de soudure à l'arc
EP2656956A1 (fr) * 2012-04-27 2013-10-30 EEW Special Pipe Constructions GmbH Procédé de fabrication d'un tuyau soudé dans sa longueur à partir d'une tôle de métal avec un chanfrein discontinu et tuyau de métal fabriqué de la sorte
CN102653022A (zh) * 2012-05-16 2012-09-05 中国核工业二三建设有限公司 焊接大管径厚壁管道的窄间隙对接接口的方法
CN103785925A (zh) * 2012-10-29 2014-05-14 J.雷.麦克德莫特股份有限公司 电弧焊参数的自适应控制
US10788147B2 (en) 2014-08-22 2020-09-29 Saipem S.P.A. Pipe handling system and method of joining pipe sections
GB2539321A (en) * 2015-06-09 2016-12-14 Rolls Royce Plc An automated welding apparatus and computer-implemented method for filling a volume
US10427238B2 (en) 2015-06-09 2019-10-01 Rolls-Royce Plc Automated welding apparatus and computer-implemented method for filing a volume
CN108544056B (zh) * 2018-04-23 2020-07-21 山东华星工程机械有限公司 一种随动式滑动窄间隙埋弧焊接装置
CN108544056A (zh) * 2018-04-23 2018-09-18 段满红 一种随动式滑动窄间隙埋弧焊接装置
WO2020234546A1 (fr) 2019-05-20 2020-11-26 Vallourec Tubes France Procédé et terminal de génération d'un indice de compatibilité entre deux extremités de deux tubes, et tube muni d'un marquage angulaire
FR3096286A1 (fr) 2019-05-20 2020-11-27 Vallourec Tubes France Procédé de génération d’un indice de compatibilité entre deux extrémités de deux tubes, tube muni d’un indicateur de compatibilité

Similar Documents

Publication Publication Date Title
WO2009126023A1 (fr) Procédé et appareil de soudure automatisée, et système de soudure
CA2355625C (fr) Appareil et procede de soudage de tuyaux
EP1148966B1 (fr) Procede et appareil de soudage de tuyaux
RU2588930C2 (ru) Способ формирования подводного трубопровода при его прокладке
US11766732B2 (en) Systems and methods for automated root pass welding
US10835981B2 (en) Method for circumferential welding and a robotic welding system for circumferential welding
EP1335809A1 (fr) Syst me automatique de pr sentation et de guidage de la t te de soudage et proc d correspondant
BR112017020431B1 (pt) Sistemas e métodos para uso na soldagem de segmentos de tubos de uma tubulação
MX2012008990A (es) Sistema soldador basdo en corona dentada.
CN109514047A (zh) 厚壁管的焊接工艺
US20120074203A1 (en) Enhanced welding device
NL2007972C2 (en) An inspection apparatus for inspection of a weld and method of welding two components.
US20090090702A1 (en) Automatic welding device of the mig/mag type
CN106363276A (zh) 一种钢管焊口预补口方法
CN102581432A (zh) 一种单弧双丝管道全位置焊接方法
PL221485B1 (pl) Urządzenie do automatycznego, doczołowego spawania rur oraz sposób automatycznego, doczołowego spawania rur
CN117773286A (zh) 一种无需变位可多工位作业的集箱大管接头自动焊接方法
Gainand et al. CO2 & Nd: YAG laser orbital welding applied to offshore pipeline construction
CN117066647A (zh) 管道全位置摆宽自适应焊接方法、装置和设备
WO2011112088A1 (fr) Procédé et système d'assemblage de conduites et de raccords à parois épaisses par soudage automatisé

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09729528

Country of ref document: EP

Kind code of ref document: A1

DPE2 Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09729528

Country of ref document: EP

Kind code of ref document: A1